AC_Avoidance: remove log structures when avoidance/pathplanner not co…

…mpiled in
ArduPilot · Mar 9, 2024 · 5650342 · 5650342
1 parent c87c0c0
commit 5650342
Showing 1 changed file with 25 additions and 0 deletions.
diff --git a/libraries/AC_Avoidance/LogStructure.h b/libraries/AC_Avoidance/LogStructure.h
@@ -10,6 +10,8 @@
     LOG_SIMPLE_AVOID_MSG, \
     LOG_OD_VISGRAPH_MSG
 
+#if AP_OAPATHPLANNER_BENDYRULER_ENABLED
+
 // @LoggerMessage: OABR
 // @Description: Object avoidance (Bendy Ruler) diagnostics
 // @Field: TimeUS: Time since system startup
@@ -43,7 +45,9 @@ struct PACKED log_OABendyRuler {
     int32_t oa_lng;
     int32_t oa_alt;
 };
+#endif  // AP_OAPATHPLANNER_BENDYRULER_ENABLED
 
+#if AP_OAPATHPLANNER_DIJKSTRA_ENABLED
 // @LoggerMessage: OADJ
 // @Description: Object avoidance (Dijkstra) diagnostics
 // @Field: TimeUS: Time since system startup
@@ -67,7 +71,9 @@ struct PACKED log_OADijkstra {
     int32_t oa_lat;
     int32_t oa_lng;
 };
+#endif  // AP_OAPATHPLANNER_DIJKSTRA_ENABLED
 
+#if AP_AVOIDANCE_ENABLED
 // @LoggerMessage: SA
 // @Description: Simple Avoidance messages
 // @Field: TimeUS: Time since system startup
@@ -91,7 +97,9 @@ struct PACKED log_SimpleAvoid {
   float modified_vel_z;
   uint8_t backing_up;
 };
+#endif  // AP_AVOIDANCE_ENABLED
 
+#if AP_OAPATHPLANNER_ENABLED
 // @LoggerMessage: OAVG
 // @Description: Object avoidance path planning visgraph points
 // @Field: TimeUS: Time since system startup
@@ -107,22 +115,39 @@ struct PACKED log_OD_Visgraph {
   int32_t Lat;
   int32_t Lon;
 };
+#endif  // AP_OAPATHPLANNER_ENABLED
 
+#if AP_OAPATHPLANNER_BENDYRULER_ENABLED
 #define LOG_STRUCTURE_BENDYRULER \
     { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
       "OABR","QBBHHHBfLLiLLi","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s--ddd-mDUmDUm", "F-------GGBGGB" , true },
+#else
+#define LOG_STRUCTURE_BENDYRULER
+#endif
 
+#if AP_OAPATHPLANNER_DIJKSTRA_ENABLED
 #define LOG_STRUCTURE_DIJKSTRA \
     { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra),                      \
       "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "s----DUDU", "F----GGGG" , true },
+#else
+#define LOG_STRUCTURE_DIJKSTRA
+#endif
 
+#if AP_AVOIDANCE_ENABLED
 #define LOG_STRUCTURE_SA \
     { LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \
       "SA",  "QBffffffB","TimeUS,State,DVelX,DVelY,DVelZ,MVelX,MVelY,MVelZ,Back", "s-nnnnnn-", "F--------", true },
+#else
+#define LOG_STRUCTURE_SA
+#endif
 
+#if AP_OAPATHPLANNER_ENABLED
 #define LOG_STRUCTURE_VG \
     { LOG_OD_VISGRAPH_MSG, sizeof(log_OD_Visgraph),                     \
       "OAVG", "QBBLL", "TimeUS,version,point_num,Lat,Lon", "s--DU", "F--GG", true},
+#else
+#define LOG_STRUCTURE_VG
+#endif
 
 #define LOG_STRUCTURE_FROM_AVOIDANCE \
     LOG_STRUCTURE_BENDYRULER \