From 7898d6f107d1fa3ac2010d8c14152fc42a4f0fcb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 17:29:46 +1100
Subject: [PATCH] AP_ExternalAHRS: correct compilation when baro and compass
 externalahrs disabled

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index ebf844f324..9019eaef46 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -466,13 +466,17 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
             last_gps_ms = now_ms;
         }
     }
+#if AP_BARO_EXTERNALAHRS_ENABLED
     if (GOT_MSG(BARO_DATA) &&
         GOT_MSG(TEMPERATURE)) {
         AP::baro().handle_external(baro_data);
     }
+#endif
+    #if AP_COMPASS_EXTERNALAHRS_ENABLED
     if (GOT_MSG(MAG_DATA)) {
         AP::compass().handle_external(mag_data);
     }
+#endif
 #if AP_AIRSPEED_EXTERNAL_ENABLED && (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane))
     // only on plane and copter as others do not link AP_Airspeed
     if (GOT_MSG(DIFFERENTIAL_PRESSURE) &&