AP_Periph: ensure all peripherals define HAL_PERIPH_ENABLE_GPS to 1 or 0

Tools/AP_Periph/AP_Periph.cpp

@@ -148,7 +148,7 @@ void AP_Periph_FW::init()
     serial_options.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     gps.set_default_type_for_gps1(HAL_GPS1_TYPE_DEFAULT);
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
         serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
@@ -413,7 +413,7 @@ void AP_Periph_FW::update()
         }
 #endif
 #if 0
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
         hal.serial(0)->printf("GPS status: %u\n", (unsigned)gps.status());
 #endif
 #ifdef HAL_PERIPH_ENABLE_MAG

Tools/AP_Periph/AP_Periph.h

@@ -61,7 +61,7 @@
 #endif
 
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
-#if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
+#if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && HAL_PERIPH_ENABLE_GPS)
     // Needs SerialManager + (AHRS or GPS)
     #error "AP_NMEA_Output requires Serial/GCS and either AHRS or GPS. Needs HAL_GCS_ENABLED and HAL_PERIPH_ENABLE_GPS"
 #endif
@@ -211,7 +211,7 @@ public:
     AP_Stats node_stats;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     AP_GPS gps;
 #if HAL_NUM_CAN_IFACES >= 2
     int8_t gps_mb_can_port = -1;
@@ -443,7 +443,7 @@ public:
 #ifdef HAL_PERIPH_ENABLE_MAG
     uint32_t last_mag_update_ms;
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     uint32_t last_gps_update_ms;
     uint32_t last_gps_yaw_ms;
 #endif
@@ -454,7 +454,7 @@ public:
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
     uint32_t last_airspeed_update_ms;
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     bool saw_gps_lock_once;
 #endif
 

Tools/AP_Periph/Parameters.cpp

@@ -224,7 +224,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(buzz_volume,     "BUZZER_VOLUME", 100),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     // GPS driver
     // @Group: GPS
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp

Tools/AP_Periph/Parameters.h

@@ -164,7 +164,7 @@ public:
     AP_Int8 pole_count[ESC_NUMBERS];
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     AP_Int8 gps_port;
 #if GPS_MOVING_BASELINE
     AP_Int8 gps_mb_only_can_port;

Tools/AP_Periph/can.cpp

@@ -346,7 +346,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
         AP_Param::erase_all();
         AP_Param::load_all();
         AP_Param::setup_sketch_defaults();
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
         AP_Param::setup_object_defaults(&gps, gps.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_BATTERY
@@ -474,7 +474,7 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
         canardSetLocalNodeID(canard_instance, msg.node_id);
         printf("IF%d Node ID allocated: %d\n", dronecan.dna_interface, msg.node_id);
 
-#if defined(HAL_PERIPH_ENABLE_GPS) && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE
+#if HAL_PERIPH_ENABLE_GPS && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE
         if (g.gps_mb_only_can_port) {
             // we need to assign the unallocated port to be used for Moving Baseline only
             gps_mb_can_port = (dronecan.dna_interface+1)%HAL_NUM_CAN_IFACES;
@@ -832,7 +832,7 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
         handle_arming_status(canard_instance, transfer);
         break;
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
         handle_RTCMStream(canard_instance, transfer);
         break;
@@ -955,7 +955,7 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
         *out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;
         return true;
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
         *out_data_type_signature = UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_SIGNATURE;
         return true;
@@ -1877,7 +1877,7 @@ void AP_Periph_FW::can_update()
 #ifdef HAL_PERIPH_ENABLE_MAG
         can_mag_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
         can_gps_update();
 #endif
 #if AP_UART_MONITOR_ENABLED

Tools/AP_Periph/gps.cpp

@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
 
 /*
   GPS support

Tools/AP_Periph/msp.cpp

@@ -45,7 +45,7 @@ void AP_Periph_FW::msp_sensor_update(void)
     if (msp.port.uart == nullptr) {
         return;
     }
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     send_msp_GPS();
 #endif
 #ifdef HAL_PERIPH_ENABLE_BARO
@@ -60,7 +60,7 @@ void AP_Periph_FW::msp_sensor_update(void)
 }
 
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
 /*
   send MSP GPS packet
  */

Tools/AP_Periph/serial_tunnel.cpp

@@ -43,7 +43,7 @@ extern const AP_HAL::HAL &hal;
 int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const
 {
     int8_t uart_num = -1;
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if HAL_PERIPH_ENABLE_GPS
     if (uart_num == -1) {
         uart_num = g.gps_port;
     }