From a8906ac491914a70987874b61cd3161a224675b3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 27 Oct 2023 18:26:20 +1100
Subject: [PATCH] GCS_MAVLink: tidy sending of winch messages

---
 libraries/GCS_MAVLink/GCS.h          | 3 +++
 libraries/GCS_MAVLink/GCS_Common.cpp | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index e512ed7312..f12853064f 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -24,6 +24,7 @@
 #include <AP_Mount/AP_Mount_config.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_RangeFinder/AP_RangeFinder_config.h>
+#include <AP_Winch/AP_Winch_config.h>
 
 #include "ap_message.h"
 
@@ -385,7 +386,9 @@ public:
     void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
     void send_rpm() const;
     void send_generator_status() const;
+#if AP_WINCH_ENABLED
     virtual void send_winch_status() const {};
+#endif
     void send_water_depth() const;
     int8_t battery_remaining_pct(const uint8_t instance) const;
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 06a3c0fdb9..0d22beaa91 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -6021,10 +6021,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
     }
 #endif
 
+#if AP_WINCH_ENABLED
     case MSG_WINCH_STATUS:
         CHECK_PAYLOAD_SIZE(WINCH_STATUS);
         send_winch_status();
         break;
+#endif
 
     case MSG_WATER_DEPTH:
 #if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)