Rover: add specific defines for sending of GPS mavlink messages

ArduPilot · Nov 10, 2024 · 86c93cd · 86c93cd
1 parent c27dc81
commit 86c93cd
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
@@ -541,10 +541,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,

diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp
@@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_MCU_STATUS,
 #endif
     MSG_MEMINFO,
-#if AP_GPS_ENABLED
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
 #endif
 };