From c5284c6fdf0e154c7d264f073438c1440ad50789 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 16 Dec 2024 10:36:27 +1100
Subject: [PATCH] Rover: allow WATER_DEPTH mavlink message rate to be specified

... and reduce the default rate

this is currently unconditionally streamed at 50Hz, chewing up all available bandwidth on some telemetry radios.
---
 Rover/GCS_Mavlink.cpp | 1 +
 Rover/Log.cpp         | 4 ----
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index a903e591c6..eaa26eee7d 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -589,6 +589,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_WIND,
 #if AP_RANGEFINDER_ENABLED
     MSG_RANGEFINDER,
+    MSG_WATER_DEPTH,
 #endif
     MSG_DISTANCE_SENSOR,
     MSG_SYSTEM_TIME,
diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index f13ad700ad..e474cda125 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -79,10 +79,6 @@ void Rover::Log_Write_Depth()
                             (double)(s->distance()),
                             temp_C);
     }
-#if AP_RANGEFINDER_ENABLED
-    // send water depth and temp to ground station
-    gcs().send_message(MSG_WATER_DEPTH);
-#endif
 }
 #endif