From 670b0071f932125378c5a50e09c37e8066daec27 Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Fri, 22 Jan 2016 13:30:30 -0200
Subject: [PATCH] AP_Compass: HMC5843: add parameter force_external to
 constructor

And to the detection probe() method. That way we don't need to use a board
`#ifdef` inside the class code.  Additionally, we make raspilot board use it.
---
 libraries/AP_Compass/AP_Compass.cpp         |  2 +-
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 18 ++++++++++--------
 libraries/AP_Compass/AP_Compass_HMC5843.h   |  7 +++++--
 3 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 6ae6f20dd8..75efd4b91d 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -440,7 +440,7 @@ void Compass::_detect_backends(void)
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
     _add_backend(AP_Compass_QURT::detect(*this));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT
-    _add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)));
+    _add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
     _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
     // detect_mpu9250() failed will cause panic if no actual mpu9250 backend,
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index dae88fd7ae..6d99e3f59d 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -88,9 +88,11 @@ extern const AP_HAL::HAL& hal;
 
 #define HMC5843_REG_DATA_OUTPUT_X_MSB 0x03
 
-AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus)
+AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
+                                       bool force_external)
     : AP_Compass_Backend(compass)
     , _bus(bus)
+    , _force_external(force_external)
 {
 }
 
@@ -100,14 +102,15 @@ AP_Compass_HMC5843::~AP_Compass_HMC5843()
 }
 
 AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
-                                              AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+                                              AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                              bool force_external)
 {
     AP_HMC5843_BusDriver *bus = new AP_HMC5843_BusDriver_HALDevice(std::move(dev));
     if (!bus) {
         return nullptr;
     }
 
-    AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus);
+    AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, force_external);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -127,7 +130,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass)
         return nullptr;
     }
 
-    AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus);
+    AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, false);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -181,10 +184,9 @@ bool AP_Compass_HMC5843::init()
     _compass_instance = register_compass();
     set_dev_id(_compass_instance, _product_id);
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-    // FIXME: wrong way to force external compass
-    set_external(_compass_instance, true);
-#endif
+    if (_force_external) {
+        set_external(_compass_instance, true);
+    }
 
     return true;
 
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.h b/libraries/AP_Compass/AP_Compass_HMC5843.h
index ad4eb6aa13..773faae98e 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.h
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.h
@@ -18,7 +18,8 @@ class AP_Compass_HMC5843 : public AP_Compass_Backend
 {
 public:
     static AP_Compass_Backend *probe(Compass &compass,
-                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                     bool force_external = false);
 
     static AP_Compass_Backend *probe_mpu6000(Compass &compass);
 
@@ -29,7 +30,8 @@ public:
     void accumulate() override;
 
 private:
-    AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus);
+    AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
+                       bool force_external);
 
     bool _detect_version();
     bool _calibrate();
@@ -61,6 +63,7 @@ private:
     uint8_t _product_id;
 
     bool _initialised;
+    bool _force_external;
 };
 
 class AP_HMC5843_BusDriver