From ed608d37f62102491bc3f42ffbb88be6150cde21 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 30 Oct 2021 12:15:48 +1100
Subject: [PATCH] AP_Compass: add and use AP_SIM_COMPASS_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp      | 2 +-
 libraries/AP_Compass/AP_Compass.h        | 4 ++++
 libraries/AP_Compass/AP_Compass_SITL.cpp | 5 +++--
 libraries/AP_Compass/AP_Compass_SITL.h   | 8 +++++---
 4 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index c0288fd955..cb6e9b7319 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1227,7 +1227,7 @@ void Compass::_detect_backends(void)
     }
 #endif
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if AP_SIM_COMPASS_ENABLED
     ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL());
 #endif
 
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 5efe23adb7..994ea71832 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -70,6 +70,10 @@
 
 #define MAX_CONNECTED_MAGS (COMPASS_MAX_UNREG_DEV+COMPASS_MAX_INSTANCES)
 
+#ifndef AP_SIM_COMPASS_ENABLED
+#define AP_SIM_COMPASS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
 #include "CompassCalibrator.h"
 
 class CompassLearn;
diff --git a/libraries/AP_Compass/AP_Compass_SITL.cpp b/libraries/AP_Compass/AP_Compass_SITL.cpp
index a4134f4690..2740163720 100644
--- a/libraries/AP_Compass/AP_Compass_SITL.cpp
+++ b/libraries/AP_Compass/AP_Compass_SITL.cpp
@@ -1,8 +1,9 @@
 #include "AP_Compass_SITL.h"
 
+#if AP_SIM_COMPASS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 extern const AP_HAL::HAL& hal;
 
 AP_Compass_SITL::AP_Compass_SITL()
@@ -158,4 +159,4 @@ void AP_Compass_SITL::read()
         drain_accumulated_samples(_compass_instance[i], nullptr);
     }
 }
-#endif
+#endif  // AP_SIM_COMPASS_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_SITL.h b/libraries/AP_Compass/AP_Compass_SITL.h
index 8fb4595f05..4beba3416f 100644
--- a/libraries/AP_Compass/AP_Compass_SITL.h
+++ b/libraries/AP_Compass/AP_Compass_SITL.h
@@ -1,13 +1,15 @@
 #pragma once
 
 #include "AP_Compass.h"
+
+#if AP_SIM_COMPASS_ENABLED
+
 #include "AP_Compass_Backend.h"
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#include <SITL/SITL.h>
 #include <AP_Math/vectorN.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
 
 #define MAX_SITL_COMPASSES 3
 
@@ -42,4 +44,4 @@ private:
     Vector3f _last_odi;
     Vector3f _last_data[MAX_SITL_COMPASSES];
 };
-#endif // CONFIG_HAL_BOARD
+#endif // AP_SIM_COMPASS_ENABLED