AP_Compass: add and use AP_COMPASS_LIS3MDL_ENABLED

Tools/scripts/build_options.py

@@ -112,6 +112,7 @@ BUILD_OPTIONS = [
     Feature('Compass', 'BMM150', 'AP_COMPASS_BMM150_ENABLED', 'Enable BMM150 compasses', 1, None),
     Feature('Compass', 'HMC5843', 'AP_COMPASS_HMC5843_ENABLED', 'Enable HMC5843 compasses', 1, None),
     Feature('Compass', 'IST8308', 'AP_COMPASS_IST8308_ENABLED', 'Enable IST8308 compasses', 1, None),
+    Feature('Compass', 'LIS3MDL', 'AP_COMPASS_LIS3MDL_ENABLED', 'Enable LIS3MDL compasses', 1, None),
     Feature('Compass', 'LSM303D', 'AP_COMPASS_LSM303D_ENABLED', 'Enable LSM303D compasses', 1, None),
     Feature('Compass', 'LSM9DS1', 'AP_COMPASS_LSM9DS1_ENABLED', 'Enable LSM9DS1 compasses', 1, None),
 

libraries/AP_Compass/AP_Compass.cpp

@@ -1127,7 +1127,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
 #endif // HAL_BUILD_AP_PERIPH
 
-#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_LIS3MDL)
+#if AP_COMPASS_LIS3MDL_ENABLED
     // lis3mdl on bus 0 with default address
 #if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
     FOREACH_I2C_INTERNAL(i) {
@@ -1152,7 +1152,7 @@ void Compass::_probe_external_i2c_compasses(void)
         ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
                     true, ROTATION_YAW_90));
     }
-#endif
+#endif  // AP_COMPASS_LIS3MDL_ENABLED
 
 #if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_AK09916)
     // AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that
@@ -1277,7 +1277,9 @@ void Compass::_detect_backends(void)
 #if AP_FEATURE_BOARD_DETECT
     if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
         // default to disabling LIS3MDL on pixhawk2 due to hardware issue
-        _driver_type_mask.set_default(1U<<DRIVER_LIS3MDL);
+#if AP_COMPASS_LIS3MDL_ENABLED
+    _driver_type_mask.set_default(1U<<DRIVER_LIS3MDL);
+#endif
     }
 #endif
 
@@ -1402,8 +1404,10 @@ void Compass::_detect_backends(void)
 #if AP_COMPASS_AK8963_ENABLED
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
 #endif
+#if AP_COMPASS_LIS3MDL_ENABLED
         ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
                     false, ROTATION_NONE));
+#endif  // AP_COMPASS_LIS3MDL_ENABLED
         break;
 
     case AP_BoardConfig::PX4_BOARD_PHMINI:

libraries/AP_Compass/AP_Compass.h

@@ -429,7 +429,9 @@ private:
 #if AP_COMPASS_LSM9DS1_ENABLED
         DRIVER_LSM9DS1  =4,
 #endif
+#if AP_COMPASS_LIS3MDL_ENABLED
         DRIVER_LIS3MDL  =5,
+#endif
         DRIVER_AK09916  =6,
 #if AP_COMPASS_IST8310_ENABLED
         DRIVER_IST8310  =7,

libraries/AP_Compass/AP_Compass_LIS3MDL.cpp

@@ -19,6 +19,8 @@
  */
 #include "AP_Compass_LIS3MDL.h"
 
+#if AP_COMPASS_LIS3MDL_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <utility>
 #include <AP_Math/AP_Math.h>
@@ -171,3 +173,5 @@ void AP_Compass_LIS3MDL::read()
 {
     drain_accumulated_samples(compass_instance);
 }
+
+#endif  // AP_COMPASS_LIS3MDL_ENABLED

libraries/AP_Compass/AP_Compass_LIS3MDL.h

@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_LIS3MDL_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
@@ -58,3 +62,5 @@ private:
     bool force_external;
     enum Rotation rotation;
 };
+
+#endif  // AP_COMPASS_LIS3MDL_ENABLED

libraries/AP_Compass/AP_Compass_config.h

@@ -63,6 +63,10 @@
 #define AP_COMPASS_IST8310_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_COMPASS_LIS3MDL_ENABLED
+#define AP_COMPASS_LIS3MDL_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_COMPASS_LSM303D_ENABLED
 #define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif