From 1c7eebec3a3980ba6263051448a4557c889c3940 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 25 Oct 2023 15:08:40 +1100 Subject: [PATCH] GCS_MAVLink: tidy proximity message handling --- libraries/GCS_MAVLink/GCS_Common.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index df3c99d8fe..c0bb9a442f 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -3791,25 +3791,23 @@ void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg) #endif } +#if HAL_PROXIMITY_ENABLED void GCS_MAVLINK::handle_obstacle_distance(const mavlink_message_t &msg) { -#if HAL_PROXIMITY_ENABLED AP_Proximity *proximity = AP::proximity(); if (proximity != nullptr) { proximity->handle_msg(msg); } -#endif } void GCS_MAVLINK::handle_obstacle_distance_3d(const mavlink_message_t &msg) { -#if HAL_PROXIMITY_ENABLED AP_Proximity *proximity = AP::proximity(); if (proximity != nullptr) { proximity->handle_msg(msg); } -#endif } +#endif #if HAL_ADSB_ENABLED void GCS_MAVLINK::handle_adsb_message(const mavlink_message_t &msg) @@ -4076,13 +4074,15 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg) handle_distance_sensor(msg); break; +#if HAL_PROXIMITY_ENABLED case MAVLINK_MSG_ID_OBSTACLE_DISTANCE: handle_obstacle_distance(msg); break; - + case MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D: handle_obstacle_distance_3d(msg); break; +#endif #if OSD_PARAM_ENABLED case MAVLINK_MSG_ID_OSD_PARAM_CONFIG: