From 2818151a3988013a3db72ebf55efb249be1f0a82 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 24 Oct 2019 22:35:19 +1100
Subject: [PATCH] AP_RangeFinder: disable some incompatible drivers for
 AP_Periph

---
 libraries/AP_RangeFinder/RangeFinder.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 5b936f1900..9e9763924e 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -431,11 +431,13 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     case RangeFinder_TYPE_PX4_PWM:
+#ifndef HAL_BUILD_AP_PERIPH
         // to ease moving from PX4 to ChibiOS we'll lie a little about
         // the backend driver...
         if (AP_RangeFinder_PWM::detect()) {
             drivers[instance] = new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height);
         }
+#endif
         break;
 #endif
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
@@ -469,9 +471,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
 #endif
     case RangeFinder_TYPE_MAVLink:
+#ifndef HAL_BUILD_AP_PERIPH
         if (AP_RangeFinder_MAVLink::detect()) {
             drivers[instance] = new AP_RangeFinder_MAVLink(state[instance], params[instance]);
         }
+#endif
         break;
     case RangeFinder_TYPE_MBSER:
         if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
@@ -479,10 +483,12 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         }
         break;
     case RangeFinder_TYPE_ANALOG:
+#ifndef HAL_BUILD_AP_PERIPH
         // note that analog will always come back as present if the pin is valid
         if (AP_RangeFinder_analog::detect(params[instance])) {
             drivers[instance] = new AP_RangeFinder_analog(state[instance], params[instance]);
         }
+#endif
         break;
     case RangeFinder_TYPE_NMEA:
         if (AP_RangeFinder_NMEA::detect(serial_instance)) {
@@ -510,9 +516,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         }
         break;
     case RangeFinder_TYPE_PWM:
+#ifndef HAL_BUILD_AP_PERIPH
         if (AP_RangeFinder_PWM::detect()) {
             drivers[instance] = new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height);
         }
+#endif
         break;
     case RangeFinder_TYPE_BLPing:
         if (AP_RangeFinder_BLPing::detect(serial_instance)) {