From c45c02ce828402fd378e548b19812ccb9f1e1e81 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Nov 2021 16:37:18 +1100
Subject: [PATCH] AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH

the guard here is just against use of the singleton
---
 libraries/AP_GPS/GPS_Backend.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 89cff87262..3b442cffc8 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -397,7 +397,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
             goto bad_yaw;
         }
 
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_AHRS_ENABLED
         {
             // get lag
             float lag = 0.1;
@@ -425,7 +425,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
                 goto bad_yaw;
             }
         }
-#endif // HAL_BUILD_AP_PERIPH
+#endif // AP_AHRS_ENABLED
 
         {
             // at this point the offsets are looking okay, go ahead and actually calculate a useful heading