From f4409066bc153cc75e4c464151c47394ba56b36e Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Fri, 16 Apr 2021 20:11:19 +0200
Subject: [PATCH] AP_KDECAN: fix compilation when HAL_WITH_ESC_TELEM == 0

---
 libraries/AP_KDECAN/AP_KDECAN.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_KDECAN/AP_KDECAN.cpp b/libraries/AP_KDECAN/AP_KDECAN.cpp
index 48e1cd3f0c..6928e00a4c 100644
--- a/libraries/AP_KDECAN/AP_KDECAN.cpp
+++ b/libraries/AP_KDECAN/AP_KDECAN.cpp
@@ -437,6 +437,7 @@ void AP_KDECAN::loop()
             int16_t res = _can_iface->receive(frame, rx_time, flags);
 
             if (res == 1) {
+#if HAL_WITH_ESC_TELEM
                 frame_id_t id { .value = frame.id & AP_HAL::CANFrame::MaskExtID };
 
                 // check if frame is valid: directed at autopilot, doesn't come from broadcast and ESC was detected before
@@ -470,6 +471,7 @@ void AP_KDECAN::loop()
                             break;
                     }
                 }
+#endif // HAL_WITH_ESC_TELEM
             }
         }