From 721ede206d84af7ddd495b823a417348a0c86db6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 30 Oct 2021 12:15:47 +1100
Subject: [PATCH] AP_Baro: create and use HAL_SIM_BARO_ENABLED

---
 libraries/AP_Baro/AP_Baro.cpp      |  8 ++++----
 libraries/AP_Baro/AP_Baro.h        |  4 ++++
 libraries/AP_Baro/AP_Baro_SITL.cpp | 10 +++++-----
 libraries/AP_Baro/AP_Baro_SITL.h   |  8 +++++---
 4 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index a7830453a8..7c79794bd8 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -257,8 +257,8 @@ void AP_Baro::calibrate(bool save)
         BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: skipping calibration after WDG reset");
         return;
     }
-    
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+
+#if AP_SIM_BARO_ENABLED
     if (AP::sitl()->baro_count == 0) {
         return;
     }
@@ -628,7 +628,7 @@ void AP_Baro::init(void)
     default:
         break;
     }
-#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#elif AP_SIM_BARO_ENABLED
     SITL::SIM *sitl = AP::sitl();
     if (sitl == nullptr) {
         AP_HAL::panic("No SITL pointer");
@@ -681,7 +681,7 @@ void AP_Baro::init(void)
 #endif
 
 #if !defined(HAL_BARO_ALLOW_INIT_NO_BARO) // most boards requires external baro
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if AP_SIM_BARO_ENABLED
     if (sitl->baro_count == 0) {
         return;
     }
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 7b1cf27242..27e6146717 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -7,6 +7,10 @@
 #include <AP_MSP/msp.h>
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 
+#ifndef AP_SIM_BARO_ENABLED
+#define AP_SIM_BARO_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
 #ifndef HAL_MSP_BARO_ENABLED
 #define HAL_MSP_BARO_ENABLED HAL_MSP_SENSORS_ENABLED
 #endif
diff --git a/libraries/AP_Baro/AP_Baro_SITL.cpp b/libraries/AP_Baro/AP_Baro_SITL.cpp
index 5fefc152a3..f160cf8aff 100644
--- a/libraries/AP_Baro/AP_Baro_SITL.cpp
+++ b/libraries/AP_Baro/AP_Baro_SITL.cpp
@@ -1,9 +1,9 @@
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include "AP_Baro_SITL.h"
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if AP_SIM_BARO_ENABLED
 
-#include "AP_Baro_SITL.h"
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -182,4 +182,4 @@ float AP_Baro_SITL::wind_pressure_correction(void)
     return error * 0.5 * SSL_AIR_DENSITY * AP::baro().get_air_density_ratio();
 }
 
-#endif  // CONFIG_HAL_BOARD
+#endif  // AP_SIM_BARO_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_SITL.h b/libraries/AP_Baro/AP_Baro_SITL.h
index 2516b1d746..5fe90a985c 100644
--- a/libraries/AP_Baro/AP_Baro_SITL.h
+++ b/libraries/AP_Baro/AP_Baro_SITL.h
@@ -2,10 +2,12 @@
 
 #include "AP_Baro_Backend.h"
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#include <SITL/SITL.h>
+#if AP_SIM_BARO_ENABLED
+
 #include <AP_Math/vectorN.h>
 
+#include <SITL/SITL.h>
+
 class AP_Baro_SITL : public AP_Baro_Backend {
 public:
     AP_Baro_SITL(AP_Baro &);
@@ -47,4 +49,4 @@ private:
     float _last_altitude;
 
 };
-#endif  // CONFIG_HAL_BOARD
+#endif  // AP_SIM_BARO_ENABLED