Allow Periph to compile with !AP_GPS_ENABLED

Tools/AP_Periph/AP_Periph.h

@@ -475,10 +475,10 @@ class AP_Periph_FW {
 
 #if AP_SIM_ENABLED
     SITL::SIM sitl;
+#endif
 #if AP_AHRS_ENABLED
     AP_AHRS ahrs;
 #endif
-#endif
 };
 
 #ifndef CAN_APP_NODE_NAME

libraries/AP_AHRS/AP_AHRS.cpp

@@ -831,7 +831,7 @@ bool AP_AHRS::airspeed_sensor_enabled(void) const
 // if we have an estimate
 bool AP_AHRS::_airspeed_estimate(float &airspeed_ret) const
 {
-#if AP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_ENABLED && AP_GPS_ENABLED
     if (airspeed_sensor_enabled()) {
         uint8_t idx = get_active_airspeed_index();
         airspeed_ret = AP::airspeed()->get_airspeed(idx);
@@ -1743,13 +1743,15 @@ void AP_AHRS::get_relative_position_D_home(float &posD) const
     float originD;
     if (!get_relative_position_D_origin(originD) ||
         !_get_origin(originLLH)) {
+#if AP_GPS_ENABLED
         const auto &gps = AP::gps();
         if (_gps_use == GPSUse::EnableWithHeight &&
             gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
             posD = (get_home().alt - gps.location().alt) * 0.01;
-        } else {
-            posD = -AP::baro().get_altitude();
+            return;
         }
+#endif
+        posD = -AP::baro().get_altitude();
         return;
     }
 

libraries/AP_Common/Location.cpp

@@ -33,6 +33,7 @@ Location::Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, AltFr
     set_alt_cm(alt_in_cm, frame);
 }
 
+#if AP_AHRS_ENABLED
 Location::Location(const Vector3f &ekf_offset_neu, AltFrame frame)
 {
     zero();
@@ -48,6 +49,7 @@ Location::Location(const Vector3f &ekf_offset_neu, AltFrame frame)
         offset(ekf_offset_neu.x * 0.01, ekf_offset_neu.y * 0.01);
     }
 }
+#endif  // AP_AHRS_ENABLED
 
 void Location::set_alt_cm(int32_t alt_cm, AltFrame frame)
 {
@@ -141,12 +143,17 @@ bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
             alt_abs = alt;
             break;
         case AltFrame::ABOVE_HOME:
+#if AP_AHRS_ENABLED
             if (!AP::ahrs().home_is_set()) {
                 return false;
             }
             alt_abs = alt + AP::ahrs().get_home().alt;
+#else
+            return false;
+#endif  // AP_AHRS_ENABLED
             break;
         case AltFrame::ABOVE_ORIGIN:
+#if AP_AHRS_ENABLED
             {
                 // fail if we cannot get ekf origin
                 Location ekf_origin;
@@ -156,6 +163,9 @@ bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
                 alt_abs = alt + ekf_origin.alt;
             }
             break;
+#else
+            return false;
+#endif  // AP_AHRS_ENABLED
         case AltFrame::ABOVE_TERRAIN:
             alt_abs = alt + alt_terr_cm;
             break;
@@ -167,12 +177,17 @@ bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
             ret_alt_cm = alt_abs;
             return true;
         case AltFrame::ABOVE_HOME:
+#if AP_AHRS_ENABLED
             if (!AP::ahrs().home_is_set()) {
                 return false;
             }
             ret_alt_cm = alt_abs - AP::ahrs().get_home().alt;
+#else
+            return false;
+#endif  // AP_AHRS_ENABLED
             return true;
         case AltFrame::ABOVE_ORIGIN:
+#if AP_AHRS_ENABLED
             {
                 // fail if we cannot get ekf origin
                 Location ekf_origin;
@@ -182,13 +197,17 @@ bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
                 ret_alt_cm = alt_abs - ekf_origin.alt;
                 return true;
             }
+#else
+            return false;
+#endif  // AP_AHRS_ENABLED
         case AltFrame::ABOVE_TERRAIN:
             ret_alt_cm = alt_abs - alt_terr_cm;
             return true;
     }
     return false;  // LCOV_EXCL_LINE  - not reachable
 }
 
+#if AP_AHRS_ENABLED
 bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const
 {
     Location ekf_origin;
@@ -216,6 +235,7 @@ bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const
 
     return true;
 }
+#endif  // AP_AHRS_ENABLED
 
 // return horizontal distance in meters between two locations
 ftype Location::get_distance(const Location &loc2) const

libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat

@@ -86,6 +86,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG
+define HAL_PERIPH_ENABLE_AHRS
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
 define AP_INERTIALSENSOR_ENABLED 1

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -2756,6 +2756,7 @@ void GCS_MAVLINK::send_named_float(const char *name, float value) const
     mavlink_msg_named_value_float_send(chan, AP_HAL::millis(), float_name, value);
 }
 
+#if AP_AHRS_ENABLED
 void GCS_MAVLINK::send_home_position() const
 {
     if (!AP::ahrs().home_is_set()) {
@@ -2801,6 +2802,7 @@ void GCS_MAVLINK::send_gps_global_origin() const
         ekf_origin.alt * 10,
         AP_HAL::micros64());
 }
+#endif  // AP_AHRS_ENABLED
 
 MAV_STATE GCS_MAVLINK::system_status() const
 {
@@ -5652,6 +5654,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_global_position_int();
         break;
 
+#if AP_AHRS_ENABLED
     case MSG_HOME:
         CHECK_PAYLOAD_SIZE(HOME_POSITION);
         send_home_position();
@@ -5661,6 +5664,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(GPS_GLOBAL_ORIGIN);
         send_gps_global_origin();
         break;
+#endif  // AP_AHRS_ENABLED
 
 #if AP_RPM_ENABLED
     case MSG_RPM: