From 34430e9d6c5f65a04c1cae9a90512917b53dd085 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 1 Sep 2020 17:54:29 +1000
Subject: [PATCH] AP_RangeFinder: allow separate enable of MSP rangefinder

---
 libraries/AP_RangeFinder/AP_RangeFinder.h         | 2 +-
 libraries/AP_RangeFinder/AP_RangeFinder_Backend.h | 2 +-
 libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp   | 5 +++--
 libraries/AP_RangeFinder/AP_RangeFinder_MSP.h     | 5 +++--
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index 5bc059712d..7cbbaebd21 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -143,7 +143,7 @@ public:
 #if HAL_MSP_RANGEFINDER_ENABLED
     // Handle an incoming DISTANCE_SENSOR message (from a MSP enabled range finder)
     void handle_msp(const MSP::msp_rangefinder_sensor_t &pkt);
-#endif //HAL_MSP_RANGEFINDER_ENABLED
+#endif
     // return true if we have a range finder with the specified orientation
     bool has_orientation(enum Rotation orientation) const;
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
index c4d65b922d..195af797d7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
@@ -32,7 +32,7 @@ public:
     virtual void update() = 0;
 
     virtual void handle_msg(const mavlink_message_t &msg) { return; }
-#if HAL_MSP_ENABLED
+#if HAL_MSP_RANGEFINDER_ENABLED
     virtual void handle_msp(const MSP::msp_rangefinder_sensor_t &pkt) { return; }
 #endif
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp
index 2d735edc6b..e47579ff8f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp
@@ -16,7 +16,7 @@
 #include "AP_RangeFinder_MSP.h"
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_RANGEFINDER_ENABLED
 
 extern const AP_HAL::HAL& hal;
 
@@ -68,4 +68,5 @@ void AP_RangeFinder_MSP::update(void)
     }
 }
 
-#endif //HAL_MSP_ENABLED
\ No newline at end of file
+#endif //HAL_MSP_RANGEFINDER_ENABLED
+
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
index b612983b2e..273815f289 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
@@ -3,7 +3,7 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_RANGEFINDER_ENABLED
 
 // Data timeout
 #define AP_RANGEFINDER_MSP_TIMEOUT_MS 500
@@ -38,4 +38,5 @@ private:
     static bool get_reading(uint16_t &reading_cm);
 };
 
-#endif  //HAL_MSP_ENABLED
\ No newline at end of file
+#endif  //HAL_MSP_RANGEFINDER_ENABLED
+