GCS_MAVLink: allow NavEKFs to be compiled out

5 years ago · 8fc64ccbe9
1 changed files with 2 additions and 1 deletions
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@ -410,7 +410,8 @@ void GCS_MAVLINK::send_ahrs2()
				@@ -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)) {