From 33a788ebb560bf6131f19fe0598519082463a05a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 16 Dec 2024 10:47:14 +1100
Subject: [PATCH] GCS_MAVLink: move sending of WATER_DEPTH into Rover code

only compiled in on Rover at the moment.

need to add an additional Rover-specific check for frame type, so move this code into Rover for now.
---
 libraries/GCS_MAVLink/GCS.h          |  1 -
 libraries/GCS_MAVLink/GCS_Common.cpp | 58 ----------------------------
 2 files changed, 59 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 649a12a6ad..aa67f61e8c 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -403,7 +403,6 @@ public:
 #if AP_WINCH_ENABLED
     virtual void send_winch_status() const {};
 #endif
-    void send_water_depth() const;
     int8_t battery_remaining_pct(const uint8_t instance) const;
 
 #if HAL_HIGH_LATENCY2_ENABLED
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index e670339e7b..91dfd299c3 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5966,57 +5966,6 @@ void GCS_MAVLINK::send_generator_status() const
 }
 #endif
 
-#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
-void GCS_MAVLINK::send_water_depth() const
-{
-    if (!HAVE_PAYLOAD_SPACE(chan, WATER_DEPTH)) {
-        return;
-    }
-
-    RangeFinder *rangefinder = RangeFinder::get_singleton();
-
-    if (rangefinder == nullptr || !rangefinder->has_orientation(ROTATION_PITCH_270)){
-        return;
-    } 
-
-    // get position
-    const AP_AHRS &ahrs = AP::ahrs();
-    Location loc;
-    IGNORE_RETURN(ahrs.get_location(loc));
-
-    for (uint8_t i=0; i<rangefinder->num_sensors(); i++) {
-        const AP_RangeFinder_Backend *s = rangefinder->get_backend(i);
-        
-        if (s == nullptr || s->orientation() != ROTATION_PITCH_270 || !s->has_data()) {
-            continue;
-        }
-
-        // get temperature
-        float temp_C;
-        if (!s->get_temp(temp_C)) {
-            temp_C = 0.0f;
-        }
-
-        const bool sensor_healthy = (s->status() == RangeFinder::Status::Good);
-
-        mavlink_msg_water_depth_send(
-            chan,
-            AP_HAL::millis(),   // time since system boot TODO: take time of measurement
-            i,                  // rangefinder instance
-            sensor_healthy,     // sensor healthy
-            loc.lat,            // latitude of vehicle
-            loc.lng,            // longitude of vehicle
-            loc.alt * 0.01f,    // altitude of vehicle (MSL)
-            ahrs.get_roll(),    // roll in radians
-            ahrs.get_pitch(),   // pitch in radians
-            ahrs.get_yaw(),     // yaw in radians
-            s->distance(),    // distance in meters
-            temp_C);            // temperature in degC
-    }
-
-}
-#endif  // AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
-
 #if HAL_ADSB_ENABLED
 void GCS_MAVLINK::send_uavionix_adsb_out_status() const
 {
@@ -6547,13 +6496,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 #endif
 
-#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
-    case MSG_WATER_DEPTH:
-        CHECK_PAYLOAD_SIZE(WATER_DEPTH);
-        send_water_depth();
-        break;
-#endif
-
 #if HAL_HIGH_LATENCY2_ENABLED
     case MSG_HIGH_LATENCY2:
         CHECK_PAYLOAD_SIZE(HIGH_LATENCY2);