diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index 7b665eb4d3d0949967719661722c7b06003527dc..cb795c3fd9bb868befe27ee0d994988e0d9cd663 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -581,6 +581,10 @@ static void NOINLINE send_current_waypoint(mavlink_channel_t chan) #if CONFIG_SONAR == ENABLED static void NOINLINE send_rangefinder(mavlink_channel_t chan) { + // exit immediately if sonar is disabled + if (!g.sonar_enabled) { + return; + } mavlink_msg_rangefinder_send(chan, sonar_alt * 0.01f, 0); } #endif