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Copter: only send sonar distance to GCS when sonar enabled

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This commit is contained in:
Randy Mackay 2014-05-16 14:45:39 +09:00
parent 8c7b4feac1
commit 481a55867e
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/GCS_Mavlink.pde
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@ -581,6 +581,10 @@ static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
static void NOINLINE send_rangefinder(mavlink_channel_t chan) 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); mavlink_msg_rangefinder_send(chan, sonar_alt * 0.01f, 0);
} }
#endif #endif