From eb05093f34ca4c2c1dfb093688d8abad0d5df275 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 18 Sep 2023 21:53:26 +1000
Subject: [PATCH] AP_Compass: compass calibration requires DCM

---
 libraries/AP_Compass/AP_Compass_config.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 4f058d70a0..9d77843b09 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -3,6 +3,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
 #include <AP_MSP/msp.h>
+#include <AP_AHRS/AP_AHRS_config.h>
 
 #ifndef AP_COMPASS_ENABLED
 #define AP_COMPASS_ENABLED 1
@@ -13,7 +14,7 @@
 #endif
 
 #ifndef COMPASS_CAL_ENABLED
-#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED
+#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
 #endif
 
 #define COMPASS_MAX_SCALE_FACTOR 1.5