From 481a55867e1b0e6f2cd6c196feea03984856e832 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 16 May 2014 14:45:39 +0900
Subject: [PATCH] Copter: only send sonar distance to GCS when sonar enabled
---
ArduCopter/GCS_Mavlink.pde | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 7b665eb4d..cb795c3fd 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
--
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