From 28481f4eae1562d9bcabbeb9249e67865478b417 Mon Sep 17 00:00:00 2001
From: Shiv Tyagi <shivtyagi3015@gmail.com>
Date: Thu, 30 Jan 2025 08:49:42 +0530
Subject: [PATCH 1/3] AP_HAL_ChibiOS: use AP_PERIPH_BARO_ENABLED in place of
 HAL_PERIPH_ENABLE_BRO

---
 libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat          | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat        | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat         | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat     | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat     | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat | 2 +-
 .../hwdef/CubeOrange-periph-heavy/hwdef.dat               | 2 +-
 .../AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat       | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat          | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat    | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat       | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat  | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat       | 2 +-
 .../AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat  | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat | 2 +-
 .../AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat   | 2 +-
 .../AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat        | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat      | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat    | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat   | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat    | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat       | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat    | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat            | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h  | 8 +++++++-
 38 files changed, 44 insertions(+), 38 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
index 72c70c13be38e..cc045994a1602 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
@@ -112,7 +112,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
index adbe684dc7c16..136a58e71e372 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
@@ -112,7 +112,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
index 8efb3966cedcd..6d338b24b8724 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
@@ -124,7 +124,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
index 0fe5876f5e0fa..1eab1882778eb 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
@@ -102,7 +102,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_NEOPIXEL_COUNT 8
 define HAL_PERIPH_NEOPIXEL_CHAN 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
index 81c3a4d238269..b0aa2d4737276 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
@@ -132,7 +132,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # do direct neopixel LED output to enable the 'rainbow' effect on
 # startup
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
index 0f7c4f28d8e78..65b41673111c0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
@@ -113,7 +113,7 @@ define HAL_NO_GCS
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
 # enable ESC control
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
index f69d78995c082..4b2a9bf4dd537 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
@@ -116,7 +116,7 @@ define HAL_NO_GCS
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
 # enable ESC control
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
index 55240ba00c83e..b9f93dcece617 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
@@ -26,7 +26,7 @@ env AP_PERIPH 1
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
index fcc4f21248c78..0bdd71f6a8220 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
@@ -19,7 +19,7 @@ define AP_CAN_SLCAN_ENABLED 1
 define AP_PERIPH_BATTERY_ENABLED 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_IMU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
index 2e12823414eac..f577bcd34d2f7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -19,7 +19,7 @@ define AP_CAN_SLCAN_ENABLED 1
 define AP_PERIPH_BATTERY_ENABLED 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_IMU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
index 6d8c4a9ebc59b..8165621df8bab 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
@@ -124,7 +124,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
index d520476418710..a45891e2dbeec 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
@@ -90,7 +90,7 @@ define HAL_USE_ADC FALSE
 define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 
-define HAL_PERIPH_ENABLE_BARO TRUE
+define AP_PERIPH_BARO_ENABLED 1
 
 SPIDEV rm3100 SPI3 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
index afccf9e322ddf..2475d59785c8f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
@@ -140,7 +140,7 @@ env ROMFS_UNCOMPRESSED True
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # septentrio on com 3
 define HAL_GPS1_TYPE_DEFAULT 10
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
index 2f5cb43ec88e2..f9e7e762a2eef 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
@@ -143,7 +143,7 @@ define HAL_PERIPH_ENABLE_IMU
 # GPS+MAG+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_IMU
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
index 6ecb29d893431..a0deb7404843c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
@@ -139,7 +139,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
index 81d2f2ce43ba6..ccf11cb893231 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
@@ -28,7 +28,7 @@ define AIRSPEED_MAX_SENSORS 1
 
 
 # ----------- I2C Barometer
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 # BARO SPL06 I2C:0:0x76
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
index a8e2bab91d074..33045cf9343bc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
@@ -18,7 +18,7 @@ env AP_PERIPH 1
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_PERIPH_ENABLE_ADSB
 define HAL_PERIPH_ENABLE_RANGEFINDER
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
index 575f1861d00bb..10636f8c16f0e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
@@ -41,7 +41,7 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
 
 
 # --------------------- Barometer ---------------------------
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 BARO SPL06 I2C:0:0x76
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
index 5ab040c8b3329..d8d132ba8d36a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
@@ -96,7 +96,7 @@ define AP_PERIPH_MAG_ENABLED 1
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 
 # bootloader embedding / bootloader flashing not available
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
index 6df88261149a4..85d0c1daf3b1a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
@@ -99,7 +99,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 
 BARO MS56XX SPI:ms5611
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
index 08114a20cca3c..317c017ecc522 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
@@ -68,7 +68,7 @@ define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 define AP_PERIPH_BATTERY_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
index 8cbd900e6c1cb..b36072399e4ea 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
@@ -91,7 +91,7 @@ define AP_RM3100_REVERSAL_MASK 7
 define HAL_COMPASS_MAX_SENSORS 1
 
 # --------------------- DPS310 ---------------------------
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
 BARO DPS310 SPI:dps310
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
index c50ba5b1c874a..ef6affc57cdbe 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
@@ -103,7 +103,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
index 3794a77a0d41a..d719b80c10a04 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
@@ -114,7 +114,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 define CONFIGURE_PPS_PIN TRUE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
index 258c27f6fa311..c789bc5a4f53e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
@@ -110,7 +110,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
index 740a59454681f..9fae1fd5ce171 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
@@ -90,7 +90,7 @@ env ROMFS_UNCOMPRESSED True
 define AP_PERIPH_GPS_ENABLED 1
 define GPS_MAX_RATE_MS 200
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # disable dual GPS and GPS blending to save flash space
 define GPS_MAX_RECEIVERS 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
index 2764f8f9b7b1d..45e3d550e3cfd 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
@@ -85,7 +85,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
 define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
 define DEFAULT_NTF_LED_TYPES 455
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
index 75351254e6c1a..9ce68a2696b2a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
@@ -88,7 +88,7 @@ env ROMFS_UNCOMPRESSED True
 # enable GPS and compass
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
index 4a52289c9c114..bf964a239480f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
@@ -132,7 +132,7 @@ define HAL_BARO_ALLOW_INIT_NO_BARO
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # reduce the number of CAN RX Buffer
 define HAL_CAN_RX_QUEUE_SIZE 32
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat
index 367832906db64..bb0c1f9797834 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat
@@ -13,7 +13,7 @@ BARO DPS310 I2C:0:0x77
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 # I2C Airspeed sensor must use a different address than 0x77
 define HAL_PERIPH_ENABLE_AIRSPEED
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat
index 4f3716e2626db..d6056f2fcffbe 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat
@@ -16,7 +16,7 @@ BARO DPS280 I2C:0:0x77
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # Optional I2C Airspeed sensor connected to I2C connector
 define HAL_PERIPH_ENABLE_AIRSPEED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat
index fd9550bf37258..3aad3bfa13bb9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat
@@ -123,7 +123,7 @@ BARO DPS310 I2C:0:0x76
 # also allow for airspeed on i2c port, and rangefinder on MSP port
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_PERIPH_ENABLE_RANGEFINDER
 define HAL_PERIPH_ENABLE_MSP
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
index aac04b6822b42..ba9aaf55fc846 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
@@ -7,7 +7,7 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 # enable all features
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_PERIPH_ENABLE_ADSB
 define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
index dd3aaf21f212b..02d67155b2689 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
@@ -156,7 +156,7 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
 
 
 # --------------------- DPS310 ---------------------------
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 BARO DPS310 I2C:0:0x76
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
index 82c206bfa6067..d1ade70103782 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
@@ -50,7 +50,7 @@ PB7 I2C1_SDA I2C1
 # an I2C baro (DPS310)
 BARO DPS280 I2C:0:0x77
 
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 PA0 VSENSE50  ADC1 SCALE(3)
 PA1 VSENSE3v3 ADC1 SCALE(2)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
index b5b5233e80e52..8ee3e76cc3c80 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
@@ -19,7 +19,7 @@ BARO DPS310 I2C:0:0x77
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 # I2C Airspeed sensor must use a different address than 0x77
 define HAL_PERIPH_ENABLE_AIRSPEED
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
index 69025f3ee3071..a02b974f73d27 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
@@ -116,7 +116,7 @@ define GPS_MOVING_BASELINE 1
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index 35d6d0789041e..a2cc8b797c9a2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -175,6 +175,9 @@
 #ifdef HAL_PERIPH_ENABLE_MAG
 #error "Change 'define HAL_PERIPH_ENABLE_MAG' to 'define AP_PERIPH_MAG_ENABLED 1'"
 #endif
+#ifdef HAL_PERIPH_ENABLE_BARO
+#error "Change 'define HAL_PERIPH_ENABLE_BARO' to 'define AP_PERIPH_BARO_ENABLED 1'"
+#endif
 
 /*
  * defaults for various AP_Periph features:
@@ -194,6 +197,9 @@
 #ifndef AP_PERIPH_MAG_ENABLED
 #define AP_PERIPH_MAG_ENABLED 0
 #endif
+#ifndef AP_PERIPH_BARO_ENABLED
+#define AP_PERIPH_BARO_ENABLED 0
+#endif
 
 /*
  * turning on of ArduPilot features based on which AP_Periph features
@@ -203,6 +209,7 @@
 #define AP_GPS_ENABLED AP_PERIPH_GPS_ENABLED
 #define AP_AHRS_ENABLED AP_PERIPH_AHRS_ENABLED
 #define AP_COMPASS_ENABLED AP_PERIPH_MAG_ENABLED
+#define AP_BARO_ENABLED AP_PERIPH_BARO_ENABLED
 
 /*
  * GPS Backends - we selectively turn backends on.
@@ -388,7 +395,6 @@
 #define AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED 0
 #endif
 
-#define AP_BARO_ENABLED defined(HAL_PERIPH_ENABLE_BARO)
 #define AP_RANGEFINDER_ENABLED defined(HAL_PERIPH_ENABLE_RANGEFINDER)
 #define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
 #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)

From b55822d656a527b7371a88ff8112b4d0edb58aa4 Mon Sep 17 00:00:00 2001
From: Shiv Tyagi <shivtyagi3015@gmail.com>
Date: Thu, 30 Jan 2025 08:50:10 +0530
Subject: [PATCH 2/3] AP_Scripting: use AP_PERIPH_BARO_ENABLED in place of
 HAL_PERIPH_ENABLE_BRO

---
 libraries/AP_Scripting/generator/description/bindings.desc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 9b9a931e733f5..856097a9be470 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -429,7 +429,7 @@ singleton serial manual find_serial lua_serial_find_serial 1 1
 singleton serial manual find_simulated_device lua_serial_find_simulated_device 2 1 depends AP_SCRIPTING_SERIALDEVICE_ENABLED
 
 include AP_Baro/AP_Baro.h
-singleton AP_Baro depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BARO))
+singleton AP_Baro depends AP_BARO_ENABLED
 singleton AP_Baro rename baro
 singleton AP_Baro method get_pressure float
 singleton AP_Baro method get_temperature float

From aa913275ff7e8ac69030f99dd0a32d902191644f Mon Sep 17 00:00:00 2001
From: Shiv Tyagi <shivtyagi3015@gmail.com>
Date: Thu, 30 Jan 2025 08:50:47 +0530
Subject: [PATCH 3/3] Tools: create and use AP_PERIPH_BARO_ENABLED

---
 Tools/AP_Periph/AP_Periph.cpp  | 4 ++--
 Tools/AP_Periph/AP_Periph.h    | 4 ++--
 Tools/AP_Periph/Parameters.cpp | 2 +-
 Tools/AP_Periph/Parameters.h   | 2 +-
 Tools/AP_Periph/baro.cpp       | 4 ++--
 Tools/AP_Periph/can.cpp        | 4 ++--
 Tools/AP_Periph/msp.cpp        | 6 +++---
 Tools/ardupilotwaf/boards.py   | 2 +-
 8 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 3091751f0a154..4175c4d3deec1 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -164,7 +164,7 @@ void AP_Periph_FW::init()
     compass.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     baro.init();
 #endif
 
@@ -429,7 +429,7 @@ void AP_Periph_FW::update()
         const Vector3f &field = compass.get_field();
         hal.serial(0)->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z));
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         hal.serial(0)->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
 #endif
 #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 4faed8e5bf18d..9ae4ed478e192 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -231,7 +231,7 @@ class AP_Periph_FW {
     Compass compass;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     AP_Baro baro;
 #endif
 
@@ -457,7 +457,7 @@ class AP_Periph_FW {
     uint32_t last_gps_yaw_ms;
 #endif
     uint32_t last_relposheading_ms;
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     uint32_t last_baro_update_ms;
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index e9f9b54f26994..f9d51fd1f9481 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -269,7 +269,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(compass,         "COMPASS_",     Compass),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     // Baro driver
     // @Group: BARO
     // @Path: ../libraries/AP_Baro/AP_Baro.cpp
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 56340380345bd..6bafab4b1e901 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -119,7 +119,7 @@ class Parameters {
 #ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
     AP_Int8 led_brightness;
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     AP_Int8 baro_enable;
 #endif
 #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
diff --git a/Tools/AP_Periph/baro.cpp b/Tools/AP_Periph/baro.cpp
index 61c296cd137fd..a4f089d633597 100644
--- a/Tools/AP_Periph/baro.cpp
+++ b/Tools/AP_Periph/baro.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
 
 /*
   barometer support
@@ -60,4 +60,4 @@ void AP_Periph_FW::can_baro_update(void)
     }
 }
 
-#endif // HAL_PERIPH_ENABLE_BARO
+#endif // AP_PERIPH_BARO_ENABLED
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 5705b4e2b0200..4537eb87db936 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -355,7 +355,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
 #if AP_PERIPH_MAG_ENABLED
         AP_Param::setup_object_defaults(&compass, compass.var_info);
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         AP_Param::setup_object_defaults(&baro, baro.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
@@ -1894,7 +1894,7 @@ void AP_Periph_FW::can_update()
 #if AP_PERIPH_BATTERY_ENABLED
         can_battery_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         can_baro_update();
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
index 3d89eedc55ada..e2a1a00e75fa6 100644
--- a/Tools/AP_Periph/msp.cpp
+++ b/Tools/AP_Periph/msp.cpp
@@ -48,7 +48,7 @@ void AP_Periph_FW::msp_sensor_update(void)
 #if AP_PERIPH_GPS_ENABLED
     send_msp_GPS();
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     send_msp_baro();
 #endif
 #if AP_PERIPH_MAG_ENABLED
@@ -125,7 +125,7 @@ void AP_Periph_FW::send_msp_GPS(void)
 #endif // AP_PERIPH_GPS_ENABLED
 
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
 /*
   send MSP baro packet
  */
@@ -149,7 +149,7 @@ void AP_Periph_FW::send_msp_baro(void)
 
     send_msp_packet(MSP2_SENSOR_BAROMETER, &p, sizeof(p));
 }
-#endif // HAL_PERIPH_ENABLE_BARO
+#endif // AP_PERIPH_BARO_ENABLED
 
 #if AP_PERIPH_MAG_ENABLED
 /*
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 79d8d4aa05ac3..1d1100f759b63 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -955,7 +955,7 @@ def configure_env(self, cfg, env):
             AP_PERIPH_GPS_ENABLED = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
             AP_PERIPH_MAG_ENABLED = 1,
-            HAL_PERIPH_ENABLE_BARO = 1,
+            AP_PERIPH_BARO_ENABLED = 1,
             HAL_PERIPH_ENABLE_IMU = 1,
             HAL_PERIPH_ENABLE_RANGEFINDER = 1,
             AP_PERIPH_BATTERY_ENABLED = 1,