Review fixes no. 3

- Reverted the logging changes (...manually) - Applied the guardian directive for checking if quadplane is enabled Co-Authored-By: Peter Hall <[email protected]>
ArduPilot · Oct 16, 2023 · 26102d7 · 26102d7
1 parent 9e9292b
commit 26102d7
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -157,8 +157,9 @@ void GCS_MAVLINK_Plane::send_attitude() const
         omega.z);
 }
 
-void GCS_MAVLINK_Plane::send_attitude_target() {
-
+void GCS_MAVLINK_Plane::send_attitude_target() 
+{
+#if HAL_QUADPLANE_ENABLED
     // Check if the attitude target is valid for reporting
     const uint32_t now = AP_HAL::millis();
     if (now  - plane.quadplane.last_att_control_ms > 100) {
@@ -182,6 +183,9 @@ void GCS_MAVLINK_Plane::send_attitude_target() {
         ang_vel.y,              // bodyframe target pitch rate (rad/s)
         ang_vel.z,              // bodyframe yaw rate (rad/s)
         throttle);              // Collective thrust, normalized to 0 .. 1
+
+#endif // HAL_QUADPLANE_ENABLED 
+
 }
 
 

diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -563,7 +563,6 @@ bool AP_Logger_Backend::Write_VER()
         git_hash: fwver.fw_hash,
         build_type: fwver.vehicle_type,
     };
-
     strncpy(pkt.fw_string, fwver.fw_string, ARRAY_SIZE(pkt.fw_string)-1);
 
 #ifdef APJ_BOARD_ID

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
@@ -682,9 +682,9 @@ struct PACKED log_VER {
     uint8_t patch;
     uint8_t fw_type;
     uint32_t git_hash;
-    uint8_t build_type;
     char fw_string[64];
     uint16_t _APJ_BOARD_ID;
+    uint8_t build_type;
 };