From fe9461242e06aa8f74328ff1c7931990f5cd0687 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 14 Feb 2023 14:10:39 +1100
Subject: [PATCH] AP_Compass: add and use AP_COMPASS_LSM9DS1_ENABLED

---
 libraries/AP_Compass/AP_Compass.h           | 2 ++
 libraries/AP_Compass/AP_Compass_LSM9DS1.cpp | 9 ++++-----
 libraries/AP_Compass/AP_Compass_LSM9DS1.h   | 7 ++++++-
 libraries/AP_Compass/AP_Compass_config.h    | 4 ++++
 4 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index b484f62652..18966f3e64 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -426,7 +426,9 @@ private:
 #if AP_COMPASS_BMM150_ENABLED
         DRIVER_BMM150   =3,
 #endif
+#if AP_COMPASS_LSM9DS1_ENABLED
         DRIVER_LSM9DS1  =4,
+#endif
         DRIVER_LIS3MDL  =5,
         DRIVER_AK09916  =6,
 #if AP_COMPASS_IST8310_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp b/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
index 3fb407e2d7..eeebe00fdc 100644
--- a/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
+++ b/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
@@ -1,13 +1,10 @@
+#include "AP_Compass_LSM9DS1.h"
 
-#include <assert.h>
-#include <utility>
+#if AP_COMPASS_LSM9DS1_ENABLED
 
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_Compass_LSM9DS1.h"
-
-
 #define LSM9DS1M_OFFSET_X_REG_L_M   0x05
 #define LSM9DS1M_OFFSET_X_REG_H_M   0x06
 #define LSM9DS1M_OFFSET_Y_REG_L_M   0x07
@@ -234,3 +231,5 @@ void AP_Compass_LSM9DS1::_register_modify(uint8_t reg, uint8_t clearbits, uint8_
     val |= setbits;
     _register_write(reg, val);
 }
+
+#endif
diff --git a/libraries/AP_Compass/AP_Compass_LSM9DS1.h b/libraries/AP_Compass/AP_Compass_LSM9DS1.h
index 587c598a0c..2cb91c74c6 100644
--- a/libraries/AP_Compass/AP_Compass_LSM9DS1.h
+++ b/libraries/AP_Compass/AP_Compass_LSM9DS1.h
@@ -1,11 +1,14 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_LSM9DS1_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
 #include <AP_Math/AP_Math.h>
 
-#include "AP_Compass.h"
 #include "AP_Compass_Backend.h"
 
 class AP_Compass_LSM9DS1 : public AP_Compass_Backend
@@ -40,3 +43,5 @@ private:
     float _scaling;
     enum Rotation _rotation;
 };
+
+#endif
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 41f643ace5..4e1e89f71c 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -66,3 +66,7 @@
 #ifndef AP_COMPASS_LSM303D_ENABLED
 #define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
+
+#ifndef AP_COMPASS_LSM9DS1_ENABLED
+#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif