AP_Compass: support ChibiOS

libraries/AP_Compass/AP_Compass.cpp

@@ -560,7 +560,7 @@ void Compass::_detect_backends(void)
     
 #if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
     ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
-#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
+#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PX4V1:
     case AP_BoardConfig::PX4_BOARD_PIXHAWK:
@@ -802,6 +802,9 @@ void Compass::_detect_backends(void)
                 AP_Compass_AK8963::name, false);
     ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
                 AP_Compass_LSM9DS1::name, false);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
+    ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(0, 0x10)),
+                AP_Compass_BMM150::name, true);
 #else
     #error Unrecognised HAL_COMPASS_TYPE setting
 #endif