diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index d236f64f8a0ff..e4ca2095da219 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -258,11 +258,6 @@ def kill_tasks_pkill(victims):
         run_cmd_blocking("pkill", cmd, quiet=True)
 
 
-class BobException(Exception):
-    """Handle Bob's Exceptions"""
-    pass
-
-
 def kill_tasks():
     """Clean up stray processes by name.  This is a shotgun approach"""
     progress("Killing tasks")
diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index a5e9400730773..835e67bfec758 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1109,10 +1109,11 @@ bool Compass::_have_i2c_driver(uint8_t bus, uint8_t address) const
  */
 void Compass::_probe_external_i2c_compasses(void)
 {
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     bool all_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
     (void)all_external;  // in case all backends using this are compiled out
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
+
 #if AP_COMPASS_HMC5843_ENABLED
     // external i2c bus
     FOREACH_I2C_EXTERNAL(i) {
@@ -1120,7 +1121,7 @@ void Compass::_probe_external_i2c_compasses(void)
                     true, ROTATION_ROLL_180));
     }
 
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2 &&
         AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) {
         // internal i2c bus
@@ -1129,7 +1130,7 @@ void Compass::_probe_external_i2c_compasses(void)
                         all_external, all_external?ROTATION_ROLL_180:ROTATION_YAW_270));
         }
     }
-#endif  // !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_HMC5843_ENABLED
 
 #if AP_COMPASS_QMC5883L_ENABLED
@@ -1140,7 +1141,7 @@ void Compass::_probe_external_i2c_compasses(void)
     }
 
     // internal i2c bus
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     if (all_external) {
         // only probe QMC5883L on internal if we are treating internals as externals
         FOREACH_I2C_INTERNAL(i) {
@@ -1149,7 +1150,7 @@ void Compass::_probe_external_i2c_compasses(void)
                         all_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
         }
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_QMC5883L_ENABLED
 
 #if AP_COMPASS_QMC5883P_ENABLED
@@ -1160,7 +1161,7 @@ void Compass::_probe_external_i2c_compasses(void)
     }
 
     // internal i2c bus
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     if (all_external) {
         // only probe QMC5883P on internal if we are treating internals as externals
         FOREACH_I2C_INTERNAL(i) {
@@ -1169,7 +1170,7 @@ void Compass::_probe_external_i2c_compasses(void)
                         all_external?HAL_COMPASS_QMC5883P_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883P_ORIENTATION_INTERNAL));
         }
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_QMC5883P_ENABLED
 
 #if AP_COMPASS_IIS2MDC_ENABLED
@@ -1180,7 +1181,7 @@ void Compass::_probe_external_i2c_compasses(void)
     }
 
     // internal i2c bus
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     if (all_external) {
         // only probe IIS2MDC on internal if we are treating internals as externals
         FOREACH_I2C_INTERNAL(i) {
@@ -1189,7 +1190,7 @@ void Compass::_probe_external_i2c_compasses(void)
                         all_external?HAL_COMPASS_IIS2MDC_ORIENTATION_EXTERNAL:HAL_COMPASS_IIS2MDC_ORIENTATION_INTERNAL));
         }
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_QMC5883P_ENABLED
 
     // AK09916 on ICM20948
@@ -1203,7 +1204,7 @@ void Compass::_probe_external_i2c_compasses(void)
                     true, ROTATION_PITCH_180_YAW_90));
     }
 
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
                     GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
@@ -1212,12 +1213,12 @@ void Compass::_probe_external_i2c_compasses(void)
                     GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR2),
                     all_external, ROTATION_PITCH_180_YAW_90));
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
 
 #if AP_COMPASS_LIS3MDL_ENABLED
     // lis3mdl on bus 0 with default address
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
                     all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
@@ -1248,12 +1249,12 @@ void Compass::_probe_external_i2c_compasses(void)
         ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
                     true, ROTATION_YAW_270));
     }
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
                     all_external, all_external?ROTATION_YAW_270:ROTATION_NONE));
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_AK09916_ENABLED
 
 #if AP_COMPASS_IST8310_ENABLED
@@ -1273,12 +1274,12 @@ void Compass::_probe_external_i2c_compasses(void)
                 ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, ist8310_addr[a]),
                             true, default_rotation));
             }
-#if !defined(HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE) && !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED
             FOREACH_I2C_INTERNAL(i) {
                 ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, ist8310_addr[a]),
                             all_external, default_rotation));
             }
-#endif
+#endif  // AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED
         }
     }
 #endif  // AP_COMPASS_IST8310_ENABLED
@@ -1289,12 +1290,12 @@ void Compass::_probe_external_i2c_compasses(void)
         ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR),
                     true, ROTATION_NONE));
     }
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR),
                     all_external, ROTATION_NONE));
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_IST8308_ENABLED
 
 #if AP_COMPASS_MMC3416_ENABLED
@@ -1303,12 +1304,12 @@ void Compass::_probe_external_i2c_compasses(void)
         ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
                     true, ROTATION_NONE));
     }
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
                     all_external, ROTATION_NONE));
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_MMC3416_ENABLED
 
 #if AP_COMPASS_RM3100_ENABLED
@@ -1328,13 +1329,13 @@ void Compass::_probe_external_i2c_compasses(void)
         }
     }
 
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         for (uint8_t j=0; j<ARRAY_SIZE(rm3100_addresses); j++) {
             ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, rm3100_addresses[j]), all_external, ROTATION_NONE));
         }
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_RM3100_ENABLED
 
 #if AP_COMPASS_BMM150_ENABLED
@@ -1355,13 +1356,13 @@ void Compass::_probe_external_i2c_compasses(void)
                         AP_Compass_BMM350::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE));
         }
     }
-#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
     FOREACH_I2C_INTERNAL(i) {
         for (uint8_t addr=BMM350_I2C_ADDR_MIN; addr <= BMM350_I2C_ADDR_MAX; addr++) {
             ADD_BACKEND(DRIVER_BMM350, AP_Compass_BMM350::probe(GET_I2C_DEVICE(i, addr), all_external, ROTATION_NONE));
         }
     }
-#endif
+#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif // AP_COMPASS_BMM350_ENABLED
 }
 
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 988c2c011e4eb..c8265fb666db0 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -132,3 +132,16 @@
 // FIXME: vast majority of boards define this to 1!
 #define AP_COMPASS_PROBING_ENABLED 0
 #endif
+
+// boards can specify that they do not want their internal buses
+// probed for compasses - we default to probing them if we are probing
+// any buses:
+#ifndef AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
+#define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_PROBING_ENABLED || AP_FEATURE_BOARD_DETECT)
+#endif
+
+// some boards do not want to probe the internal buses for IS8310 but
+// *do* want to probe internal buses for other compasses:
+#ifndef AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED
+#define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_IST8310_ENABLED && AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED)
+#endif
diff --git a/libraries/AP_HAL/hwdef/scripts/hwdef.py b/libraries/AP_HAL/hwdef/scripts/hwdef.py
index f0561ef40031a..1c8cd9cf76224 100644
--- a/libraries/AP_HAL/hwdef/scripts/hwdef.py
+++ b/libraries/AP_HAL/hwdef/scripts/hwdef.py
@@ -254,6 +254,8 @@ def get_stale_defines(self):
             'HAL_DISABLE_LOOP_DELAY': 'HAL_DISABLE_LOOP_DELAY is no longer used; try "define HAL_SCHEDULER_LOOP_DELAY_ENABLED 0"',  # noqa:E501
             'HAL_EXTERNAL_AHRS_ENABLED': 'HAL_EXTERNAL_AHRS_ENABLED is no longer used; try "define AP_EXTERNAL_AHRS_ENABLED 1"',  # noqa:E501
             'HAL_PROBE_EXTERNAL_I2C_COMPASSES': 'HAL_PROBE_EXTERNAL_I2C_COMPASSES is no longer used; try "define AP_COMPASS_PROBING_ENABLED 1"',  # noqa:E501
+            'HAL_SKIP_AUTO_INTERNAL_I2C_PROBE': 'HAL_SKIP_AUTO_INTERNAL_I2C_PROBE is no longer used; try "define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0',  # noqa:E501
+            'HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE': 'HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE is no longer used; try "define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0"',  # noqa:E501
         }
 
     def assert_good_define(self, name):
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat
index 9e17ef9710f8a..5030d56b32359 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat
@@ -191,7 +191,7 @@ define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 40
 # compass
 define AP_COMPASS_PROBING_ENABLED 1
 
-define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 
 define HAL_I2C_INTERNAL_MASK 1
 
@@ -233,4 +233,5 @@ define HAL_BATT_CURR_SCALE 40
 define HAL_BATT2_VOLT_PIN 10 
 define HAL_BATT2_CURR_PIN 11 
 define HAL_BATT2_VOLT_SCALE 34 
-define HAL_BATT2_CURR_SCALE 40 
\ No newline at end of file
+define HAL_BATT2_CURR_SCALE 40 
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CORVON743V1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CORVON743V1/hwdef.dat
index 19753e1610cc0..3f2097961e097 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CORVON743V1/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CORVON743V1/hwdef.dat
@@ -119,7 +119,7 @@ define HAL_BATT_VOLT_SCALE 21.12
 define HAL_BATT_CURR_SCALE 40.2
 
 # compass
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_NONE
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-7-Nano/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-7-Nano/hwdef.dat
index 4dacafa2e2b07..3b5b560e6c340 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-7-Nano/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-7-Nano/hwdef.dat
@@ -265,8 +265,7 @@ BARO ICP201XX I2C:1:0x63
 
 # compass
 define AP_COMPASS_PROBING_ENABLED 1
-define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X25-EVO/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X25-EVO/hwdef.dat
index 0270758683594..6f29e4458d6e7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X25-EVO/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X25-EVO/hwdef.dat
@@ -308,7 +308,7 @@ BARO ICP201XX I2C:0:0x63
 
 # compass
 define AP_COMPASS_PROBING_ENABLED 1
-define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
 
 # IMUs
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
index 7155dcfc73ff0..711da8df76bbc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
@@ -32,7 +32,7 @@ undef I2C_ORDER
 PF14 I2C4_SCL I2C4
 PF15 I2C4_SDA I2C4
 
-define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 define HAL_I2C_INTERNAL_MASK 4
 
 I2C_ORDER I2C2 I2C1 I2C4
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
index 0c0b0ca2b8016..3b90b149e525f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
@@ -279,7 +279,7 @@ NODMA I2C*
 define STM32_I2C_USE_DMA FALSE
 
 # builtin compass on JAE JFB110
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/hwdef.dat
index d79f64c92cc5e..7653c1a2ced9b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/hwdef.dat
@@ -114,7 +114,7 @@ define HAL_BATT_VOLT_SCALE 21.12
 define HAL_BATT_CURR_SCALE 40.2
 
 # compass
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_NONE
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
index e2704f57c598f..d3a981edf8005 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
@@ -224,7 +224,7 @@ define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TY
 
 
 # we need to stop the probe of an IST8310 as an internal compass with PITCH_180
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 
 
 # SPI devices
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat
index 598a1b4d51e59..159be499df935 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat
@@ -182,7 +182,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 1
 define AP_COMPASS_PROBING_ENABLED 1
 
 # we need to stop the probe of an IST8310 as an internal compass with PITCH_180
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_180
 
 # one baro
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat
index 6f4bd84dcd6fd..0ff85a3864071 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat
@@ -248,8 +248,7 @@ define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
 
 # compass
 define AP_COMPASS_PROBING_ENABLED 1
-define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SVehicle-E2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SVehicle-E2/hwdef.dat
index 3821ce44180ba..5346c51e399b1 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SVehicle-E2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SVehicle-E2/hwdef.dat
@@ -288,7 +288,7 @@ BARO ICP201XX I2C:2:0x63
 
 # compass
 define AP_COMPASS_PROBING_ENABLED 1
-define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
 
 # IMU devices for E2_Controller
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat
index 5d5682733607d..2f662b46e4949 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat
@@ -163,7 +163,7 @@ IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90
 IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180
 
 # compasses
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_NONE
 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat
index 86f5109e177a5..ad07bbfb5a45c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat
@@ -201,7 +201,7 @@ BARO MS5611 SPI:ms5611
 BARO ICP201XX I2C:0:0x64
 
 # compass
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/hwdef.dat
index c83c7e9bd63c6..16cb38046ef57 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/hwdef.dat
@@ -208,7 +208,7 @@ BARO MS5611 SPI:ms5611
 BARO ICP201XX I2C:0:0x64
 
 # compass
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat
index 980397e2a64af..db62edc0e8eec 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat
@@ -224,7 +224,7 @@ BARO DPS310 SPI:dps310_1
 BARO DPS310 SPI:dps310_2
 
 # compass
-define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_PROBING_ENABLED 1
 
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90