From fbbadecfe3d5dfef2f15df0a7f07e622039a41e0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 25 Oct 2023 15:23:59 +1100
Subject: [PATCH] GCS_MAVLink: tidy use of GPS mavlink defines

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index c0bb9a442f..f45c758db0 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3069,10 +3069,14 @@ float GCS_MAVLINK::vfr_hud_airspeed() const
     }
 #endif
 
+#if AP_GPS_ENABLED
     // because most vehicles don't have airspeed sensors, we return a
     // different sort of speed estimate in the relevant field for
     // comparison's sake.
     return AP::gps().ground_speed();
+#endif
+
+    return 0.0;
 }
 
 float GCS_MAVLINK::vfr_hud_climbrate() const
@@ -3977,12 +3981,14 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         break;
 #endif
 
+#if AP_GPS_ENABLED
     case MAVLINK_MSG_ID_GPS_RTCM_DATA:
     case MAVLINK_MSG_ID_GPS_INPUT:
     case MAVLINK_MSG_ID_HIL_GPS:
     case MAVLINK_MSG_ID_GPS_INJECT_DATA:
         AP::gps().handle_msg(msg);
         break;
+#endif
 
     case MAVLINK_MSG_ID_STATUSTEXT:
         handle_statustext(msg);
@@ -5760,6 +5766,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
         send_system_time();
         break;
+#if AP_GPS_ENABLED
     case MSG_GPS_RAW:
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
         AP::gps().send_mavlink_gps_raw(chan);
@@ -5768,18 +5775,19 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(GPS_RTK);
         AP::gps().send_mavlink_gps_rtk(chan, 0);
         break;
-    case MSG_GPS2_RAW:
 #if GPS_MAX_RECEIVERS > 1
+    case MSG_GPS2_RAW:
         CHECK_PAYLOAD_SIZE(GPS2_RAW);
         AP::gps().send_mavlink_gps2_raw(chan);
-#endif
         break;
-    case MSG_GPS2_RTK:
+#endif
 #if GPS_MAX_RECEIVERS > 1
+    case MSG_GPS2_RTK:
         CHECK_PAYLOAD_SIZE(GPS2_RTK);
         AP::gps().send_mavlink_gps_rtk(chan, 1);
-#endif
         break;
+#endif
+#endif  // AP_GPS_ENABLED
     case MSG_LOCAL_POSITION:
         CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
         send_local_position();