From b863f8a331b18aab6fba9a3da34f89bb33c85fe7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 27 Jan 2022 14:58:56 +1100
Subject: [PATCH] AP_Baro: allow baro backends to be individually compiled out

---
 libraries/AP_Baro/AP_Baro.cpp              | 67 +++++++++++++++++-----
 libraries/AP_Baro/AP_Baro.h                | 17 +++---
 libraries/AP_Baro/AP_Baro_BMP085.cpp       |  4 ++
 libraries/AP_Baro/AP_Baro_BMP085.h         | 12 +++-
 libraries/AP_Baro/AP_Baro_BMP280.cpp       |  4 ++
 libraries/AP_Baro/AP_Baro_BMP280.h         | 12 +++-
 libraries/AP_Baro/AP_Baro_BMP388.cpp       |  4 ++
 libraries/AP_Baro/AP_Baro_BMP388.h         | 12 +++-
 libraries/AP_Baro/AP_Baro_Backend.cpp      |  1 +
 libraries/AP_Baro/AP_Baro_Backend.h        | 14 +++--
 libraries/AP_Baro/AP_Baro_DPS280.cpp       |  4 ++
 libraries/AP_Baro/AP_Baro_DPS280.h         | 11 +++-
 libraries/AP_Baro/AP_Baro_Dummy.cpp        |  4 ++
 libraries/AP_Baro/AP_Baro_Dummy.h          |  8 +++
 libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp |  4 +-
 libraries/AP_Baro/AP_Baro_ExternalAHRS.h   |  7 ++-
 libraries/AP_Baro/AP_Baro_FBM320.cpp       |  4 ++
 libraries/AP_Baro/AP_Baro_FBM320.h         | 12 +++-
 libraries/AP_Baro/AP_Baro_ICM20789.cpp     |  6 +-
 libraries/AP_Baro/AP_Baro_ICM20789.h       |  8 +++
 libraries/AP_Baro/AP_Baro_KellerLD.cpp     |  4 ++
 libraries/AP_Baro/AP_Baro_KellerLD.h       |  9 +++
 libraries/AP_Baro/AP_Baro_LPS2XH.cpp       |  8 ++-
 libraries/AP_Baro/AP_Baro_LPS2XH.h         | 12 +++-
 libraries/AP_Baro/AP_Baro_Logging.cpp      |  1 +
 libraries/AP_Baro/AP_Baro_MS5611.cpp       |  4 ++
 libraries/AP_Baro/AP_Baro_MS5611.h         |  8 +++
 libraries/AP_Baro/AP_Baro_MSP.cpp          |  4 +-
 libraries/AP_Baro/AP_Baro_MSP.h            |  8 ++-
 libraries/AP_Baro/AP_Baro_SPL06.cpp        |  4 ++
 libraries/AP_Baro/AP_Baro_SPL06.h          | 12 +++-
 libraries/AP_Baro/AP_Baro_UAVCAN.cpp       |  9 +--
 libraries/AP_Baro/AP_Baro_UAVCAN.h         |  8 +++
 33 files changed, 247 insertions(+), 59 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index f80e34b9d0..8d7dc74940 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -29,6 +29,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_HAL/I2CDevice.h>
 
 #include "AP_Baro_SITL.h"
 #include "AP_Baro_BMP085.h"
@@ -42,9 +43,7 @@
 #include "AP_Baro_DPS280.h"
 #include "AP_Baro_BMP388.h"
 #include "AP_Baro_Dummy.h"
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_Baro_UAVCAN.h"
-#endif
 #include "AP_Baro_MSP.h"
 #include "AP_Baro_ExternalAHRS.h"
 
@@ -169,7 +168,7 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
     // @Increment: 1
     AP_GROUPINFO("_FLTR_RNG", 13, AP_Baro, _filter_range, HAL_BARO_FILTER_DEFAULT),
 
-#if defined(HAL_PROBE_EXTERNAL_I2C_BAROS) || defined(HAL_MSP_BARO_ENABLED)
+#if defined(HAL_PROBE_EXTERNAL_I2C_BAROS) || defined(AP_BARO_MSP_ENABLED)
     // @Param: _PROBE_EXT
     // @DisplayName: External barometers to probe
     // @Description: This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.
@@ -545,14 +544,14 @@ void AP_Baro::init(void)
     }
 #endif
 
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS && !AP_SIM_BARO_ENABLED
+#if AP_BARO_UAVCAN_ENABLED
     // Detect UAVCAN Modules, try as many times as there are driver slots
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
         ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
     }
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_BARO_EXTERNALAHRS_ENABLED
     const int8_t serial_port = AP::externalAHRS().get_port();
     if (serial_port >= 0) {
         ADD_BACKEND(new AP_Baro_ExternalAHRS(*this, serial_port));
@@ -563,7 +562,7 @@ void AP_Baro::init(void)
 #define GET_I2C_DEVICE(bus, address) hal.i2c_mgr->get_device(bus, address)
 
 #if AP_SIM_BARO_ENABLED
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_BARO_MS56XX_ENABLED
     ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                       std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
 #endif
@@ -577,7 +576,7 @@ void AP_Baro::init(void)
 #elif AP_FEATURE_BOARD_DETECT
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PX4V1:
-#ifdef HAL_BARO_MS5611_I2C_BUS
+#if AP_BARO_MS56XX_ENABLED && defined(HAL_BARO_MS5611_I2C_BUS)
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(GET_I2C_DEVICE(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
 #endif
@@ -588,32 +587,41 @@ void AP_Baro::init(void)
     case AP_BoardConfig::PX4_BOARD_AUAV21:
     case AP_BoardConfig::PX4_BOARD_PH2SLIM:
     case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
     case AP_BoardConfig::PX4_BOARD_SP01:
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_EXT_NAME))));
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_MINDPXV2:
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_AEROFC:
+#if AP_BARO_MS56XX_ENABLED
 #ifdef HAL_BARO_MS5607_I2C_BUS
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(GET_I2C_DEVICE(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
                                           AP_Baro_MS56XX::BARO_MS5607));
 #endif
+#endif  // AP_BARO_MS56XX_ENABLED
         break;
 
     case AP_BoardConfig::VRX_BOARD_BRAIN54:
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
@@ -622,6 +630,7 @@ void AP_Baro::init(void)
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_IMU_NAME))));
 #endif
+#endif  // AP_BARO_MS56XX_ENABLED
         break;
 
     case AP_BoardConfig::VRX_BOARD_BRAIN51:
@@ -630,20 +639,26 @@ void AP_Baro::init(void)
     case AP_BoardConfig::VRX_BOARD_CORE10:
     case AP_BoardConfig::VRX_BOARD_UBRAIN51:
     case AP_BoardConfig::VRX_BOARD_UBRAIN52:
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
+#endif  // AP_BARO_MS56XX_ENABLED
         break;
 
     case AP_BoardConfig::PX4_BOARD_PCNC1:
+#if AP_BARO_ICM20789_ENABLED
         ADD_BACKEND(AP_Baro_ICM20789::probe(*this,
                                             std::move(GET_I2C_DEVICE(1, 0x63)),
                                             std::move(hal.spi->get_device(HAL_INS_MPU60x0_NAME))));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_FMUV5:
     case AP_BoardConfig::PX4_BOARD_FMUV6:
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
+#endif
         break;
 
     default:
@@ -666,14 +681,19 @@ void AP_Baro::init(void)
     // can optionally have baro on I2C too
     if (_ext_bus >= 0) {
 #if APM_BUILD_TYPE(APM_BUILD_ArduSub)
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
-
+#endif
+#if AP_BARO_KELLERLD_ENABLED
         ADD_BACKEND(AP_Baro_KellerLD::probe(*this,
                                           std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_KELLERLD_I2C_ADDR))));
+#endif
 #else
+#if AP_BARO_MS56XX_ENABLED
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
+#endif
 #endif
     }
 
@@ -681,7 +701,7 @@ void AP_Baro::init(void)
     _probe_i2c_barometers();
 #endif
 
-#if HAL_MSP_BARO_ENABLED
+#if AP_BARO_MSP_ENABLED
     if ((_baro_probe_ext.get() & PROBE_MSP) && msp_instance_mask == 0) {
         // allow for late addition of MSP sensor
         msp_instance_mask |= 1;
@@ -720,6 +740,7 @@ void AP_Baro::init(void)
 void AP_Baro::_probe_i2c_barometers(void)
 {
     uint32_t probe = _baro_probe_ext.get();
+    (void)probe;  // may be unused if most baros compiled out
     uint32_t mask = hal.i2c_mgr->get_bus_mask_external();
     if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
         // for the purpose of baro probing, treat CubeBlack internal i2c as external. It has
@@ -731,12 +752,15 @@ void AP_Baro::_probe_i2c_barometers(void)
     if (ext_bus >= 0) {
         mask = 1U << (uint8_t)ext_bus;
     }
+#if AP_BARO_BMP085_ENABLED
     if (probe & PROBE_BMP085) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_BMP085::probe(*this,
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP085_I2C_ADDR))));
         }
     }
+#endif
+#if AP_BARO_BMP280_ENABLED
     if (probe & PROBE_BMP280) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_BMP280::probe(*this,
@@ -745,6 +769,8 @@ void AP_Baro::_probe_i2c_barometers(void)
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP280_I2C_ADDR2))));
         }
     }
+#endif
+#if AP_BARO_SPL06_ENABLED
     if (probe & PROBE_SPL06) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_SPL06::probe(*this,
@@ -753,6 +779,8 @@ void AP_Baro::_probe_i2c_barometers(void)
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_SPL06_I2C_ADDR2))));
         }
     }
+#endif
+#if AP_BARO_BMP388_ENABLED
     if (probe & PROBE_BMP388) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_BMP388::probe(*this,
@@ -761,6 +789,8 @@ void AP_Baro::_probe_i2c_barometers(void)
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP388_I2C_ADDR2))));
         }
     }
+#endif
+#if AP_BARO_MS56XX_ENABLED
     if (probe & PROBE_MS5611) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
@@ -783,6 +813,8 @@ void AP_Baro::_probe_i2c_barometers(void)
                                               AP_Baro_MS56XX::BARO_MS5637));
         }
     }
+#endif  // AP_BARO_MS56XX_ENABLED
+#if AP_BARO_FBM320_ENABLED
     if (probe & PROBE_FBM320) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_FBM320::probe(*this,
@@ -791,6 +823,8 @@ void AP_Baro::_probe_i2c_barometers(void)
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_FBM320_I2C_ADDR2))));
         }
     }
+#endif
+#if AP_BARO_DPS280_ENABLED
     if (probe & PROBE_DPS280) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_DPS280::probe(*this,
@@ -799,19 +833,25 @@ void AP_Baro::_probe_i2c_barometers(void)
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_DPS280_I2C_ADDR2))));
         }
     }
+#endif
+#if AP_BARO_LPS2XH_ENABLED
     if (probe & PROBE_LPS25H) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_LPS2XH::probe(*this,
                                               std::move(GET_I2C_DEVICE(i, HAL_BARO_LPS25H_I2C_ADDR))));
         }
     }
+#endif
 #if APM_BUILD_TYPE(APM_BUILD_ArduSub)
+#if AP_BARO_KELLERLD_ENABLED
     if (probe & PROBE_KELLER) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_KellerLD::probe(*this,
                                                 std::move(GET_I2C_DEVICE(i, HAL_BARO_KELLERLD_I2C_ADDR))));
         }
     }
+#endif
+#if AP_BARO_MS56XX_ENABLED
     if (probe & PROBE_MS5837) {
         FOREACH_I2C_MASK(i,mask) {
             ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
@@ -819,6 +859,7 @@ void AP_Baro::_probe_i2c_barometers(void)
         }
     }
 #endif
+#endif
 }
 
 bool AP_Baro::should_log() const
@@ -966,7 +1007,7 @@ void AP_Baro::set_pressure_correction(uint8_t instance, float p_correction)
     }
 }
 
-#if HAL_MSP_BARO_ENABLED
+#if AP_BARO_MSP_ENABLED
 /*
   handle MSP barometer data
  */
@@ -983,9 +1024,9 @@ void AP_Baro::handle_msp(const MSP::msp_baro_data_message_t &pkt)
         }
     }
 }
-#endif 
+#endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_BARO_EXTERNALAHRS_ENABLED
 /*
   handle ExternalAHRS barometer data
  */
@@ -995,7 +1036,7 @@ void AP_Baro::handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt)
         drivers[i]->handle_external(pkt);
     }
 }
-#endif 
+#endif  // AP_BARO_EXTERNALAHRS_ENABLED
 
 namespace AP {
 
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 68280969b8..0a96e531bc 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -10,8 +10,12 @@
 #define AP_SIM_BARO_ENABLED AP_SIM_ENABLED
 #endif
 
-#ifndef HAL_MSP_BARO_ENABLED
-#define HAL_MSP_BARO_ENABLED HAL_MSP_SENSORS_ENABLED
+#ifndef AP_BARO_EXTERNALAHRS_ENABLED
+#define AP_BARO_EXTERNALAHRS_ENABLED HAL_EXTERNAL_AHRS_ENABLED
+#endif
+
+#ifndef AP_BARO_MSP_ENABLED
+#define AP_BARO_MSP_ENABLED HAL_MSP_SENSORS_ENABLED
 #endif
 
 // maximum number of sensor instances
@@ -190,14 +194,13 @@ public:
         return _rsem;
     }
 
-#if HAL_MSP_BARO_ENABLED
+#if AP_BARO_MSP_ENABLED
     void handle_msp(const MSP::msp_baro_data_message_t &pkt);
 #endif
-
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_BARO_EXTERNALAHRS_ENABLED
     void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt);
 #endif
-    
+
 private:
     // singleton
     static AP_Baro *_singleton;
@@ -216,9 +219,7 @@ private:
 
     bool init_done;
 
-#if HAL_MSP_BARO_ENABLED
     uint8_t msp_instance_mask;
-#endif
 
     // bitmask values for GND_PROBE_EXT
     enum {
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index b45c04cdf2..0f8ba2d7a9 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_Baro_BMP085.h"
 
+#if AP_BARO_BMP085_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
@@ -345,3 +347,5 @@ bool AP_Baro_BMP085::_data_ready()
 
     return AP_HAL::millis() - _last_press_read_command_time > conversion_time_msec;
 }
+
+#endif // AP_BARO_BMP085_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.h b/libraries/AP_Baro/AP_Baro_BMP085.h
index 9be1ba11d8..92b7178e83 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.h
+++ b/libraries/AP_Baro/AP_Baro_BMP085.h
@@ -1,12 +1,18 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_BMP085_ENABLED
+#define AP_BARO_BMP085_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_BMP085_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
 #include <AP_HAL/utility/OwnPtr.h>
 #include <Filter/Filter.h>
 
-#include "AP_Baro_Backend.h"
-
 #ifndef HAL_BARO_BMP085_I2C_ADDR
 #define HAL_BARO_BMP085_I2C_ADDR        (0x77)
 #endif
@@ -62,3 +68,5 @@ private:
     uint8_t _vers;
     uint8_t _type;
 };
+
+#endif  // AP_BARO_BMP085_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_BMP280.cpp b/libraries/AP_Baro/AP_Baro_BMP280.cpp
index a08e7af7de..1eb2c1ab51 100644
--- a/libraries/AP_Baro/AP_Baro_BMP280.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP280.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_Baro_BMP280.h"
 
+#if AP_BARO_BMP280_ENABLED
+
 #include <utility>
 
 extern const AP_HAL::HAL &hal;
@@ -203,3 +205,5 @@ void AP_Baro_BMP280::_update_pressure(int32_t press_raw)
     _pressure_sum += press;
     _pressure_count++;
 }
+
+#endif  // AP_BARO_BMP280_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_BMP280.h b/libraries/AP_Baro/AP_Baro_BMP280.h
index 98e81a32eb..48c62aebf8 100644
--- a/libraries/AP_Baro/AP_Baro_BMP280.h
+++ b/libraries/AP_Baro/AP_Baro_BMP280.h
@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_BMP280_ENABLED
+#define AP_BARO_BMP280_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_BMP280_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_HAL/utility/OwnPtr.h>
 
-#include "AP_Baro_Backend.h"
-
 #ifndef HAL_BARO_BMP280_I2C_ADDR
  #define HAL_BARO_BMP280_I2C_ADDR  (0x76)
 #endif
@@ -42,3 +48,5 @@ private:
     int16_t _t2, _t3, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9;
     uint16_t _t1, _p1;
 };
+
+#endif  // AP_BARO_BMP280_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
index 7eb4e31005..6b8b102d6a 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_Baro_BMP388.h"
 
+#if AP_BARO_BMP388_ENABLED
+
 #include <utility>
 
 extern const AP_HAL::HAL &hal;
@@ -238,3 +240,5 @@ bool AP_Baro_BMP388::read_registers(uint8_t reg, uint8_t *data, uint8_t len)
     memcpy(data, &b[2], len);
     return true;
 }
+
+#endif  // AP_BARO_BMP388_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.h b/libraries/AP_Baro/AP_Baro_BMP388.h
index b854da246f..a6126a4c6b 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.h
+++ b/libraries/AP_Baro/AP_Baro_BMP388.h
@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_BMP388_ENABLED
+#define AP_BARO_BMP388_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_BMP388_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_HAL/utility/OwnPtr.h>
 
-#include "AP_Baro_Backend.h"
-
 #ifndef HAL_BARO_BMP388_I2C_ADDR
  #define HAL_BARO_BMP388_I2C_ADDR  (0x76)
 #endif
@@ -80,3 +86,5 @@ private:
     void scale_calibration_data(void);
     bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
 };
+
+#endif  // AP_BARO_BMP388_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_Backend.cpp b/libraries/AP_Baro/AP_Baro_Backend.cpp
index 95da66d320..06ae436693 100644
--- a/libraries/AP_Baro/AP_Baro_Backend.cpp
+++ b/libraries/AP_Baro/AP_Baro_Backend.cpp
@@ -1,4 +1,5 @@
 #include "AP_Baro_Backend.h"
+
 #include <stdio.h>
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_Baro/AP_Baro_Backend.h b/libraries/AP_Baro/AP_Baro_Backend.h
index 8f8d1acb43..32fbc8fdf8 100644
--- a/libraries/AP_Baro/AP_Baro_Backend.h
+++ b/libraries/AP_Baro/AP_Baro_Backend.h
@@ -2,6 +2,10 @@
 
 #include "AP_Baro.h"
 
+#ifndef AP_BARO_BACKEND_DEFAULT_ENABLED
+#define AP_BARO_BACKEND_DEFAULT_ENABLED 1
+#endif
+
 class AP_Baro_Backend
 {
 public:
@@ -24,14 +28,14 @@ public:
     bool pressure_ok(float press);
     uint32_t get_error_count() const { return _error_count; }
 
-#if HAL_MSP_BARO_ENABLED
+#if AP_BARO_MSP_ENABLED
     virtual void handle_msp(const MSP::msp_baro_data_message_t &pkt) {}
-#endif 
+#endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_BARO_EXTERNALAHRS_ENABLED
     virtual void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) {}
-#endif 
-    
+#endif
+
     /*
       device driver IDs. These are used to fill in the devtype field
       of the device ID, which shows up as BARO_DEVID* parameters to
diff --git a/libraries/AP_Baro/AP_Baro_DPS280.cpp b/libraries/AP_Baro/AP_Baro_DPS280.cpp
index 5d864a7cd9..3dd6ad5527 100644
--- a/libraries/AP_Baro/AP_Baro_DPS280.cpp
+++ b/libraries/AP_Baro/AP_Baro_DPS280.cpp
@@ -18,6 +18,8 @@
 
 #include "AP_Baro_DPS280.h"
 
+#if AP_BARO_DPS280_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
@@ -305,3 +307,5 @@ void AP_Baro_DPS280::update(void)
     temperature_sum = 0;
     count=0;
 }
+
+#endif  // AP_BARO_DPS280_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_DPS280.h b/libraries/AP_Baro/AP_Baro_DPS280.h
index 6427d8e481..a2a6de70b9 100644
--- a/libraries/AP_Baro/AP_Baro_DPS280.h
+++ b/libraries/AP_Baro/AP_Baro_DPS280.h
@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_DPS280_ENABLED
+#define AP_BARO_DPS280_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_DPS280_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_HAL/utility/OwnPtr.h>
 
-#include "AP_Baro_Backend.h"
-
 #ifndef HAL_BARO_DPS280_I2C_ADDR
  #define HAL_BARO_DPS280_I2C_ADDR  0x76
 #endif
@@ -67,3 +73,4 @@ public:
 };
 
 
+#endif  // AP_BARO_DPS280_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_Dummy.cpp b/libraries/AP_Baro/AP_Baro_Dummy.cpp
index 1ba8540bf1..477a9a747e 100644
--- a/libraries/AP_Baro/AP_Baro_Dummy.cpp
+++ b/libraries/AP_Baro/AP_Baro_Dummy.cpp
@@ -1,5 +1,7 @@
 #include "AP_Baro_Dummy.h"
 
+#if AP_BARO_DUMMY_ENABLED
+
 AP_Baro_Dummy::AP_Baro_Dummy(AP_Baro &baro) :
     AP_Baro_Backend(baro)
 {
@@ -11,3 +13,5 @@ void AP_Baro_Dummy::update(void)
 {
     _copy_to_frontend(0, 91300, 21);
 }
+
+#endif  // AP_BARO_DUMMY_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_Dummy.h b/libraries/AP_Baro/AP_Baro_Dummy.h
index 6f36a24631..d43f512b3e 100644
--- a/libraries/AP_Baro/AP_Baro_Dummy.h
+++ b/libraries/AP_Baro/AP_Baro_Dummy.h
@@ -6,6 +6,12 @@
 
 #include "AP_Baro_Backend.h"
 
+#ifndef AP_BARO_DUMMY_ENABLED
+#define AP_BARO_DUMMY_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_DUMMY_ENABLED
+
 class AP_Baro_Dummy : public AP_Baro_Backend
 {
 public:
@@ -18,3 +24,5 @@ public:
 private:
     uint8_t _instance;
 };
+
+#endif  // AP_BARO_DUMMY_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp b/libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp
index 79ca28b810..79a3c8bd3b 100644
--- a/libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp
+++ b/libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp
@@ -1,6 +1,6 @@
 #include "AP_Baro_ExternalAHRS.h"
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_BARO_EXTERNALAHRS_ENABLED
 
 AP_Baro_ExternalAHRS::AP_Baro_ExternalAHRS(AP_Baro &baro, uint8_t port) :
     AP_Baro_Backend(baro)
@@ -32,4 +32,4 @@ void AP_Baro_ExternalAHRS::handle_external(const AP_ExternalAHRS::baro_data_mess
     count++;
 }
 
-#endif // HAL_EXTERNAL_AHRS_ENABLED
+#endif // AP_BARO_EXTERNALAHRS_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_ExternalAHRS.h b/libraries/AP_Baro/AP_Baro_ExternalAHRS.h
index 3594b71c82..1b5dbdf823 100644
--- a/libraries/AP_Baro/AP_Baro_ExternalAHRS.h
+++ b/libraries/AP_Baro/AP_Baro_ExternalAHRS.h
@@ -5,7 +5,9 @@
 
 #include "AP_Baro_Backend.h"
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+// AP_BARO_EXTERNALAHRS_ENABLED is defined in AP_Baro.h
+
+#if AP_BARO_EXTERNALAHRS_ENABLED
 
 class AP_Baro_ExternalAHRS : public AP_Baro_Backend
 {
@@ -21,5 +23,4 @@ private:
     uint16_t count;
 };
 
-#endif // HAL_EXTERNAL_AHRS_ENABLED
-
+#endif // AP_BARO_EXTERNALAHRS_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_FBM320.cpp b/libraries/AP_Baro/AP_Baro_FBM320.cpp
index 33fee17a14..60676e52a6 100644
--- a/libraries/AP_Baro/AP_Baro_FBM320.cpp
+++ b/libraries/AP_Baro/AP_Baro_FBM320.cpp
@@ -18,6 +18,8 @@
 
 #include "AP_Baro_FBM320.h"
 
+#if AP_BARO_FBM320_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
@@ -221,3 +223,5 @@ void AP_Baro_FBM320::update(void)
     temperature_sum = 0;
     count=0;
 }
+
+#endif  // AP_BARO_FBM320_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_FBM320.h b/libraries/AP_Baro/AP_Baro_FBM320.h
index 55d36858a1..9cb0507094 100644
--- a/libraries/AP_Baro/AP_Baro_FBM320.h
+++ b/libraries/AP_Baro/AP_Baro_FBM320.h
@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_FBM320_ENABLED
+#define AP_BARO_FBM320_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_FBM320_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_HAL/utility/OwnPtr.h>
 
-#include "AP_Baro_Backend.h"
-
 #ifndef HAL_BARO_FBM320_I2C_ADDR
  #define HAL_BARO_FBM320_I2C_ADDR  0x6C
 #endif
@@ -46,3 +52,5 @@ private:
         uint32_t C4, C5, C7;
     } calibration;
 };
+
+#endif  // AP_BARO_FBM320_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_ICM20789.cpp b/libraries/AP_Baro/AP_Baro_ICM20789.cpp
index e66fece690..cb978356b1 100644
--- a/libraries/AP_Baro/AP_Baro_ICM20789.cpp
+++ b/libraries/AP_Baro/AP_Baro_ICM20789.cpp
@@ -13,13 +13,16 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Baro_ICM20789.h"
+
+#if AP_BARO_ICM20789_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
 #include <utility>
 
 #include <AP_Common/AP_Common.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
-#include "AP_Baro_ICM20789.h"
 
 #include <stdio.h>
 
@@ -360,3 +363,4 @@ void AP_Baro_ICM20789::update()
     }
 }
 
+#endif  // AP_BARO_ICM20789_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_ICM20789.h b/libraries/AP_Baro/AP_Baro_ICM20789.h
index f4dea7a0a1..a7a2390623 100644
--- a/libraries/AP_Baro/AP_Baro_ICM20789.h
+++ b/libraries/AP_Baro/AP_Baro_ICM20789.h
@@ -2,6 +2,12 @@
 
 #include "AP_Baro_Backend.h"
 
+#ifndef AP_BARO_ICM20789_ENABLED
+#define AP_BARO_ICM20789_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_ICM20789_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Semaphores.h>
 #include <AP_HAL/Device.h>
@@ -64,3 +70,5 @@ private:
     const float quadr_factor = 1 / 16777216.0;
     const float offst_factor = 2048.0;
 };
+
+#endif  // AP_BARO_ICM20789_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_KellerLD.cpp b/libraries/AP_Baro/AP_Baro_KellerLD.cpp
index 55a0e27bec..3532b484d0 100644
--- a/libraries/AP_Baro/AP_Baro_KellerLD.cpp
+++ b/libraries/AP_Baro/AP_Baro_KellerLD.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_Baro_KellerLD.h"
 
+#if AP_BARO_KELLERLD_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
@@ -319,3 +321,5 @@ void AP_Baro_KellerLD::update()
 
     _copy_to_frontend(_instance, pressure, temperature);
 }
+
+#endif  // AP_BARO_KELLERLD_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_KellerLD.h b/libraries/AP_Baro/AP_Baro_KellerLD.h
index bc9086928d..235acff0a0 100644
--- a/libraries/AP_Baro/AP_Baro_KellerLD.h
+++ b/libraries/AP_Baro/AP_Baro_KellerLD.h
@@ -27,6 +27,12 @@
 
 #include "AP_Baro_Backend.h"
 
+#ifndef AP_BARO_KELLERLD_ENABLED
+#define AP_BARO_KELLERLD_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_KELLERLD_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Semaphores.h>
 #include <AP_HAL/Device.h>
@@ -87,3 +93,6 @@ private:
     bool read_cal();
     bool read_mode_type();
 };
+
+
+#endif  // AP_BARO_KELLERLD_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
index 56e49ef4a5..448ff64ed1 100644
--- a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
+++ b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
@@ -12,11 +12,13 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+#include "AP_Baro_LPS2XH.h"
+
+#if AP_BARO_LPS2XH_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
-#include "AP_Baro_LPS2XH.h"
-
 #include <AP_InertialSensor/AP_InertialSensor_Invensense_registers.h>
 
 extern const AP_HAL::HAL &hal;
@@ -274,3 +276,5 @@ void AP_Baro_LPS2XH::_update_pressure(void)
     _pressure_sum += Pressure_mb;
     _pressure_count++;
 }
+
+#endif  // AP_BARO_LPS2XH_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_LPS2XH.h b/libraries/AP_Baro/AP_Baro_LPS2XH.h
index f086d77fff..7ca571f145 100644
--- a/libraries/AP_Baro/AP_Baro_LPS2XH.h
+++ b/libraries/AP_Baro/AP_Baro_LPS2XH.h
@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_LPS2XH_ENABLED
+#define AP_BARO_LPS2XH_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_LPS2XH_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_HAL/utility/OwnPtr.h>
 
-#include "AP_Baro_Backend.h"
-
 #define HAL_BARO_LPS25H_I2C_BUS 0
 
 #ifndef HAL_BARO_LPS25H_I2C_ADDR
@@ -51,3 +57,5 @@ private:
 
     enum LPS2XH_TYPE _lps2xh_type;
 };
+
+#endif  // AP_BARO_LPS2XH_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_Logging.cpp b/libraries/AP_Baro/AP_Baro_Logging.cpp
index 6e84d033e0..454be20bff 100644
--- a/libraries/AP_Baro/AP_Baro_Logging.cpp
+++ b/libraries/AP_Baro/AP_Baro_Logging.cpp
@@ -1,4 +1,5 @@
 #include "AP_Baro.h"
+
 #include <AP_Logger/AP_Logger.h>
 
 void AP_Baro::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index 7ad0492be2..bdce3769f6 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_Baro_MS5611.h"
 
+#if AP_BARO_MS56XX_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
@@ -490,3 +492,5 @@ void AP_Baro_MS56XX::_calculate_5837()
 
     _copy_to_frontend(_instance, (float)pressure, temperature);
 }
+
+#endif  // AP_BARO_MS56XX_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.h b/libraries/AP_Baro/AP_Baro_MS5611.h
index 146ceff37f..6328b7bdf0 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.h
+++ b/libraries/AP_Baro/AP_Baro_MS5611.h
@@ -2,6 +2,12 @@
 
 #include "AP_Baro_Backend.h"
 
+#ifndef AP_BARO_MS56XX_ENABLED
+#define AP_BARO_MS56XX_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_MS56XX_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Semaphores.h>
 #include <AP_HAL/Device.h>
@@ -90,3 +96,5 @@ private:
 
     enum MS56XX_TYPE _ms56xx_type;
 };
+
+#endif  // AP_BARO_MS56XX_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_MSP.cpp b/libraries/AP_Baro/AP_Baro_MSP.cpp
index 128995148a..6112e9a4a6 100644
--- a/libraries/AP_Baro/AP_Baro_MSP.cpp
+++ b/libraries/AP_Baro/AP_Baro_MSP.cpp
@@ -1,6 +1,6 @@
 #include "AP_Baro_MSP.h"
 
-#if HAL_MSP_BARO_ENABLED
+#if AP_BARO_MSP_ENABLED
 
 AP_Baro_MSP::AP_Baro_MSP(AP_Baro &baro, uint8_t _msp_instance) :
     AP_Baro_Backend(baro)
@@ -33,4 +33,4 @@ void AP_Baro_MSP::handle_msp(const MSP::msp_baro_data_message_t &pkt)
     count++;
 }
 
-#endif // HAL_MSP_BARO_ENABLED
+#endif // AP_BARO_MSP_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_MSP.h b/libraries/AP_Baro/AP_Baro_MSP.h
index 1ddba3ece4..19e65c9909 100644
--- a/libraries/AP_Baro/AP_Baro_MSP.h
+++ b/libraries/AP_Baro/AP_Baro_MSP.h
@@ -5,9 +5,11 @@
 
 #include "AP_Baro_Backend.h"
 
-#define MOVING_AVERAGE_WEIGHT 0.20f // a 5 samples moving average
+// AP_BARO_MSP_ENABLED is defined in AP_Baro.h
 
-#if HAL_MSP_BARO_ENABLED
+#if AP_BARO_MSP_ENABLED
+
+#define MOVING_AVERAGE_WEIGHT 0.20f // a 5 samples moving average
 
 class AP_Baro_MSP : public AP_Baro_Backend
 {
@@ -24,4 +26,4 @@ private:
     uint16_t count;
 };
 
-#endif // HAL_MSP_BARO_ENABLED
+#endif // AP_BARO_MSP_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp
index fe29dfc2a3..92fc19cf50 100644
--- a/libraries/AP_Baro/AP_Baro_SPL06.cpp
+++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_Baro_SPL06.h"
 
+#if AP_BARO_SPL06_ENABLED
+
 #include <utility>
 
 extern const AP_HAL::HAL &hal;
@@ -246,3 +248,5 @@ void AP_Baro_SPL06::_update_pressure(int32_t press_raw)
     _pressure_sum += press_comp;
     _pressure_count++;
 }
+
+#endif  // AP_BARO_SPL06_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_SPL06.h b/libraries/AP_Baro/AP_Baro_SPL06.h
index c57cb7e829..6c7f148097 100644
--- a/libraries/AP_Baro/AP_Baro_SPL06.h
+++ b/libraries/AP_Baro/AP_Baro_SPL06.h
@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Baro_Backend.h"
+
+#ifndef AP_BARO_SPL06_ENABLED
+#define AP_BARO_SPL06_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_BARO_SPL06_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_HAL/utility/OwnPtr.h>
 
-#include "AP_Baro_Backend.h"
-
 #ifndef HAL_BARO_SPL06_I2C_ADDR
  #define HAL_BARO_SPL06_I2C_ADDR  (0x76)
 #endif
@@ -45,3 +51,5 @@ private:
     int32_t _c00, _c10;
     int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30;
 };
+
+#endif  // AP_BARO_SPL06_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
index 617b5d8873..94e52a0c9f 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
@@ -1,9 +1,7 @@
-#include <AP_HAL/AP_HAL.h>
-
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
-
 #include "AP_Baro_UAVCAN.h"
 
+#if AP_BARO_UAVCAN_ENABLED
+
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -192,5 +190,4 @@ void AP_Baro_UAVCAN::update(void)
     }
 }
 
-#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
-
+#endif // AP_BARO_UAVCAN_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.h b/libraries/AP_Baro/AP_Baro_UAVCAN.h
index 5b368f4585..9ac8af6dfc 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.h
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.h
@@ -2,6 +2,12 @@
 
 #include "AP_Baro_Backend.h"
 
+#ifndef AP_BARO_UAVCAN_ENABLED
+#define AP_BARO_UAVCAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
+#endif
+
+#if AP_BARO_UAVCAN_ENABLED
+
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 class PressureCb;
@@ -44,3 +50,5 @@ private:
 
     static HAL_Semaphore _sem_registry;
 };
+
+#endif  // AP_BARO_UAVCAN_ENABLED