From a2ecaf737dd08e601456c1278f355b8d0a6e6618 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 20 Jun 2023 18:38:59 +1000
Subject: [PATCH] GCS_MAVLink: correct define around use of ins singleton

---
 libraries/GCS_MAVLink/GCS.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index fa604ad47df64..7ff1e7ec3ca42 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -149,9 +149,12 @@ void GCS::update_sensor_status_flags()
     control_sensors_enabled = 0;
     control_sensors_health = 0;
 
-#if AP_AHRS_ENABLED
-    AP_AHRS &ahrs = AP::ahrs();
+#if AP_INERTIALSENSOR_ENABLED
     const AP_InertialSensor &ins = AP::ins();
+#endif
+
+#if AP_AHRS_ENABLED && AP_INERTIALSENSOR_ENABLED
+    AP_AHRS &ahrs = AP::ahrs();
 
     control_sensors_present |= MAV_SYS_STATUS_AHRS;
     if (ahrs.initialised()) {
@@ -206,7 +209,7 @@ void GCS::update_sensor_status_flags()
     }
 #endif
 
-#if AP_AHRS_ENABLED
+#if AP_INERTIALSENSOR_ENABLED
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_GYRO;
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_ACCEL;
     if (!ins.calibrating()) {