From 60f6a9deec138faaaea7922888681d66e4c587e9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Nov 2024 17:34:55 +1100
Subject: [PATCH] waf: enable IMU in simulated AP_Periph

---
 Tools/ardupilotwaf/boards.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 0e692be45a..017c779b28 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -949,6 +949,7 @@ class sitl_periph_universal(sitl_periph):
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
             HAL_PERIPH_ENABLE_MAG = 1,
             HAL_PERIPH_ENABLE_BARO = 1,
+            HAL_PERIPH_ENABLE_IMU = 1,
             HAL_PERIPH_ENABLE_RANGEFINDER = 1,
             HAL_PERIPH_ENABLE_BATTERY = 1,
             HAL_PERIPH_ENABLE_EFI = 1,
@@ -963,6 +964,7 @@ class sitl_periph_universal(sitl_periph):
             HAL_WITH_ESC_TELEM = 1,
             AP_EXTENDED_ESC_TELEM_ENABLED = 1,
             AP_TERRAIN_AVAILABLE = 1,
+            HAL_GYROFFT_ENABLED = 0,
         )
 
 class sitl_periph_gps(sitl_periph):