AP_HAL_ChibiOS: use AP_PERIPH_MAG_ENABLED in place of HAL_PERIPH_ENAB…

…LE_MAG
ArduPilot · Jan 29, 2025 · b17ab8f · b17ab8f
1 parent 796ec9f
commit b17ab8f
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Showing 55 changed files with 61 additions and 55 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
@@ -111,7 +111,7 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
@@ -111,7 +111,7 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_ENABLE_RC_OUT

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
@@ -123,7 +123,7 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-Airspeed-DLVR/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-Airspeed-DLVR/hwdef.dat
@@ -10,7 +10,7 @@ define HAL_AIRSPEED_TYPE_DEFAULT 9
 define AIRSPEED_MAX_SENSORS 1
 
 define HAL_PERIPH_ENABLE_AIRSPEED
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_90
 COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
 COMPASS RM3100 I2C:0:0x21 false ROTATION_NONE

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-Airspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-Airspeed/hwdef.dat
@@ -10,7 +10,7 @@ define HAL_AIRSPEED_TYPE_DEFAULT 1
 define AIRSPEED_MAX_SENSORS 1
 
 define HAL_PERIPH_ENABLE_AIRSPEED
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_90
 COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
 COMPASS RM3100 I2C:0:0x21 false ROTATION_NONE

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat
@@ -81,7 +81,7 @@ define HAL_PERIPH_GPS_PORT_DEFAULT 0
 
 # allow for F9P GPS modules with moving baseline
 define GPS_MOVING_BASELINE 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_COMPASS_MAX_SENSORS 1
 
 # QMC5883L for different board varients

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
@@ -101,7 +101,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # RCOU+GPS+MAG+BARO+Buzzer+NeoPixels
 define HAL_PERIPH_ENABLE_RC_OUT
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_NEOPIXEL_COUNT 8

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat
@@ -101,7 +101,7 @@ define GPS_MAX_INSTANCES 1
 define AP_PERIPH_GPS_ENABLED 1
 define GPS_MOVING_BASELINE 1
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_COMPASS_MAX_SENSORS 1
 
 define AP_GPS_BACKEND_DEFAULT_ENABLED 0

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
@@ -131,7 +131,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 
 # do direct neopixel LED output to enable the 'rainbow' effect on

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
@@ -112,7 +112,7 @@ define HAL_NO_GCS
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
@@ -115,7 +115,7 @@ define HAL_NO_GCS
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
@@ -25,7 +25,7 @@ env AP_PERIPH 1
 
 
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
@@ -18,7 +18,7 @@ env AP_PERIPH_HEAVY 1
 define AP_CAN_SLCAN_ENABLED 1
 define AP_PERIPH_BATTERY_ENABLED 1
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -18,7 +18,7 @@ env AP_PERIPH 1
 define AP_CAN_SLCAN_ENABLED 1
 define AP_PERIPH_BATTERY_ENABLED 1
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
@@ -123,7 +123,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
@@ -116,7 +116,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG 1
+define AP_PERIPH_MAG_ENABLED 1 1
 define GPS_MOVING_BASELINE 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
@@ -139,7 +139,7 @@ env ROMFS_UNCOMPRESSED True
 
 
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 
 # septentrio on com 3

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
@@ -87,7 +87,7 @@ define HAL_DEVICE_THREAD_STACK 768
 define AP_PARAM_MAX_EMBEDDED_PARAM 256
 
 # MAG
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 # keep ROMFS uncompressed as we don't have enough RAM
 # to uncompress the bootloader at runtime

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
@@ -142,7 +142,7 @@ define HAL_PERIPH_ENABLE_IMU
 
 # GPS+MAG+LEDs
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_IMU
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
@@ -138,7 +138,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_POS3_CAN/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_POS3_CAN/hwdef.dat
@@ -98,7 +98,7 @@ define GPS_MOVING_BASELINE 1
 
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 # GPS on 1st port
 define HAL_PERIPH_GPS_PORT_DEFAULT 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef.dat
@@ -18,7 +18,7 @@ define GPS_MOVING_BASELINE 1
 
 
 # ----------- COMPASS
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 SPIDEV  rm3100 SPI2 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
@@ -12,7 +12,7 @@ define GPS_MOVING_BASELINE 1
 
 
 # ----------- COMPASS
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 SPIDEV  rm3100 SPI2 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
@@ -17,7 +17,7 @@ env AP_PERIPH 1
 
 
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_PERIPH_ENABLE_ADSB

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat
@@ -12,7 +12,7 @@ define HAL_PERIPH_GPS_PORT_DEFAULT 2
 # allow for F9P GPS modules with moving baseline
 define GPS_MOVING_BASELINE 1
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
 define HAL_COMPASS_MAX_SENSORS 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-MagHiRes/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-MagHiRes/hwdef.dat
@@ -1,7 +1,7 @@
 include ../MatekL431/hwdef.inc
 
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
@@ -29,7 +29,7 @@ define AP_GPS_SBF_ENABLED 0
 define AP_GPS_GSOF_ENABLED 0
 
 # ---------------------- COMPASS ---------------------------
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
@@ -92,7 +92,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 512
 define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 0
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
@@ -98,7 +98,7 @@ PA4 VSENSE ADC1 SCALE(2)
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_AIRSPEED
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
@@ -67,7 +67,7 @@ define AIRSPEED_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 
 define AP_PERIPH_BATTERY_ENABLED 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
@@ -83,7 +83,7 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 
 # ---------------------- COMPASS ---------------------------
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 
 SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
@@ -102,7 +102,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
@@ -113,7 +113,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat
@@ -94,7 +94,7 @@ PA0 VDD_5V_SENS ADC1 SCALE(2)
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define AIRSPEED_MAX_SENSORS 1
 define HAL_AIRSPEED_TYPE_DEFAULT 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
@@ -109,7 +109,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
@@ -89,7 +89,7 @@ env ROMFS_UNCOMPRESSED True
 # enable GPS and compass
 define AP_PERIPH_GPS_ENABLED 1
 define GPS_MAX_RATE_MS 200
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 
 # disable dual GPS and GPS blending to save flash space

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
@@ -84,7 +84,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
 define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
@@ -87,7 +87,7 @@ env ROMFS_UNCOMPRESSED True
 
 # enable GPS and compass
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat
@@ -63,7 +63,7 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
 env ROMFS_UNCOMPRESSED True
 
 # enable compass and airspeed
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_COMPASS_MAX_SENSORS 1  
 
 # PWM, WS2812 LED

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat
@@ -82,7 +82,7 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
 env ROMFS_UNCOMPRESSED True
 
 # enable compass and airspeed
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_COMPASS_MAX_SENSORS 1  
 define AIRSPEED_MAX_SENSORS 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
@@ -131,7 +131,7 @@ BARO MS56XX SPI:ms5611
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 define AP_PERIPH_GPS_ENABLED 1
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_BARO
 
 # reduce the number of CAN RX Buffer

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat
@@ -10,4 +10,4 @@ define AIRSPEED_MAX_SENSORS 1
 define HAL_PERIPH_ADSB_PORT_DEFAULT 3
 define HAL_PERIPH_ENABLE_ADSB
 define HAL_PERIPH_ENABLE_AIRSPEED
-# define HAL_PERIPH_ENABLE_MAG
+# define AP_PERIPH_MAG_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
@@ -26,6 +26,6 @@ define AP_GPS_SBF_ENABLED 0
 define AP_GPS_GSOF_ENABLED 0
 
 # MAG
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 #define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
 define HAL_PERIPH_ENABLE_TOSHIBA_LED_WITHOUT_NOTIFY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-QiotekPeriph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-QiotekPeriph/hwdef.dat
@@ -7,7 +7,7 @@ define HAL_AIRSPEED_TYPE_DEFAULT 15
 define AIRSPEED_MAX_SENSORS 1
 
 define HAL_PERIPH_ENABLE_AIRSPEED
-define HAL_PERIPH_ENABLE_MAG
+define AP_PERIPH_MAG_ENABLED 1
 COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
 COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
 COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE