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AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH

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the guard here is just against use of the singleton
This commit is contained in:
Peter Barker 2021-11-23 16:37:18 +11:00 committed by Andrew Tridgell
parent 7a7e44ae3c
commit c45c02ce82
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_GPS/GPS_Backend.cpp
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@ -397,7 +397,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
goto bad_yaw; goto bad_yaw;
} }
#ifndef HAL_BUILD_AP_PERIPH #if AP_AHRS_ENABLED
{ {
// get lag // get lag
float lag = 0.1; 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; 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 // at this point the offsets are looking okay, go ahead and actually calculate a useful heading