AP_Periph: fix HerePro build

Author: bugobliterator

AP_Periph/AP_Periph.cpp

@@ -162,8 +162,7 @@ void AP_Periph_FW::init()
 #ifdef I2C_SLAVE_ENABLED
     enable_gps = !g.serial_i2c_mode;
 #endif
-
-    if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && enable_gps) {
+    if (enable_gps) {
         gps.init();
     } else {
 #ifdef GPIO_USART1_RX
@@ -381,6 +380,15 @@ void AP_Periph_FW::prepare_reboot()
         hal.scheduler->delay(40);
 }
 
+
+/*
+  reboot, optionally holding in bootloader. For scripting
+ */
+void AP_Periph_FW::reboot(bool hold_in_bootloader)
+{
+    hal.scheduler->reboot(hold_in_bootloader);
+}
+
 AP_Periph_FW *AP_Periph_FW::_singleton;
 
 AP_Periph_FW& AP::periph()

AP_Periph/AP_Periph.h

@@ -218,6 +218,9 @@ class AP_Periph_FW {
 
     void show_progress(uint32_t pct);
 
+    // reboot the peripheral, optionally holding in bootloader
+    void reboot(bool hold_in_bootloader);
+
     static uint64_t get_tracked_tx_timestamp(uint8_t i);
 
 #ifdef HAL_USB_VBUS_SENS_CHAN

AP_Periph/sensor_gps.cpp

@@ -13,10 +13,6 @@
 void AP_Periph_DroneCAN::can_gps_update(void)
 {
     auto &gps = periph.gps;
-    if (gps.get_type(0) == AP_GPS::GPS_Type::GPS_TYPE_NONE) {
-        return;
-    }
-
     // we need to record this time as its reset when we call gps.update()
     uint64_t last_message_local_time_us = gps.last_pps_time_usec();
     gps.update();

HerePro/hwdef-bl.dat

@@ -81,4 +81,3 @@ PE12 SLEEP_CAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
 PB7  SWITCH_CAN2_USB OUTPUT PUSHPULL SPEED_LOW LOW
 
 define CAN_APP_NODE_NAME "com.cubepilot.herepro"
-define STM32_HAS_M4 FALSE

HerePro/hwdef.dat

@@ -215,17 +215,10 @@ define HAL_USB_VBUS_SENS_CHAN 16
 
 define CAN_APP_NODE_NAME "com.cubepilot.herepro"
 
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
-
-define COMPASS_CAL_ENABLED 0
-
-define HAL_ENABLE_SLCAN 1
-# passthrough CAN1
-define HAL_DEFAULT_CPORT 1
-
 define CONFIGURE_PPS_PIN TRUE
 define AP_PERIPH_HAVE_LED TRUE
 
+define AP_SCRIPTING_ENABLED 1
 define SCRIPTING_HEAP_SIZE (64*1024)
 
 define GPS_MOVING_BASELINE 1
@@ -242,9 +235,9 @@ define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
 
 HAL_USE_USB_MSD 1
 define MSD_THD_PRIO NORMALPRIO
-define AP_RC_CHANNEL_ENABLED 1
 #define HAL_BRD_OPTIONS_DEFAULT 8
 
-define STM32_HAS_M4 FALSE
-
 define AP_SERIALLED_ENABLED 1
+define HAL_EFI_ENABLED 0
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+define UBLOX_RXM_RAW_LOGGING 1