From 3afe5913683ab69042c9125ab456e1cc6e325141 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 20 Apr 2018 18:57:14 +1000 Subject: [PATCH] Rover: correct compilation when logging is disabled --- APMrover2/APMrover2.cpp | 2 ++ APMrover2/Log.cpp | 1 + APMrover2/system.cpp | 2 ++ 3 files changed, 5 insertions(+) diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp index 98cbfa6696..8111154abc 100644 --- a/APMrover2/APMrover2.cpp +++ b/APMrover2/APMrover2.cpp @@ -82,7 +82,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = { SCHED_TASK(one_second_loop, 1, 1500), SCHED_TASK(compass_cal_update, 50, 200), SCHED_TASK(accel_cal_update, 10, 200), +#if LOGGING_ENABLED == ENABLED SCHED_TASK_CLASS(DataFlash_Class, &rover.DataFlash, periodic_tasks, 50, 300), +#endif SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 50, 200), SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200), SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200), diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp index ccc480d33d..60f6f6a44c 100644 --- a/APMrover2/Log.cpp +++ b/APMrover2/Log.cpp @@ -345,5 +345,6 @@ void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} void Rover::Log_Write_Steering() {} void Rover::Log_Write_WheelEncoder() {} void Rover::Log_Write_Proximity() {} +void Rover::Log_Write_Vehicle_Startup_Messages() {} #endif // LOGGING_ENABLED diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp index ca4df91fd3..913f9a848a 100644 --- a/APMrover2/system.cpp +++ b/APMrover2/system.cpp @@ -189,10 +189,12 @@ void Rover::startup_ground(void) mission.init(); // initialise DataFlash library +#if LOGGING_ENABLED == ENABLED DataFlash.set_mission(&mission); DataFlash.setVehicle_Startup_Log_Writer( FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void) ); +#endif // we don't want writes to the serial port to cause us to pause // so set serial ports non-blocking once we are ready to drive