From a836bd85831bdf0a07137b9c058f3e1117c2be6a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 29 Feb 2024 15:39:18 +1100
Subject: [PATCH] AP_AHRS: add and use AP_CUSTOMROTATIONS_ENABLED

also add to build_options.py
---
 libraries/AP_AHRS/AP_AHRS.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 889272b2d4..9f41559e1a 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -256,7 +256,7 @@ void AP_AHRS::init()
     external.init();
 #endif
 
-#if !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
+#if AP_CUSTOMROTATIONS_ENABLED
     // convert to new custom rotation
     // PARAMETER_CONVERSION - Added: Nov-2021
     if (_board_orientation == ROTATION_CUSTOM_OLD) {
@@ -274,7 +274,7 @@ void AP_AHRS::init()
             AP::custom_rotations().convert(ROTATION_CUSTOM_1, rpy[0], rpy[1], rpy[2]);
         }
     }
-#endif // !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
+#endif  // AP_CUSTOMROTATIONS_ENABLED
 }
 
 // updates matrices responsible for rotating vectors from vehicle body