From 39f7d7a3ad398398ac5b4ca30a95ab9e4358c793 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Tue, 13 Aug 2024 09:15:31 +1000
Subject: [PATCH] AP_ExternalAHRS: Allow InertialLabs to be used as build
 option properly

build_options cannot autodetect InertialLabs since the feature is extracted as AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED (without the underscore).
This allows you to define in/out InertialLabs properly.
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp              | 2 +-
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h                | 2 +-
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 4 ++--
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h   | 4 ++--
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h         | 4 ++--
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index e113eba81d..229ca00dea 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -124,7 +124,7 @@ void AP_ExternalAHRS::init(void)
         return;
 #endif
 
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
     case DevType::InertialLabs:
         backend = NEW_NOTHROW AP_ExternalAHRS_InertialLabs(this, state);
         return;
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index 2d01f28c28..a08c282291 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -49,7 +49,7 @@ public:
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
         MicroStrain5 = 2,
 #endif
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
         InertialLabs = 5,
 #endif
         // 3 reserved for AdNav
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index 43e858a740..129c11616a 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -18,7 +18,7 @@
 
 #include "AP_ExternalAHRS_config.h"
 
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
 #include "AP_ExternalAHRS_InertialLabs.h"
 #include <AP_Math/AP_Math.h>
@@ -692,5 +692,5 @@ void AP_ExternalAHRS_InertialLabs::send_status_report(GCS_MAVLINK &link) const
                                        mag_var, 0, 0);
 }
 
-#endif  // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#endif  // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
index 9de2c9526e..639d39e2d5 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
@@ -20,7 +20,7 @@
 
 #include "AP_ExternalAHRS_config.h"
 
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
 #include "AP_ExternalAHRS_backend.h"
 
@@ -228,5 +228,5 @@ private:
     uint32_t last_gps_ms;
 };
 
-#endif  // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#endif  // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
index 75e8e52280..650f605b0a 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -26,6 +26,6 @@
 #define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
 #endif
 
-#ifndef AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
-#define AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#ifndef AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
+#define AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
 #endif