From 84ac1ac41d6e8f3ed039696667f4715bbe9c4cb3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 22 Feb 2020 10:07:26 +1100
Subject: [PATCH] AP_Periph: don't probe rangefinder continuously

---
 Tools/AP_Periph/can.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index ee892b2c9f..889c2f09de 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1525,6 +1525,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
     if (rangefinder.get_type(0) == RangeFinder::Type::NONE) {
         return;
     }
+#if CAN_PROBE_CONTINUOUS
     if (rangefinder.num_sensors() == 0) {
         uint32_t now = AP_HAL::millis();
         static uint32_t last_probe_ms;
@@ -1533,6 +1534,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
             rangefinder.init(ROTATION_NONE);
         }
     }
+#endif
     uint32_t now = AP_HAL::millis();
     static uint32_t last_update_ms;
     if (now - last_update_ms < 20) {