Copter: only send sonar distance to GCS when sonar enabled

2014-05-16 14:45:39 +09:00 · 2014-05-16 14:45:39 +09:00 · 481a55867e
commit 481a55867e
parent 8c7b4feac1
1 changed files with 4 additions and 0 deletions
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@ -581,6 +581,10 @@ static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
 #if CONFIG_SONAR == ENABLED
 static void NOINLINE send_rangefinder(mavlink_channel_t chan)
 {
+    // exit immediately if sonar is disabled
+    if (!g.sonar_enabled) {
+        return;
+    }
    mavlink_msg_rangefinder_send(chan, sonar_alt * 0.01f, 0);
 }
 #endif