From 71a64d50465df90148d37383572c4e8a6c045ccd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 16:39:09 +1100
Subject: [PATCH] GCS_MAVLink: correct compilation when compass not enabled

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a81f3d5a38..377c083041 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -22,6 +22,7 @@
 #include "GCS.h"
 
 #include <AC_Fence/AC_Fence.h>
+#include <AP_Compass/AP_Compass.h>
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -38,6 +39,7 @@
 #include <AP_Gripper/AP_Gripper.h>
 #include <AC_Sprayer/AC_Sprayer.h>
 #include <AP_BLHeli/AP_BLHeli.h>
+#include <AP_Relay/AP_Relay.h>
 #include <AP_RSSI/AP_RSSI.h>
 #include <AP_RTC/AP_RTC.h>
 #include <AP_Scheduler/AP_Scheduler.h>
@@ -68,6 +70,8 @@
 #include "MissionItemProtocol_Rally.h"
 #include "MissionItemProtocol_Fence.h"
 
+#include <AP_Notify/AP_Notify.h>
+
 #include <stdio.h>
 
 #if HAL_RCINPUT_WITH_AP_RADIO
@@ -2031,16 +2035,16 @@ void GCS_MAVLINK::send_raw_imu()
 {
 #if AP_INERTIALSENSOR_ENABLED
     const AP_InertialSensor &ins = AP::ins();
-    const Compass &compass = AP::compass();
 
     const Vector3f &accel = ins.get_accel(0);
     const Vector3f &gyro = ins.get_gyro(0);
     Vector3f mag;
+#if AP_COMPASS_ENABLED
+    const Compass &compass = AP::compass();
     if (compass.get_count() >= 1) {
         mag = compass.get_field(0);
-    } else {
-        mag.zero();
     }
+#endif
 
     mavlink_msg_raw_imu_send(
         chan,
@@ -2063,7 +2067,6 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
 {
 #if AP_INERTIALSENSOR_ENABLED
     const AP_InertialSensor &ins = AP::ins();
-    const Compass &compass = AP::compass();
     int16_t _temperature = 0;
 
     bool have_data = false;
@@ -2078,11 +2081,14 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
         gyro = ins.get_gyro(instance);
         have_data = true;
     }
-    Vector3f mag{};
+    Vector3f mag;
+#if AP_COMPASS_ENABLED
+    const Compass &compass = AP::compass();
     if (compass.get_count() > instance) {
         mag = compass.get_field(instance);
         have_data = true;
     }
+#endif
     if (!have_data) {
         return;
     }