AP_Compass: add and use AP_COMPASS_MMC3416

libraries/AP_Compass/AP_Compass.cpp

@@ -1214,7 +1214,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
 #endif  // AP_COMPASS_IST8308_ENABLED
 
-#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_MMC3416)
+#if AP_COMPASS_MMC3416_ENABLED
     // external i2c bus
     FOREACH_I2C_EXTERNAL(i) {
         ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
@@ -1226,7 +1226,7 @@ void Compass::_probe_external_i2c_compasses(void)
                     all_external, ROTATION_NONE));
     }
 #endif
-#endif
+#endif  // AP_COMPASS_MMC3416_ENABLED
 
 #if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_RM3100)
 #ifdef HAL_COMPASS_RM3100_I2C_ADDR

libraries/AP_Compass/AP_Compass.h

@@ -441,7 +441,9 @@ private:
 #if AP_COMPASS_ICM20948_ENABLED
         DRIVER_ICM20948 =8,
 #endif
+#if AP_COMPASS_MMC3416_ENABLED
         DRIVER_MMC3416  =9,
+#endif
 #if AP_COMPASS_UAVCAN_ENABLED
         DRIVER_UAVCAN   =11,
 #endif

libraries/AP_Compass/AP_Compass_MMC3416.cpp

@@ -17,6 +17,8 @@
  */
 #include "AP_Compass_MMC3416.h"
 
+#if AP_COMPASS_MMC3416_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <utility>
 #include <AP_Math/AP_Math.h>
@@ -301,3 +303,5 @@ void AP_Compass_MMC3416::read()
 {
     drain_accumulated_samples(compass_instance);
 }
+
+#endif  // AP_COMPASS_MMC3416_ENABLED

libraries/AP_Compass/AP_Compass_MMC3416.h

@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_MMC3416_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
@@ -72,3 +76,5 @@ private:
     
     enum Rotation rotation;
 };
+
+#endif  // AP_COMPASS_MMC3416_ENABLED

libraries/AP_Compass/AP_Compass_config.h

@@ -82,3 +82,7 @@
 #ifndef AP_COMPASS_LSM9DS1_ENABLED
 #define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
+
+#ifndef AP_COMPASS_MMC3416_ENABLED
+#define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif