From dd0a7a551ba3e4d0834a2e60c4b1aa203fb783a6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jan 2024 11:41:04 +1100
Subject: [PATCH] AP_AHRS: do not compile AP_AHRS.cpp if AP_AHRS_ENABLED is 0

on Periph we end up not having a default backend, which is a compilation failure
---
 libraries/AP_AHRS/AP_AHRS.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 61255e7b06..93591c2026 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -18,6 +18,11 @@
  *  ArduPilot
  *
  */
+
+#include "AP_AHRS_config.h"
+
+#if AP_AHRS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_AHRS.h"
 #include "AP_AHRS_View.h"
@@ -3544,3 +3549,5 @@ AP_AHRS &ahrs()
 }
 
 }
+
+#endif  // AP_AHRS_ENABLED