AP_Compass: fix compilation when removing diagonals state

libraries/AP_Compass/AP_Compass.cpp

@@ -889,7 +889,7 @@ void Compass::mag_state::copy_from(const Compass::mag_state& state)
     external.set_and_save_ifchanged(state.external);
     orientation.set_and_save_ifchanged(state.orientation);
     offset.set_and_save_ifchanged(state.offset);
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_COMPASS_DIAGONALS_ENABLED
     diagonals.set_and_save_ifchanged(state.diagonals);
     offdiagonals.set_and_save_ifchanged(state.offdiagonals);
 #endif

libraries/AP_Compass/AP_Compass.h

@@ -216,13 +216,13 @@ public:
     const Vector3f &get_offsets(uint8_t i) const { return _get_state(Priority(i)).offset; }
     const Vector3f &get_offsets(void) const { return get_offsets(_first_usable); }
 
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_COMPASS_DIAGONALS_ENABLED
     const Vector3f &get_diagonals(uint8_t i) const { return _get_state(Priority(i)).diagonals; }
     const Vector3f &get_diagonals(void) const { return get_diagonals(_first_usable); }
 
     const Vector3f &get_offdiagonals(uint8_t i) const { return _get_state(Priority(i)).offdiagonals; }
     const Vector3f &get_offdiagonals(void) const { return get_offdiagonals(_first_usable); }
-#endif
+#endif  // AP_COMPASS_DIAGONALS_ENABLED
 
     // learn offsets accessor
     bool learn_offsets_enabled() const { return _learn == LEARN_INFLIGHT; }
@@ -486,7 +486,7 @@ private:
         Compass::Priority priority;
         AP_Int8     orientation;
         AP_Vector3f offset;
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_COMPASS_DIAGONALS_ENABLED
         AP_Vector3f diagonals;
         AP_Vector3f offdiagonals;
 #endif

libraries/AP_Compass/AP_Compass_Backend.cpp

@@ -74,7 +74,7 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
     Compass::mag_state &state = _compass._state[Compass::StateIndex(i)];
 
     const Vector3f &offsets = state.offset.get();
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_COMPASS_DIAGONALS_ENABLED
     const Vector3f &diagonals = state.diagonals.get();
     const Vector3f &offdiagonals = state.offdiagonals.get();
 #endif
@@ -88,7 +88,7 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
         mag *= state.scale_factor;
     }
 
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_COMPASS_DIAGONALS_ENABLED
     // apply eliptical correction
     Matrix3f mat(
         diagonals.x, offdiagonals.x, offdiagonals.y,

libraries/AP_Compass/AP_Compass_Calibration.cpp

@@ -455,6 +455,10 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_long_t &packet)
  */
 bool Compass::get_uncorrected_field(uint8_t instance, Vector3f &field) const
 {
+    // get corrected field
+    field = get_field(instance);
+
+#if AP_COMPASS_DIAGONALS_ENABLED
     // form eliptical correction matrix and invert it. This is
     // needed to remove the effects of the eliptical correction
     // when calculating new offsets
@@ -469,11 +473,9 @@ bool Compass::get_uncorrected_field(uint8_t instance, Vector3f &field) const
         return false;
     }
 
-    // get corrected field
-    field = get_field(instance);
-
     // remove impact of diagonals and off-diagonals
     field = mat * field;
+#endif
 
     // remove impact of offsets
     field -= get_offsets(instance);

libraries/AP_Compass/AP_Compass_config.h

@@ -3,5 +3,5 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef AP_COMPASS_DIAGONALS_ENABLED
-#define AP_COMPASS_DIAGONALS_ENABLED (!defined(HAL_BUILD_AP_PERIPH))
+#define AP_COMPASS_DIAGONALS_ENABLED 1
 #endif

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -2938,6 +2938,10 @@ def add_apperiph_defaults(f):
 #define HAL_MSP_ENABLED 0
 #endif
 
+// periph does not make use of compass scaling or diagonals
+#ifndef AP_COMPASS_DIAGONALS_ENABLED
+#define AP_COMPASS_DIAGONALS_ENABLED 0
+#endif
 ''')
 
 def add_bootloader_defaults(f):