From b471f9bfaced48e2a8b90c0f0523a81b314e12ab Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 24 Apr 2023 19:54:51 +1000
Subject: [PATCH] AP_ExternalAHRS: create and use backend defines for
 AP_ExternalAHRS

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp    | 13 ++++++++++---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h      |  4 ++++
 .../AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp     |  8 +++++---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h | 16 ++++++----------
 .../AP_ExternalAHRS_VectorNav.cpp                |  9 +++++----
 .../AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h  |  9 +++++----
 .../AP_ExternalAHRS/AP_ExternalAHRS_config.h     | 12 ++++++++++++
 7 files changed, 47 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 061f983def..d0beac4a9a 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -16,12 +16,15 @@
   suppport for serial connected AHRS systems
  */
 
-#include "AP_ExternalAHRS.h"
-#include "AP_ExternalAHRS_VectorNav.h"
-#include "AP_ExternalAHRS_LORD.h"
+#include "AP_ExternalAHRS_config.h"
 
 #if HAL_EXTERNAL_AHRS_ENABLED
 
+#include "AP_ExternalAHRS.h"
+#include "AP_ExternalAHRS_backend.h"
+#include "AP_ExternalAHRS_VectorNav.h"
+#include "AP_ExternalAHRS_LORD.h"
+
 #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL &hal;
@@ -90,13 +93,17 @@ void AP_ExternalAHRS::init(void)
     case DevType::None:
         // nothing to do
         break;
+#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
     case DevType::VecNav:
         backend = new AP_ExternalAHRS_VectorNav(this, state);
         break;
+#endif
+#if AP_EXTERNAL_AHRS_LORD_ENABLED
     case DevType::LORD:
         backend = new AP_ExternalAHRS_LORD(this, state);
         break;
     default:
+#endif
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));
         break;
     }
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index bef32381c6..5e69f54bb9 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -43,8 +43,12 @@ public:
 
     enum class DevType : uint8_t {
         None   = 0,
+#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
         VecNav = 1,
+#endif
+#if AP_EXTERNAL_AHRS_LORD_ENABLED
         LORD = 2,
+#endif
     };
 
     static AP_ExternalAHRS *get_singleton(void) {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
index 8cd19ea4f3..9d04181a0a 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
@@ -16,8 +16,11 @@
 
 #define ALLOW_DOUBLE_MATH_FUNCTIONS
 
+#include "AP_ExternalAHRS_config.h"
+
+#if AP_EXTERNAL_AHRS_LORD_ENABLED
+
 #include "AP_ExternalAHRS_LORD.h"
-#if HAL_EXTERNAL_AHRS_LORD_ENABLED
 #include <AP_Baro/AP_Baro.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_GPS/AP_GPS.h>
@@ -582,5 +585,4 @@ double AP_ExternalAHRS_LORD::extract_double(const uint8_t *data, uint8_t offset)
     return *reinterpret_cast<double*>(&tmp);
 }
 
-#endif // HAL_EXTERNAL_AHRS_ENABLED
-
+#endif // AP_EXTERNAL_AHRS_LORD_ENABLE
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
index 846a15fd1c..495cda4170 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
@@ -16,15 +16,12 @@
 
 #pragma once
 
+#include "AP_ExternalAHRS_config.h"
+
+#if AP_EXTERNAL_AHRS_LORD_ENABLED
+
 #include "AP_ExternalAHRS_backend.h"
-
-#ifndef HAL_EXTERNAL_AHRS_LORD_ENABLED
-#define HAL_EXTERNAL_AHRS_LORD_ENABLED HAL_EXTERNAL_AHRS_ENABLED
-#endif
-
-#if HAL_EXTERNAL_AHRS_LORD_ENABLED
-
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_GPS/AP_GPS.h>
 
 class AP_ExternalAHRS_LORD: public AP_ExternalAHRS_backend
 {
@@ -153,5 +150,4 @@ private:
 
 };
 
-#endif // HAL_EXTERNAL_AHRS_ENABLED
-
+#endif // AP_EXTERNAL_AHRS_LORD_ENABLED
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index 74cd286afc..2e6c2b8fab 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -18,6 +18,10 @@
 
 #define ALLOW_DOUBLE_MATH_FUNCTIONS
 
+#include "AP_ExternalAHRS_config.h"
+
+#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
+
 #include "AP_ExternalAHRS_VectorNav.h"
 #include <AP_Math/AP_Math.h>
 #include <AP_Math/crc.h>
@@ -31,8 +35,6 @@
 #include <stdio.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
-#if HAL_EXTERNAL_AHRS_ENABLED
-
 extern const AP_HAL::HAL &hal;
 
 /*
@@ -819,5 +821,4 @@ void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
                                        mag_var, 0, 0);
 }
 
-#endif  // HAL_EXTERNAL_AHRS_ENABLED
-
+#endif  // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
index 80824896f4..183184bf24 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
@@ -18,9 +18,11 @@
 
 #pragma once
 
-#include "AP_ExternalAHRS_backend.h"
+#include "AP_ExternalAHRS_config.h"
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
+
+#include "AP_ExternalAHRS_backend.h"
 
 class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
 
@@ -92,5 +94,4 @@ private:
 
 };
 
-#endif  // HAL_EXTERNAL_AHRS_ENABLED
-
+#endif  // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
index 2131a1b625..0e167aad76 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -5,3 +5,15 @@
 #ifndef HAL_EXTERNAL_AHRS_ENABLED
 #define HAL_EXTERNAL_AHRS_ENABLED BOARD_FLASH_SIZE > 1024
 #endif
+
+#ifndef AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#define AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED HAL_EXTERNAL_AHRS_ENABLED
+#endif
+
+#ifndef AP_EXTERNAL_AHRS_LORD_ENABLED
+#define AP_EXTERNAL_AHRS_LORD_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
+#define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#endif