From acf437b258926b938e54b952ebf76c87bde7fdfe Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 18 Sep 2023 21:53:03 +1000
Subject: [PATCH] AP_Compass: correct compilation with COMPASS_CAL_ENABLED off

---
 libraries/AP_Compass/AP_Compass.h               | 3 ---
 libraries/AP_Compass/AP_Compass_Calibration.cpp | 5 ++---
 libraries/AP_Compass/AP_Compass_config.h        | 7 +++++++
 libraries/AP_Compass/CompassCalibrator.cpp      | 6 ++++++
 libraries/AP_Compass/CompassCalibrator.h        | 9 ++++++---
 5 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 92e98f5fe1..fd37550b41 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -35,9 +35,6 @@
 #endif
 #endif
 
-#ifndef COMPASS_CAL_ENABLED
-#define COMPASS_CAL_ENABLED 1
-#endif
 #ifndef COMPASS_MOT_ENABLED
 #define COMPASS_MOT_ENABLED 1
 #endif
diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index 902c8e66b9..d12b77ba83 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -451,6 +451,8 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_int_t &packet)
     return result;
 }
 
+#endif // COMPASS_CAL_ENABLED
+
 /*
   get mag field with the effects of offsets, diagonals and
   off-diagonals removed
@@ -571,6 +573,3 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
 
     return MAV_RESULT_ACCEPTED;
 }
-
-
-#endif // COMPASS_CAL_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 3fb16fe0d3..4f058d70a0 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -12,6 +12,13 @@
 #define AP_COMPASS_DIAGONALS_ENABLED 1
 #endif
 
+#ifndef COMPASS_CAL_ENABLED
+#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED
+#endif
+
+#define COMPASS_MAX_SCALE_FACTOR 1.5
+#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)
+
 // Backend support
 #ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
 #define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED
diff --git a/libraries/AP_Compass/CompassCalibrator.cpp b/libraries/AP_Compass/CompassCalibrator.cpp
index 6b77cd9e70..57a374987c 100644
--- a/libraries/AP_Compass/CompassCalibrator.cpp
+++ b/libraries/AP_Compass/CompassCalibrator.cpp
@@ -57,6 +57,10 @@
  * http://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
  */
 
+#include "AP_Compass_config.h"
+
+#if COMPASS_CAL_ENABLED
+
 #include "AP_Compass.h"
 #include "CompassCalibrator.h"
 #include <AP_HAL/AP_HAL.h>
@@ -1153,3 +1157,5 @@ bool CompassCalibrator::right_angle_rotation(Rotation r) const
             return false;
     }
 }
+
+#endif  // COMPASS_CAL_ENABLED
diff --git a/libraries/AP_Compass/CompassCalibrator.h b/libraries/AP_Compass/CompassCalibrator.h
index 38437f2942..90a3c4e765 100644
--- a/libraries/AP_Compass/CompassCalibrator.h
+++ b/libraries/AP_Compass/CompassCalibrator.h
@@ -1,14 +1,15 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if COMPASS_CAL_ENABLED
+
 #include <AP_Math/AP_Math.h>
 
 #define COMPASS_CAL_NUM_SPHERE_PARAMS       4
 #define COMPASS_CAL_NUM_ELLIPSOID_PARAMS    9
 #define COMPASS_CAL_NUM_SAMPLES             300     // number of samples required before fitting begins
 
-#define COMPASS_MAX_SCALE_FACTOR 1.5
-#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)
-
 class CompassCalibrator {
 public:
     CompassCalibrator();
@@ -255,3 +256,5 @@ private:
     // Semaphore for intermediate structure for point sample collection
     HAL_Semaphore sample_sem;
 };
+
+#endif  // COMPASS_CAL_ENABLED