ArduPilot · peterbarker · Jan 30, 2025 · Jan 30, 2025 · Jan 30, 2025 · Jan 30, 2025
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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,

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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