From e835394d25a4b5e7496d9d1d08803bbe84082e9a Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 21 Jan 2026 17:26:05 +1300
Subject: [PATCH] mavlink: fixup ifdefs around ESC_EEPROM

---
 src/modules/mavlink/mavlink_main.cpp     | 10 ++++++++++
 src/modules/mavlink/mavlink_receiver.cpp | 18 ++++++++----------
 2 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b1d1a8fbcd..d3ea5aa5b1 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1431,7 +1431,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("EFI_STATUS", 2.0f);
 		configure_stream_local("ESC_INFO", 1.0f);
 		configure_stream_local("ESC_STATUS", 1.0f);
+#if defined(MAVLINK_MSG_ID_ESC_EEPROM)
 		configure_stream_local("ESC_EEPROM", unlimited_rate);
+#endif
 		configure_stream_local("ESTIMATOR_STATUS", 0.5f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
@@ -1498,7 +1500,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DISTANCE_SENSOR", 10.0f);
 		configure_stream_local("ESC_INFO", 10.0f);
 		configure_stream_local("ESC_STATUS", 10.0f);
+#if defined(MAVLINK_MSG_ID_ESC_EEPROM)
 		configure_stream_local("ESC_EEPROM", unlimited_rate);
+#endif
 		configure_stream_local("MOUNT_ORIENTATION", 10.0f);
 		configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
 		configure_stream_local("ODOMETRY", 30.0f);
@@ -1677,7 +1681,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("EFI_STATUS", 10.0f);
 		configure_stream_local("ESC_INFO", 10.0f);
 		configure_stream_local("ESC_STATUS", 10.0f);
+#if defined(MAVLINK_MSG_ID_ESC_EEPROM)
 		configure_stream_local("ESC_EEPROM", unlimited_rate);
+#endif
 		configure_stream_local("ESTIMATOR_STATUS", 5.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
@@ -1773,7 +1779,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("ESC_INFO", 1.0f);
 		configure_stream_local("ESC_STATUS", 5.0f);
+#if defined(MAVLINK_MSG_ID_ESC_EEPROM)
 		configure_stream_local("ESC_EEPROM", unlimited_rate);
+#endif
 
 		configure_stream_local("ADSB_VEHICLE", unlimited_rate);
 		configure_stream_local("ATTITUDE_TARGET", 2.0f);
@@ -1842,7 +1850,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 2.0f);
 		configure_stream_local("ESC_INFO", 1.0f);
 		configure_stream_local("ESC_STATUS", 2.0f);
+#if defined(MAVLINK_MSG_ID_ESC_EEPROM)
 		configure_stream_local("ESC_EEPROM", unlimited_rate);
+#endif
 		configure_stream_local("ADSB_VEHICLE", 1.0f);
 		configure_stream_local("ATTITUDE_TARGET", 0.5f);
 		configure_stream_local("AVAILABLE_MODES", 0.3f);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index de03123d11..bca77082b6 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -608,19 +608,17 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 		if (message_id == MAVLINK_MSG_ID_ESC_EEPROM) {
 			PX4_INFO("publishing MAV_CMD_REQUEST_MESSAGE for MAVLINK_MSG_ID_ESC_EEPROM");
 			_cmd_pub.publish(vehicle_command);
-#else
 
-		if (1) {
-			// no-op
+		} else
 #endif
-		} else if (message_id == MAVLINK_MSG_ID_MESSAGE_INTERVAL) {
-			get_message_interval((int)(cmd_mavlink.param2 + 0.5f));
+			if (message_id == MAVLINK_MSG_ID_MESSAGE_INTERVAL) {
+				get_message_interval((int)(cmd_mavlink.param2 + 0.5f));
 
-		} else {
-			result = handle_request_message_command(message_id,
-								vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
-								vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
-		}
+			} else {
+				result = handle_request_message_command(message_id,
+									vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
+									vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
+			}
 
 	} else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) {
 		if (_mavlink.failure_injection_enabled()) {