From 2ac9cc94c65bc48143d39901bc1ff79f76c7e084 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 26 Oct 2023 10:05:11 +1100
Subject: [PATCH] GCS_MAVLink: correct compilation if rangefinder disabled

---
 libraries/GCS_MAVLink/GCS.h          |  3 +++
 libraries/GCS_MAVLink/GCS_Common.cpp | 17 ++++++++++++++---
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index f695999aff..5941a2e46f 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -23,6 +23,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Mount/AP_Mount_config.h>
 #include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_RangeFinder/AP_RangeFinder_config.h>
 
 #include "ap_message.h"
 
@@ -338,7 +339,9 @@ public:
     void send_distance_sensor();
     // send_rangefinder sends only if a downward-facing instance is
     // found.  Rover overrides this!
+#if AP_RANGEFINDER_ENABLED
     virtual void send_rangefinder() const;
+#endif
     void send_proximity();
     virtual void send_nav_controller_output() const = 0;
     virtual void send_pid_tuning() = 0;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f45c758db0..697cde517a 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -378,6 +378,7 @@ bool GCS_MAVLINK::send_battery_status()
 }
 #endif  // AP_BATTERY_ENABLED
 
+#if AP_RANGEFINDER_ENABLED
 void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
 {
     if (!sensor->has_data()) {
@@ -408,11 +409,14 @@ void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, con
         (const float *)nullptr,                  // quaternion of sensor orientation for MAV_SENSOR_ROTATION_CUSTOM
         quality);                                // Signal quality of the sensor. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.
 }
+#endif  // AP_RANGEFINDER_ENABLED
+
 // send any and all distance_sensor messages.  This starts by sending
 // any distance sensors not used by a Proximity sensor, then sends the
 // proximity sensor ones.
 void GCS_MAVLINK::send_distance_sensor()
 {
+#if AP_RANGEFINDER_ENABLED
     RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder == nullptr) {
         return;
@@ -450,12 +454,14 @@ void GCS_MAVLINK::send_distance_sensor()
             send_distance_sensor(sensor, i);
         }
     }
+#endif  // AP_RANGEFINDER_ENABLED
 
 #if HAL_PROXIMITY_ENABLED
     send_proximity();
 #endif
 }
 
+#if AP_RANGEFINDER_ENABLED
 void GCS_MAVLINK::send_rangefinder() const
 {
     RangeFinder *rangefinder = RangeFinder::get_singleton();
@@ -471,6 +477,7 @@ void GCS_MAVLINK::send_rangefinder() const
             s->distance(),
             s->voltage_mv() * 0.001f);
 }
+#endif
 
 #if HAL_PROXIMITY_ENABLED
 void GCS_MAVLINK::send_proximity()
@@ -3782,10 +3789,12 @@ void GCS_MAVLINK::handle_can_frame(const mavlink_message_t &msg) const
 
 void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg)
 {
+#if AP_RANGEFINDER_ENABLED
     RangeFinder *rangefinder = AP::rangefinder();
     if (rangefinder != nullptr) {
         rangefinder->handle_msg(msg);
     }
+#endif
 
 #if HAL_PROXIMITY_ENABLED
     AP_Proximity *proximity = AP::proximity();
@@ -5478,7 +5487,7 @@ void GCS_MAVLINK::send_generator_status() const
 }
 #endif
 
-#if APM_BUILD_TYPE(APM_BUILD_Rover)
+#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
 void GCS_MAVLINK::send_water_depth() const
 {
     if (!HAVE_PAYLOAD_SPACE(chan, WATER_DEPTH)) {
@@ -5527,7 +5536,7 @@ void GCS_MAVLINK::send_water_depth() const
     }
 
 }
-#endif
+#endif  // AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
 
 #if HAL_ADSB_ENABLED
 void GCS_MAVLINK::send_uavionix_adsb_out_status() const
@@ -5720,10 +5729,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 #endif
 
+#if AP_RANGEFINDER_ENABLED
     case MSG_RANGEFINDER:
         CHECK_PAYLOAD_SIZE(RANGEFINDER);
         send_rangefinder();
         break;
+#endif
 
     case MSG_DISTANCE_SENSOR:
         send_distance_sensor();
@@ -5990,7 +6001,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 
     case MSG_WATER_DEPTH:
-#if APM_BUILD_TYPE(APM_BUILD_Rover)
+#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
         CHECK_PAYLOAD_SIZE(WATER_DEPTH);
         send_water_depth();
 #endif