AP_Compass: regularise compass defines

start to make compass backends look like backends from our other libraries

libraries/AP_Compass/AP_Compass.cpp

@@ -10,6 +10,8 @@
 #include <AP_CustomRotations/AP_CustomRotations.h>
 #include <GCS_MAVLink/GCS.h>
 
+#include "AP_Compass_config.h"
+
 #include "AP_Compass_SITL.h"
 #include "AP_Compass_AK8963.h"
 #include "AP_Compass_Backend.h"
@@ -22,17 +24,17 @@
 #include "AP_Compass_LIS3MDL.h"
 #include "AP_Compass_AK09916.h"
 #include "AP_Compass_QMC5883L.h"
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_COMPASS_UAVCAN_ENABLED
 #include "AP_Compass_UAVCAN.h"
 #endif
 #include "AP_Compass_MMC3416.h"
 #include "AP_Compass_MMC5xx3.h"
 #include "AP_Compass_MAG3110.h"
 #include "AP_Compass_RM3100.h"
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
 #include "AP_Compass_MSP.h"
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
 #include "AP_Compass_ExternalAHRS.h"
 #endif
 #include "AP_Compass.h"
@@ -1265,7 +1267,7 @@ void Compass::_probe_external_i2c_compasses(void)
  */
 void Compass::_detect_backends(void)
 {
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     const int8_t serial_port = AP::externalAHRS().get_port();
     if (serial_port >= 0) {
         ADD_BACKEND(DRIVER_SERIAL, new AP_Compass_ExternalAHRS(serial_port));
@@ -1279,7 +1281,7 @@ void Compass::_detect_backends(void)
     }
 #endif
 
-#if AP_SIM_COMPASS_ENABLED
+#if AP_COMPASS_SITL_ENABLED
     ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL());
 #endif
 
@@ -1289,7 +1291,7 @@ void Compass::_detect_backends(void)
     CHECK_UNREG_LIMIT_RETURN;
 #endif
 
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
     for (uint8_t i=0; i<8; i++) {
         if (msp_instance_mask & (1U<<i)) {
             ADD_BACKEND(DRIVER_MSP, new AP_Compass_MSP(i));
@@ -1408,7 +1410,7 @@ void Compass::_detect_backends(void)
 #endif
 
 
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_COMPASS_UAVCAN_ENABLED
     if (_driver_enabled(DRIVER_UAVCAN)) {
         for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) {
             AP_Compass_Backend* _uavcan_backend = AP_Compass_UAVCAN::probe(i);
@@ -1476,9 +1478,9 @@ void Compass::_detect_backends(void)
                 }
             }
         }
-#endif
+#endif  // #if COMPASS_MAX_UNREG_DEV > 0
     }
-#endif
+#endif  // AP_COMPASS_UAVCAN_ENABLED
 
     if (_backend_count == 0 ||
         _compass_count == 0) {
@@ -1567,7 +1569,7 @@ void Compass::_reset_compass_id()
 void
 Compass::_detect_runtime(void)
 {
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_COMPASS_UAVCAN_ENABLED
     if (!available()) {
         return;
     }
@@ -1591,7 +1593,7 @@ Compass::_detect_runtime(void)
             CHECK_UNREG_LIMIT_RETURN;
         }
     }
-#endif
+#endif  // AP_COMPASS_UAVCAN_ENABLED
 }
 
 bool
@@ -2054,7 +2056,7 @@ bool Compass::have_scale_factor(uint8_t i) const
     return true;
 }
 
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
 void Compass::handle_msp(const MSP::msp_compass_data_message_t &pkt)
 {
     if (!_driver_enabled(DRIVER_MSP)) {
@@ -2070,9 +2072,9 @@ void Compass::handle_msp(const MSP::msp_compass_data_message_t &pkt)
         }
     }
 }
-#endif // HAL_MSP_COMPASS_ENABLED
+#endif // AP_COMPASS_MSP_ENABLED
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
 void Compass::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
 {
     if (!_driver_enabled(DRIVER_SERIAL)) {
@@ -2082,7 +2084,7 @@ void Compass::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
         _backends[i]->handle_external(pkt);
     }
 }
-#endif // HAL_EXTERNAL_AHRS_ENABLED
+#endif // AP_COMPASS_EXTERNALAHRS_ENABLED
 
 // force save of current calibration as valid
 void Compass::force_save_calibration(void)

libraries/AP_Compass/AP_Compass.h

@@ -72,10 +72,6 @@
 
 #define MAX_CONNECTED_MAGS (COMPASS_MAX_UNREG_DEV+COMPASS_MAX_INSTANCES)
 
-#ifndef AP_SIM_COMPASS_ENABLED
-#define AP_SIM_COMPASS_ENABLED AP_SIM_ENABLED
-#endif
-
 #include "CompassCalibrator.h"
 
 class CompassLearn;
@@ -347,11 +343,11 @@ public:
                                  float lat_deg, float lon_deg,
                                  bool force_use=false);
 
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
     void handle_msp(const MSP::msp_compass_data_message_t &pkt);
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     void handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt);
 #endif
 
@@ -602,7 +598,7 @@ private:
 
     bool _cal_thread_started;
 
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
     uint8_t msp_instance_mask;
 #endif
     bool init_done;

libraries/AP_Compass/AP_Compass_Backend.h

@@ -19,12 +19,15 @@
  */
 #pragma once
 
-#include <AP_MSP/msp.h>
+#include "AP_Compass_config.h"
-#ifndef HAL_MSP_COMPASS_ENABLED
+
-#define HAL_MSP_COMPASS_ENABLED HAL_MSP_SENSORS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
+#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 #endif
 
-#include "AP_Compass.h"
+#if AP_COMPASS_MSP_ENABLED
+#include <AP_MSP/msp.h>
+#endif
 
 class Compass;  // forward declaration
 class AP_Compass_Backend
@@ -70,11 +73,11 @@ public:
         DEVTYPE_AK09915 = 0x15,
     };
 
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
     virtual void handle_msp(const MSP::msp_compass_data_message_t &pkt) {}
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     virtual void handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt) {}
 #endif
     

libraries/AP_Compass/AP_Compass_ExternalAHRS.cpp

@@ -16,7 +16,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Compass_ExternalAHRS.h"
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
 
 AP_Compass_ExternalAHRS::AP_Compass_ExternalAHRS(uint8_t port)
 {
@@ -38,6 +38,4 @@ void AP_Compass_ExternalAHRS::read(void)
     drain_accumulated_samples(instance);
 }
 
-#endif // HAL_EXTERNAL_AHRS_ENABLED
+#endif // AP_COMPASS_EXTERNALAHRS_ENABLED
-
-

libraries/AP_Compass/AP_Compass_ExternalAHRS.h

@@ -1,11 +1,13 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
 #include "AP_Compass.h"
 #include "AP_Compass_Backend.h"
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 
-#if HAL_EXTERNAL_AHRS_ENABLED
-
 class AP_Compass_ExternalAHRS : public AP_Compass_Backend
 {
 public:
@@ -18,5 +20,4 @@ private:
     uint8_t instance;
 };
 
-#endif // HAL_EXTERNAL_AHRS_ENABLED
+#endif  // AP_COMPASS_EXTERNALAHRS_ENABLED
-

libraries/AP_Compass/AP_Compass_MSP.cpp

@@ -13,10 +13,11 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Compass_MSP.h"
 
-#if HAL_MSP_COMPASS_ENABLED
+#if AP_COMPASS_MSP_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 
 AP_Compass_MSP::AP_Compass_MSP(uint8_t _msp_instance)
 {
@@ -43,5 +44,5 @@ void AP_Compass_MSP::read(void)
     drain_accumulated_samples(instance);
 }
 
-#endif // HAL_MSP_COMPASS_ENABLED
+#endif // AP_COMPASS_MSP_ENABLED
 

libraries/AP_Compass/AP_Compass_MSP.h

@@ -1,11 +1,13 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_MSP_ENABLED
+
 #include "AP_Compass.h"
 #include "AP_Compass_Backend.h"
 #include <AP_MSP/msp.h>
 
-#if HAL_MSP_COMPASS_ENABLED
-
 class AP_Compass_MSP : public AP_Compass_Backend
 {
 public:
@@ -19,4 +21,4 @@ private:
     uint8_t instance;
 };
 
-#endif // HAL_MSP_COMPASS_ENABLED
+#endif // AP_COMPASS_MSP_ENABLED

libraries/AP_Compass/AP_Compass_SITL.cpp

@@ -1,6 +1,6 @@
 #include "AP_Compass_SITL.h"
 
-#if AP_SIM_COMPASS_ENABLED
+#if AP_COMPASS_SITL_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 
@@ -154,4 +154,4 @@ void AP_Compass_SITL::read()
         drain_accumulated_samples(_compass_instance[i], nullptr);
     }
 }
-#endif  // AP_SIM_COMPASS_ENABLED
+#endif  // AP_COMPASS_SITL_ENABLED

libraries/AP_Compass/AP_Compass_SITL.h

@@ -2,7 +2,7 @@
 
 #include "AP_Compass.h"
 
-#if AP_SIM_COMPASS_ENABLED
+#if AP_COMPASS_SITL_ENABLED
 
 #include "AP_Compass_Backend.h"
 
@@ -44,4 +44,4 @@ private:
     Vector3f _last_odi;
     Vector3f _last_data[MAX_SITL_COMPASSES];
 };
-#endif // AP_SIM_COMPASS_ENABLED
+#endif // AP_COMPASS_SITL_ENABLED

libraries/AP_Compass/AP_Compass_UAVCAN.cpp

@@ -13,12 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
-
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
-
 #include "AP_Compass_UAVCAN.h"
 
+#if AP_COMPASS_UAVCAN_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
+
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -204,4 +204,4 @@ void AP_Compass_UAVCAN::read(void)
     drain_accumulated_samples(_instance);
 }
 
-#endif
+#endif  // AP_COMPASS_UAVCAN_ENABLED

libraries/AP_Compass/AP_Compass_UAVCAN.h

@@ -1,6 +1,9 @@
 #pragma once
 
 #include "AP_Compass.h"
+
+#if AP_COMPASS_UAVCAN_ENABLED
+
 #include "AP_Compass_Backend.h"
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
@@ -46,3 +49,5 @@ private:
 
     static HAL_Semaphore _sem_registry;
 };
+
+#endif  // AP_COMPASS_UAVCAN_ENABLED

libraries/AP_Compass/AP_Compass_config.h

@@ -1,7 +1,26 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
+#include <AP_MSP/msp.h>
 
 #ifndef AP_COMPASS_DIAGONALS_ENABLED
 #define AP_COMPASS_DIAGONALS_ENABLED 1
 #endif
+
+// Backend support
+#ifndef AP_COMPASS_EXTERNALAHRS_ENABLED
+#define AP_COMPASS_EXTERNALAHRS_ENABLED HAL_EXTERNAL_AHRS_ENABLED
+#endif
+
+#ifndef AP_COMPASS_MSP_ENABLED
+#define AP_COMPASS_MSP_ENABLED HAL_MSP_SENSORS_ENABLED
+#endif
+
+#ifndef AP_COMPASS_SITL_ENABLED
+#define AP_COMPASS_SITL_ENABLED AP_SIM_ENABLED
+#endif
+
+#ifndef AP_COMPASS_UAVCAN_ENABLED
+#define AP_COMPASS_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
+#endif

libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp

@@ -34,9 +34,9 @@ class DummyVehicle {
 public:
     AP_AHRS ahrs;  // Need since https://github.com/ArduPilot/ardupilot/pull/10890
     AP_Baro baro; // Compass tries to set magnetic model based on location.
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     AP_ExternalAHRS eAHRS;
-#endif // HAL_EXTERNAL_AHRS_ENABLED
+#endif  // AP_COMPASS_EXTERNALAHRS_ENABLED
 };
 
 static DummyVehicle vehicle;