From d45526ff426db4bd4208e172f9a110185a920886 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@KrausAerospace.com>
Date: Mon, 30 Aug 2021 00:29:49 -0700
Subject: [PATCH] AP_Compass: fix periph-heavy compile errors with different
 things enabled

---
 libraries/AP_Compass/AP_Compass_AK09916.cpp | 6 ++++++
 libraries/AP_Compass/AP_Compass_AK8963.cpp  | 9 +++++++++
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 2 ++
 3 files changed, 17 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp
index 542f48869b..74f4e93453 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK09916.cpp
@@ -170,6 +170,7 @@ fail:
 AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
                                                      enum Rotation rotation)
 {
+#if HAL_INS_ENABLED
     AP_InertialSensor &ins = AP::ins();
 
     AP_AK09916_BusDriver *bus =
@@ -185,6 +186,9 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
     }
 
     return sensor;
+#else
+    return nullptr;
+#endif
 }
 
 bool AP_Compass_AK09916::init()
@@ -368,12 +372,14 @@ AP_AK09916_BusDriver_Auxiliary::AP_AK09916_BusDriver_Auxiliary(AP_InertialSensor
      * Only initialize members. Fails are handled by configure or while
      * getting the semaphore
      */
+#if HAL_INS_ENABLED
     _bus = ins.get_auxiliary_bus(backend_id, backend_instance);
     if (!_bus) {
         return;
     }
 
     _slave = _bus->request_next_slave(addr);
+#endif
 }
 
 AP_AK09916_BusDriver_Auxiliary::~AP_AK09916_BusDriver_Auxiliary()
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index f6d88ef885..d78f9220f5 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -90,10 +90,12 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CD
     if (!dev) {
         return nullptr;
     }
+#if HAL_INS_ENABLED
     AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
 
     /* Allow MPU9250 to shortcut auxiliary bus and host bus */
     ins.detect_backends();
+#endif
 
     return probe(std::move(dev), rotation);
 }
@@ -101,6 +103,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CD
 AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
                                                      enum Rotation rotation)
 {
+#if HAL_INS_ENABLED
     AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
 
     AP_AK8963_BusDriver *bus =
@@ -116,6 +119,10 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
     }
 
     return sensor;
+#else
+    return nullptr;
+#endif
+
 }
 
 bool AP_Compass_AK8963::init()
@@ -305,12 +312,14 @@ AP_AK8963_BusDriver_Auxiliary::AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &
      * Only initialize members. Fails are handled by configure or while
      * getting the semaphore
      */
+#if HAL_INS_ENABLED
     _bus = ins.get_auxiliary_bus(backend_id, backend_instance);
     if (!_bus) {
         return;
     }
 
     _slave = _bus->request_next_slave(addr);
+#endif
 }
 
 AP_AK8963_BusDriver_Auxiliary::~AP_AK8963_BusDriver_Auxiliary()
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index 189453122e..f17f5675e1 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -498,12 +498,14 @@ AP_HMC5843_BusDriver_Auxiliary::AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor
      * Only initialize members. Fails are handled by configure or while
      * getting the semaphore
      */
+#if HAL_INS_ENABLED
     _bus = ins.get_auxiliary_bus(backend_id);
     if (!_bus) {
         return;
     }
 
     _slave = _bus->request_next_slave(addr);
+#endif
 }
 
 AP_HMC5843_BusDriver_Auxiliary::~AP_HMC5843_BusDriver_Auxiliary()