From 338445e60cafab09c50e2cbcc8ec8f5624715352 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 20 Nov 2011 19:49:56 +1100
Subject: [PATCH] ArduCopter-HIL: fixed HIL build

Logging isn't always enabled
---
 ArduCopter/GCS_Mavlink.pde | 15 ++++++++++-----
 ArduCopter/system.pde      |  2 ++
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 9388db597c..9e260a36e0 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1383,27 +1383,32 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 				// handle variables with standard type IDs
 				if (var_type == AP_Var::k_typeid_float) {
 					((AP_Float *)vp)->set_and_save(packet.param_value);
+#if LOGGING_ENABLED == ENABLED
 					Log_Write_Data(1, (float)((AP_Float *)vp)->get());
-
+#endif
 				} else if (var_type == AP_Var::k_typeid_float16) {
 					((AP_Float16 *)vp)->set_and_save(packet.param_value);
+#if LOGGING_ENABLED == ENABLED
 					Log_Write_Data(2, (float)((AP_Float *)vp)->get());
-
+#endif
 				} else if (var_type == AP_Var::k_typeid_int32) {
 					if (packet.param_value < 0) rounding_addition = -rounding_addition;
 					((AP_Int32 *)vp)->set_and_save(packet.param_value+rounding_addition);
+#if LOGGING_ENABLED == ENABLED
 					Log_Write_Data(3, (int32_t)((AP_Float *)vp)->get());
-
+#endif
 				} else if (var_type == AP_Var::k_typeid_int16) {
 					if (packet.param_value < 0) rounding_addition = -rounding_addition;
 					((AP_Int16 *)vp)->set_and_save(packet.param_value+rounding_addition);
+#if LOGGING_ENABLED == ENABLED
 					Log_Write_Data(4, (int32_t)((AP_Float *)vp)->get());
-
+#endif
 				} else if (var_type == AP_Var::k_typeid_int8) {
 					if (packet.param_value < 0) rounding_addition = -rounding_addition;
 					((AP_Int8 *)vp)->set_and_save(packet.param_value+rounding_addition);
+#if LOGGING_ENABLED == ENABLED
 					Log_Write_Data(5, (int32_t)((AP_Float *)vp)->get());
-
+#endif
 				} else {
 					// we don't support mavlink set on this parameter
 					break;
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 53bbe591da..44812aaa10 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -330,11 +330,13 @@ static void init_ardupilot()
 
 	startup_ground();
 
+#if LOGGING_ENABLED == ENABLED
 	Log_Write_Startup();
 	Log_Write_Data(10, g.pi_stabilize_roll.kP());
 	Log_Write_Data(11, g.pi_stabilize_pitch.kP());
 	Log_Write_Data(12, g.pi_rate_roll.kP());
 	Log_Write_Data(13, g.pi_rate_pitch.kP());
+#endif
 
 	SendDebug("\nReady to FLY ");
 }