Plane: handle new MAVLink rangefinder input

9 years ago · 25c8027606
1 changed files with 6 additions and 0 deletions
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@ -2030,6 +2030,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
				@@ -2030,6 +2030,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
        handle_gps_inject(msg, plane.gps);
        break;

+#if RANGEFINDER_ENABLED == ENABLED
+    case MAVLINK_MSG_ID_DISTANCE_SENSOR:
+        plane.rangefinder.handle_msg(msg);
+        break;
+#endif
+
    case MAVLINK_MSG_ID_TERRAIN_DATA:
    case MAVLINK_MSG_ID_TERRAIN_CHECK:
 #if AP_TERRAIN_AVAILABLE