From 00bc4a9e8b9c585ce676ce2885ded511ff62cdc1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 1 Aug 2023 16:15:44 +1000
Subject: [PATCH] AP_GPS: add and use AP_GPS_DRONECAN_ENABLED

---
 libraries/AP_GPS/AP_GPS_DroneCAN.cpp | 7 +++++--
 libraries/AP_GPS/AP_GPS_DroneCAN.h   | 8 ++++++--
 libraries/AP_GPS/AP_GPS_config.h     | 4 ++++
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
index b3d361f80b..6d0a245746 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
@@ -16,9 +16,12 @@
 //
 //  UAVCAN GPS driver
 //
+#include "AP_GPS_config.h"
+
+#if AP_GPS_DRONECAN_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_ENABLE_DRONECAN_DRIVERS
 #include "AP_GPS_DroneCAN.h"
 
 #include <AP_CANManager/AP_CANManager.h>
@@ -891,4 +894,4 @@ bool AP_GPS_DroneCAN::instance_exists(const AP_DroneCAN* ap_dronecan)
 }
 #endif // AP_DRONECAN_SEND_GPS
 
-#endif // HAL_ENABLE_DRONECAN_DRIVERS
+#endif // AP_GPS_DRONECAN_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.h b/libraries/AP_GPS/AP_GPS_DroneCAN.h
index 9d77a8d6eb..10f6d71954 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.h
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.h
@@ -18,9 +18,12 @@
 //
 #pragma once
 
+#include "AP_GPS_config.h"
+
+#if AP_GPS_DRONECAN_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
-#if HAL_ENABLE_DRONECAN_DRIVERS
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
 #include "RTCM3_Parser.h"
@@ -147,4 +150,5 @@ private:
         ByteBuffer *buf;
     } _rtcm_stream;
 };
-#endif
+
+#endif  // AP_GPS_DRONECAN_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index ef5bde2f5d..99ea6a9d28 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -10,6 +10,10 @@
 #define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED
 #endif
 
+#ifndef AP_GPS_DRONECAN_ENABLED
+#define AP_GPS_DRONECAN_ENABLED HAL_ENABLE_DRONECAN_DRIVERS
+#endif
+
 #ifndef AP_GPS_ERB_ENABLED
   #define AP_GPS_ERB_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
 #endif