From 8fc64ccbe9c7c46eb26f7e4ff5a6adcbf269cc89 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 12 Dec 2019 18:30:33 +1100
Subject: [PATCH] GCS_MAVLink: allow NavEKFs to be compiled out

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 14aaf78cae..3923c20f88 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -410,7 +410,8 @@ void GCS_MAVLINK::send_ahrs2()
 
 void GCS_MAVLINK::send_ahrs3()
 {
-#if AP_AHRS_NAVEKF_AVAILABLE
+#if AP_AHRS_NAVEKF_AVAILABLE && HAL_NAVEKF2_AVAILABLE
+
     const NavEKF2 &ekf2 = AP::ahrs_navekf().get_NavEKF2_const();
     if (ekf2.activeCores() > 0 &&
         HAVE_PAYLOAD_SPACE(chan, AHRS3)) {