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Removed __PX4_QURT ifdefs from application layer

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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>
This commit is contained in:
Mark Charlebois
2015-08-06 12:51:20 -07:00
parent 009f528266
commit faae76e3c7
3 changed files with 9 additions and 8 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+4 -3
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@@ -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