AP_Compass: have AK09916-via-ICM20948 depend on AP_INERTIALSENSOR_ENABLED

Author: peterbarker

libraries/AP_Compass/AP_Compass_AK09916.cpp

@@ -175,7 +175,6 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
 AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_SPI(uint8_t inv2_instance,
                                                      enum Rotation rotation)
 {
-#if AP_INERTIALSENSOR_ENABLED
     AP_InertialSensor &ins = AP::ins();
 
     AP_AK09916_BusDriver *bus =
@@ -191,9 +190,6 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_SPI(uint8_t inv2_instance
     }
 
     return sensor;
-#else
-    return nullptr;
-#endif
 }
 
 AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_I2C(uint8_t inv2_instance,

libraries/AP_Compass/AP_Compass_config.h

@@ -5,6 +5,7 @@
 #include <AP_MSP/msp.h>
 #include <AP_AHRS/AP_AHRS_config.h>
 #include <AP_GPS/AP_GPS_config.h>
+#include <AP_InertialSensor/AP_InertialSensor_config.h>
 
 #ifndef AP_COMPASS_ENABLED
 #define AP_COMPASS_ENABLED 1
@@ -85,7 +86,7 @@
 #endif
 
 #ifndef AP_COMPASS_ICM20948_ENABLED
-#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_COMPASS_IIS2MDC_ENABLED