AP_CINS: fixes from CI

ArduPilot · Nov 24, 2023 · 6dbce7b · 6dbce7b
1 parent 08b0744
commit 6dbce7b
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/libraries/AP_CINS/AP_CINS.cpp b/libraries/AP_CINS/AP_CINS.cpp
@@ -24,6 +24,7 @@
 #define CINS_INITIAL_PITCH 0
 #define CINS_INITIAL_YAW 0
 
+#pragma GCC diagnostic error "-Wframe-larger-than=2000"
 
 /*
   initialise the filter
@@ -95,6 +96,7 @@ void AP_CINS::update(void)
     // update_yaw_from_compass();
     update_attitude_from_compass();
 
+#if HAL_LOGGING_ENABLED
     // @LoggerMessage: CINS
     // @Description: CINS state
     // @Field: TimeUS: Time since system startup
@@ -131,6 +133,7 @@ void AP_CINS::update(void)
                                 loc.lat,
                                 loc.lng,
                                 loc.alt*0.01);
+#endif // LOGGING_ENABLED
 }
 
 
@@ -366,4 +369,4 @@ void AP_CINS::update_attitude_from_compass() {
     Delta = state.ZHat * Delta * state.ZHat.inverse();
 
     state.XHat = Gal3(Delta.R(), Delta.W2(), Delta.W1(), 0.) * state.XHat;
-}
+}