From faae76e3c798e2dc3d4e920e29f1f46c2bf27d98 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Thu, 6 Aug 2015 12:51:20 -0700
Subject: [PATCH] Removed __PX4_QURT ifdefs from application layer

Replaced test for __PX4_QURT with test for NAV_DEBUG.

Optimized implementation to remove code when flag is not set.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 .../position_estimator_inav/position_estimator_inav_main.c | 7 ++++---
 src/platforms/posix/include/px4_platform_types.h           | 3 +++
 src/platforms/px4_workqueue.h                              | 7 ++-----
 3 files changed, 9 insertions(+), 8 deletions(-)
 create mode 100644 src/platforms/posix/include/px4_platform_types.h

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index e208e3bf04..05687d0943 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -185,12 +185,11 @@ int position_estimator_inav_main(int argc, char *argv[])
 	return 1;
 }
 
+#ifdef INAV_DEBUG
 static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2],
 	float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v, float corr_mocap[3][1], float w_mocap_p,
 	float corr_vision[3][2], float w_xy_vision_p, float w_z_vision_p, float w_xy_vision_v)
 {
-	return;
-#ifndef __PX4_QURT
 	FILE *f = fopen(PX4_ROOTFSDIR"/fs/microsd/inav.log", "a");
 
 	if (f) {
@@ -214,8 +213,10 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 
 	fsync(fileno(f));
 	fclose(f);
-#endif
 }
+#else
+#define write_debug_log(...) 
+#endif
 
 /****************************************************************************
  * main
diff --git a/src/platforms/posix/include/px4_platform_types.h b/src/platforms/posix/include/px4_platform_types.h
new file mode 100644
index 0000000000..abaf177444
--- /dev/null
+++ b/src/platforms/posix/include/px4_platform_types.h
@@ -0,0 +1,3 @@
+#ifdef __PX4_QURT
+#include <dspal_types.h>
+#endif
diff --git a/src/platforms/px4_workqueue.h b/src/platforms/px4_workqueue.h
index 865d621a51..79162e3f6b 100644
--- a/src/platforms/px4_workqueue.h
+++ b/src/platforms/px4_workqueue.h
@@ -41,14 +41,11 @@
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
-#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
+#elif defined(__PX4_POSIX)
 
 #include <stdint.h>
 #include <queue.h>
-
-#ifdef __PX4_QURT
-   #include <dspal_types.h>
-#endif
+#include <px4_platform_types.h>
 
 __BEGIN_DECLS