AC_Avoidance: correct defines

rmackay9 · Mar 9, 2024 · ef6dfe2 · ef6dfe2
1 parent b5e7e3e
commit ef6dfe2
Showing 1 changed file with 17 additions and 2 deletions.
diff --git a/libraries/AC_Avoidance/LogStructure.h b/libraries/AC_Avoidance/LogStructure.h
@@ -2,8 +2,6 @@
 
 #include "AC_Avoidance_config.h"
 
-#if AP_AVOIDANCE_ENABLED
-
 #include <AP_Logger/LogStructure.h>
 
 #define LOG_IDS_FROM_AVOIDANCE \
@@ -12,6 +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
@@ -45,7 +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
@@ -69,7 +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
@@ -93,7 +97,9 @@ struct PACKED log_SimpleAvoid {
   float modified_vel_z;
   uint8_t backing_up;
 };
+#endif  // AP_AVOIDANCE_ENABLED
 
+#if AC_OAPATHPLANNER_ENABLED
 // @LoggerMessage: OAVG
 // @Description: Object avoidance path planning visgraph points
 // @Field: TimeUS: Time since system startup
@@ -109,16 +115,25 @@ struct PACKED log_OD_Visgraph {
   int32_t Lat;
   int32_t Lon;
 };
+#endif  // AP_OAPATHPLANNER_ENABLED
 
 #define LOG_STRUCTURE_FROM_AVOIDANCE \
+#if AP_OAPATHPLANNER_BENDYRULER_ENABLED
     { 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 }, \
+#endif
+#if AP_OAPATHPLANNER_DIJKSTRA_ENABLED
     { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
       "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "s----DUDU", "F----GGGG" , true }, \
+#endif
+#if AP_AVOIDANCE_ENABLED
     { LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \
       "SA",  "QBffffffB","TimeUS,State,DVelX,DVelY,DVelZ,MVelX,MVelY,MVelZ,Back", "s-nnnnnn-", "F--------", true }, \
+#endif
+#if AC_OAPATHPLANNER_ENABLED
      { LOG_OD_VISGRAPH_MSG, sizeof(log_OD_Visgraph), \
       "OAVG", "QBBLL", "TimeUS,version,point_num,Lat,Lon", "s--DU", "F--GG", true},
+#endif
 
 #else