From 73710d888de1c1f8a1153327624ac893473a11e4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 16 Dec 2024 10:53:09 +1100
Subject: [PATCH] Rover: tidy WATER_DEPTH send checks

---
 Rover/GCS_Mavlink.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index b4a53e3c9f..841f6e97cb 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -199,9 +199,14 @@ void GCS_MAVLINK_Rover::send_water_depth() const
 
     RangeFinder *rangefinder = RangeFinder::get_singleton();
 
-    if (rangefinder == nullptr || !rangefinder->has_orientation(ROTATION_PITCH_270)){
+    if (rangefinder == nullptr) {
         return;
-    } 
+    }
+
+    // depth can only be measured by a downward-facing rangefinder:
+    if (!rangefinder->has_orientation(ROTATION_PITCH_270)) {
+        return;
+    }
 
     // get position
     const AP_AHRS &ahrs = AP::ahrs();