AP_HAL_ChibiOS: rename HAL_PROBE_EXTERNAL_I2C_COMPASSES to AP_COMPASS_PROBING_ENABLED

... and force it to have a value, not just be defined
2026-10-06 19:00:27 +08:00 · 2025-10-27 18:24:18 -05:00
parent 944ef566ec
commit fb8dc7eb2d
203 changed files with 203 additions and 208 deletions
@@ -261,4 +261,4 @@ BARO DPS280      SPI:dps310

 # 1 compass
 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
@@ -179,7 +179,7 @@ define BOARD_RSSI_ANA_PIN 10
 # probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -184,7 +184,7 @@ define BOARD_RSSI_ANA_PIN 10
 # probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -139,7 +139,7 @@ define HAL_BATT_CURR_SCALE 40.0
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # SPI2 - IMU0
 PB13 SPI2_SCK SPI2
@@ -189,7 +189,7 @@ define HAL_IMUHEAT_I_DEFAULT 0.07
 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 40

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE

@@ -182,7 +182,7 @@ DMA_NOSHARE SPI1* SPI4*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -207,7 +207,7 @@ COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270

 # also problem all external compass types
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # microSD support
 PG9 SDMMC2_D0 SDMMC2
@@ -289,7 +289,7 @@ PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
 BARO BMP388 I2C:0:0x76

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # builtin compass
 COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
@@ -174,7 +174,7 @@ BARO BMP388 I2C:1:0x76

 # Compass
 COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define AP_COMPASS_IIS2MDC_ENABLED 1

 # IIM42653 IMU on SPI1
@@ -100,7 +100,7 @@ BARO BMP388 I2C:2:0x76

 # Compass on I2C4
 COMPASS IIS2MDC I2C:2:0x1E false ROTATION_YAW_180
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define AP_COMPASS_IIS2MDC_ENABLED 1

 # IMU heater
@@ -143,7 +143,7 @@ BARO SPL06  I2C:0:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0

 # SPI devices
@@ -268,7 +268,7 @@ BARO ICP201XX I2C:0:0x64
 BARO ICP201XX I2C:2:0x63

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # builtin compass on CUAV 6X
 COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
@@ -156,7 +156,7 @@ define HAL_OSD_TYPE_DEFAULT 5   # MSP DisplayPort
 # Sensor configuration
 define ALLOW_ARM_NO_COMPASS     # Allow arming without compass
 define ALLOW_ARM_NO_GPS         # Allow arming without GPS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # ESC telemetry support
 define HAL_WITH_ESC_TELEM 1
@@ -167,4 +167,4 @@ BARO BMP388      SPI:bmp390

 define ALLOW_ARM_NO_COMPASS

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
@@ -113,7 +113,7 @@ BARO DPS310 I2C:0:0x77
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -206,7 +206,7 @@ BARO BMP280 I2C:0:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 1
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -138,7 +138,7 @@ BARO BMP280 I2C:0:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0

 # SPI devices
@@ -142,7 +142,7 @@ DMA_PRIORITY TIM3* TIM2* SPI1*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -187,7 +187,7 @@ define AP_BARO_DPS280_ENABLED 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_I2C_ENABLED
@@ -144,7 +144,7 @@ BARO SPL06 I2C:0:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -180,7 +180,7 @@ DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -51,7 +51,7 @@ SPIDEV bmi270    SPI1 DEVID1 BMI270_CS  MODE3 10*MHZ 10*MHZ
 DMA_PRIORITY USART1* TIM3*

 # no built-in compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # one IMU
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
@@ -52,7 +52,7 @@ PB11 I2C2_SDA I2C2 ALT(1)
 SPIDEV bmi270    SPI1 DEVID1 MPU6000_CS  MODE3 10*MHZ 10*MHZ

 # no built-in compass and no external I2C so no compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # one IMU
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
@@ -153,7 +153,7 @@ BARO DPS310 I2C:1:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -147,7 +147,7 @@ BARO DPS310 I2C:1:0x76
        
 # no built-in compass
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0

 # save some flash
@@ -182,7 +182,7 @@ DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -137,7 +137,7 @@ DMA_PRIORITY I2C* SPI3* TIM1_UP TIM2_UP TIM4_UP TIM3_UP
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -158,7 +158,7 @@ define HAL_GPIO_LED_ON 1
 BARO BMP280 I2C:0:0x76	

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # IMUs
 SPIDEV icm42670   	SPI6 DEVID3  IMU1_CS MODE3  2*MHZ  8*MHZ   
@@ -195,7 +195,7 @@ BARO BMP280 I2C:1:0x76

 # compass
 COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_180
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # IMUs
 SPIDEV icm42688   SPI6 DEVID1  IMU2_CS MODE3  2*MHZ  16*MHZ
@@ -130,7 +130,7 @@ PB15 TIM12_CH2 TIM12 PWM(10) GPIO(59) NODMA
 # external compass types
 define ALLOW_ARM_NO_COMPASS
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -120,7 +120,7 @@ define HAL_BATT_CURR_SCALE 40.2

 # compass
 define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_NONE
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90

@@ -145,7 +145,7 @@ define HAL_OS_FATFS_IO 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

 # built-in barometer
@@ -264,7 +264,7 @@ BARO BMP581 SPI:bmp581
 BARO ICP201XX I2C:1:0x63

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
 define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
 define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
@@ -249,7 +249,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 7

 # compasses

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90

@@ -288,7 +288,7 @@ BARO BMP581   I2C:2:0x47
 BARO ICP201XX I2C:0:0x64

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # builtin compass
 COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
@@ -307,7 +307,7 @@ BARO BMP581 SPI:bmp581
 BARO ICP201XX I2C:0:0x63

 # compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
 COMPASS RM3100 SPI:rm3100 false ROTATION_NONE

@@ -257,7 +257,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 5

 # compasses

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90

@@ -119,7 +119,7 @@ BARO BMP280 I2C:0:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -75,7 +75,7 @@ COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

 # also probe for external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # This defines an output pin which will default to output HIGH. It is
 # a pin that enables peripheral power on this board. It starts in the
@@ -256,7 +256,7 @@ COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
 define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SPI,4,1,9),Vector3f(10,30,-235)}

 # also probe for external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 define HAL_CHIBIOS_ARCH_FMUV3 1

@@ -32,7 +32,7 @@ BARO MS5611 SPI:ms5611
 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

 # also probe for external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5

@@ -128,7 +128,7 @@ BARO MS5611 SPI:ms5611_0
 BARO MS5611 SPI:ms5611_1

 COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270 
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 CHECK_ICM20649        spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
 CHECK_ICM45686_2      spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
@@ -43,7 +43,7 @@ COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

 # also probe for external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 undef AP_NOTIFY_OREOLED_ENABLED
 define AP_NOTIFY_OREOLED_ENABLED 1
@@ -386,7 +386,7 @@ BARO MS5611 SPI:ms5611
 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

 # also probe for external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # this adds a C define which sets up the ArduPilot architecture
 # define. Any line starting with 'define' is copied literally as
@@ -157,7 +157,7 @@ IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_270
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -195,7 +195,7 @@ DMA_PRIORITY TIM2_UP TIM4_UP SPI1* SPI4*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -136,7 +136,7 @@ define HAL_BARO_ALLOW_INIT_NO_BARO 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -217,7 +217,7 @@ BARO MS5611 SPI:ms5611
 # two compasses
 COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
 COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 define HAL_STORAGE_SIZE 16384
 define HAL_WITH_RAMTRON 1
@@ -134,7 +134,7 @@ BARO BMP280 SPI:bmp280

 # probe external compasses plus one in 9250
 COMPASS AK8963:probe_mpu9250 0 ROTATION_YAW_90
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0

 # no onboard SD, filesystem support disabled until flash logging implemented
@@ -110,7 +110,7 @@ PB11 I2C2_SDA I2C2

 # look for I2C compass
 COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # PWM out pins
 PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
@@ -114,7 +114,7 @@ PB11 I2C2_SDA I2C2
 COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
 COMPASS QMC5883L I2C:0:0x0D false ROTATION_YAW_180
 COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # PWM out pins
 PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
@@ -122,7 +122,7 @@ PB11 I2C2_SDA I2C2
 COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
 COMPASS QMC5883L I2C:0:0x0D false ROTATION_YAW_180
 COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # PWM out pins
 PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
@@ -94,7 +94,7 @@ BARO MS5611 I2C:1:0x77
 # look for I2C RM3100 compass
 COMPASS RM3100 I2C:1:0x20 false ROTATION_NONE

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # enable RAMTRON parameter storage
 define HAL_WITH_RAMTRON 1
@@ -107,7 +107,7 @@ BARO MS5611    I2C:0:0x77
 COMPASS RM3100 SPI:rm3100 false ROTATION_NONE

 # also probe external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # enable RAMTRON parameter storage
 define HAL_WITH_RAMTRON 1
@@ -114,7 +114,7 @@ BARO MS5611    I2C:0:0x77
 COMPASS RM3100 SPI:rm3100 false ROTATION_NONE

 # also probe external compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # enable RAMTRON parameter storage
 define HAL_WITH_RAMTRON 1
@@ -145,7 +145,7 @@ DMA_PRIORITY TIM3* TIM2* TIM8_UP SPI1* TIM1_UP
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -141,7 +141,7 @@ DMA_PRIORITY TIM3_UP TIM1_UP SPI1*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -137,7 +137,7 @@ SPIDEV bmi270 SPI4 DEVID4 MPU6000_CS MODE3  1*MHZ  8*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0

 # one IMU
@@ -187,7 +187,7 @@ DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1* SPI4*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -158,7 +158,7 @@ IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -168,7 +168,7 @@ DMA_PRIORITY TIM3_UP TIM4_UP TIM8_UP SPI2*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -151,7 +151,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 3
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -150,7 +150,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 3
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -294,7 +294,7 @@ define AP_COMPASS_IST8308_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:1:0x0E false ROTATION_ROLL_180
 define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 # microSD support
 PC8 SDMMC1_D0 SDMMC1
@@ -129,7 +129,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 # ----------------- I2C compass & Baro -----------------
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -141,7 +141,7 @@ DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -259,7 +259,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 1

 # probe external I2C compasses plus some internal IST8310
 # we also probe some external IST8310 with a non-standard orientation
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270

@@ -280,7 +280,7 @@ define STM32_I2C_USE_DMA FALSE

 # builtin compass on JAE JFB110
 define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90

@@ -122,7 +122,7 @@ BARO BMP280 I2C:0:0x76
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -172,7 +172,7 @@ DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -97,7 +97,7 @@ IMU Invensensev3 SPI:icm42605 ROTATION_PITCH_180
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -142,7 +142,7 @@ define AP_BARO_SPL06_ENABLED 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -142,7 +142,7 @@ IMU Invensense SPI:mpu6000 ROTATION_YAW_90
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -146,7 +146,7 @@ define AP_BARO_SPL06_ENABLED 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
@@ -125,7 +125,7 @@ FLASH_RESERVE_START_KB 64
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -125,7 +125,7 @@ SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -133,7 +133,7 @@ SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -193,7 +193,7 @@ DMA_NOSHARE SPI1* SPI3* TIM4* TIM5*
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 1
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -141,7 +141,7 @@ define RELAY3_PIN_DEFAULT 82
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -142,7 +142,7 @@ SPIDEV osd       SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -145,7 +145,7 @@ define AP_BARO_SPL06_ENABLED 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -165,7 +165,7 @@ IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -189,7 +189,7 @@ IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
 define HAL_DEFAULT_INS_FAST_SAMPLE 7

 # compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 COMPASS LIS3MDL I2C:ALL_INTERNAL:0x1C false ROTATION_ROLL_180


@@ -127,7 +127,7 @@ define AP_BARO_BMP280_ENABLED 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -135,7 +135,7 @@ define HAL_BARO_ALLOW_INIT_NO_BARO 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -167,7 +167,7 @@ SPIDEV icm42688_2 SPI4 DEVID4 MPU6000_2_CS MODE3  2*MHZ  16*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
@@ -126,7 +126,7 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

 # also probe for external compasses
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1


 # --------------------- SD ----------------------------
@@ -141,7 +141,7 @@ define HAL_OS_FATFS_IO 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

 # built-in barometer
@@ -173,7 +173,7 @@ define BOARD_RSSI_ANA_PIN 15
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -140,7 +140,7 @@ define AP_BARO_BMP280_ENABLED 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -190,7 +190,7 @@ SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 1
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -25,7 +25,7 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

 define HAL_COMPASS_MAX_SENSORS 1

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1


 # ----------- MSP
@@ -19,7 +19,7 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

 define HAL_COMPASS_MAX_SENSORS 1

-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1


 # ----------- I2C airspeed
@@ -195,7 +195,7 @@ SPIDEV pixartflow   SPI3 DEVID1  EXT_CS1  MODE3   2*MHZ  2*MHZ
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -167,7 +167,7 @@ DATAFLASH littlefs:w25nxx
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -13,7 +13,7 @@ define HAL_PERIPH_GPS_PORT_DEFAULT 2
 define GPS_MOVING_BASELINE 1

 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1

 define HAL_COMPASS_MAX_SENSORS 1

@@ -143,10 +143,8 @@ define HAL_SPI_CHECK_CLOCK_FREQ 1
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 # define ALLOW_ARM_NO_COMPASS
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
-# define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-# define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90

@@ -120,7 +120,7 @@ PB14 TIM12_CH1 TIM12 PWM(9)  GPIO(58) NODMA
 # external compass types
 define ALLOW_ARM_NO_COMPASS
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -126,7 +126,7 @@ PB15 TIM12_CH2 TIM12 PWM(10) GPIO(59) NODMA
 # external compass types
 define ALLOW_ARM_NO_COMPASS
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

@@ -108,7 +108,7 @@ define HAL_BATT_CURR_SCALE 14.14
 # external compass types
 define ALLOW_ARM_NO_COMPASS
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_PROBING_ENABLED 1
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2

--- a/Show More
+++ b/Show More