def METHOD_NAME(self, vehicle, m):
    heading = self.heading_for_vehicle.get(vehicle, 0)
    tlayer = "Distance sensor for %u.%u id=%u" % (
        m.get_srcSystem(), m.get_srcComponent(), m.id)
    slipkey = '%s-POS%u' % (tlayer, m.orientation)
    if not m.get_srcSystem() in self.lat_lon_for_vehicle:
        return
    if m.current_distance == m.max_distance:
        self.foreach_map(lambda a_map : a_map.remove_object(slipkey))
        return
    (lat,lon) = self.lat_lon_for_vehicle[m.get_srcSystem()]
    mav_sensor_rotation_to_degrees = {
        mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 0,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 45,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 90,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135 : 135,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 180,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225 : 225,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270 : 270,
        mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315 : 315,
    }
    if m.orientation in mav_sensor_rotation_to_degrees:
        degrees = mav_sensor_rotation_to_degrees[m.orientation]
    else: