Cant upload Razor_AHRS

[WorkingBones]

I get this error

updated error

Arduino: 1.8.15 (Linux), Board: "Arduino Uno"

/home/ubuntu/catkin_ws/src/razor_imu_9dof/src/Razor_AHRS/Sensors.ino: In function 'bool enableCIPOpullUp()':
Sensors:78:2: error: 'ap3_err_t' was not declared in this scope
ap3_err_t retval = AP3_OK;
^~~~~~~~~
Sensors:79:2: error: 'am_hal_gpio_pincfg_t' was not declared in this scope
am_hal_gpio_pincfg_t cipoPinCfg = AP3_GPIO_DEFAULT_PINCFG;
^~~~~~~~~~~~~~~~~~~~
Sensors:80:2: error: 'cipoPinCfg' was not declared in this scope
cipoPinCfg.uFuncSel = AM_HAL_PIN_6_M0MISO;
^~~~~~~~~~
Sensors:80:24: error: 'AM_HAL_PIN_6_M0MISO' was not declared in this scope
cipoPinCfg.uFuncSel = AM_HAL_PIN_6_M0MISO;
^~~~~~~~~~~~~~~~~~~
Sensors:81:30: error: 'AM_HAL_GPIO_PIN_DRIVESTRENGTH_12MA' was not declared in this scope
cipoPinCfg.eDriveStrength = AM_HAL_GPIO_PIN_DRIVESTRENGTH_12MA;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sensors:82:25: error: 'AM_HAL_GPIO_PIN_OUTCFG_PUSHPULL' was not declared in this scope
cipoPinCfg.eGPOutcfg = AM_HAL_GPIO_PIN_OUTCFG_PUSHPULL;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sensors:83:23: error: 'AP3_SPI_IOM' was not declared in this scope
cipoPinCfg.uIOMnum = AP3_SPI_IOM;
^~~~~~~~~~~
Sensors:84:23: error: 'AM_HAL_GPIO_PIN_PULLUP_1_5K' was not declared in this scope
cipoPinCfg.ePullup = AM_HAL_GPIO_PIN_PULLUP_1_5K;
^~~~~~~~~~~~~~~~~~~~~~~~~~~
Sensors:85:29: error: 'retval' was not declared in this scope
padMode(MISO, cipoPinCfg, &retval);
^~~~~~
/home/ubuntu/catkin_ws/src/razor_imu_9dof/src/Razor_AHRS/Sensors.ino:85:29: note: suggested alternative: 'Serial'
padMode(MISO, cipoPinCfg, &retval);
^~~~~~
Serial
Sensors:85:2: error: 'padMode' was not declared in this scope
padMode(MISO, cipoPinCfg, &retval);
^~~~~~~
/home/ubuntu/catkin_ws/src/razor_imu_9dof/src/Razor_AHRS/Sensors.ino:85:2: note: suggested alternative: 'pinMode'
padMode(MISO, cipoPinCfg, &retval);
^~~~~~~
pinMode
Sensors:86:20: error: 'AP3_OK' was not declared in this scope
return (retval == AP3_OK);
^~~~~~
/home/ubuntu/catkin_ws/src/razor_imu_9dof/src/Razor_AHRS/Sensors.ino: In function 'bool beginIMU()':
Sensors:92:2: error: 'power_adc_disable' was not declared in this scope
power_adc_disable(); // Power down ADC. It it started by default before setup().
^~~~~~~~~~~~~~~~~
exit status 1
'ap3_err_t' was not declared in this scope

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.

[carpenma]

For others finding this thread as I did, be advised that for Apollo-based boards this error can be resolved by rolling back to a v1.x release of the Sparkfun Apollo3 Boards collection in Arduino IDE.