ardupilot/libraries/AP_GPS/AP_GPS_config.h

#pragma once

#include <AP_HAL/AP_HAL_Boards.h>
#include <GCS_MAVLink/GCS_config.h>

#ifndef AP_GPS_ENABLED
#define AP_GPS_ENABLED 1
#endif

#if AP_GPS_ENABLED
/**
   maximum number of GPS instances available on this platform. If more
   than 1 then redundant sensors may be available
 */
#ifndef GPS_MAX_RECEIVERS
#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data
#endif

#if !defined(GPS_MAX_INSTANCES)
#if GPS_MAX_RECEIVERS > 1
#define GPS_MAX_INSTANCES  (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data
#else
#define GPS_MAX_INSTANCES 1
#endif // GPS_MAX_RECEIVERS > 1
#endif // GPS_MAX_INSTANCES

#if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1
#error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1"
#endif
#endif

#ifndef AP_GPS_BACKEND_DEFAULT_ENABLED
#define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED
#endif

#if !defined(AP_GPS_BLENDED_ENABLED) && defined(GPS_MAX_INSTANCES)
#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS
#endif

#ifndef AP_GPS_BLENDED_ENABLED
#define AP_GPS_BLENDED_ENABLED 0
#endif

#if AP_GPS_BLENDED_ENABLED
#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS  // the virtual blended GPS is always the highest instance (2)
#endif

#ifndef AP_GPS_DRONECAN_ENABLED
#define AP_GPS_DRONECAN_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
#endif

#ifndef AP_GPS_ERB_ENABLED
  #define AP_GPS_ERB_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_GSOF_ENABLED
  #define AP_GPS_GSOF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_MAV_ENABLED
  #define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
#endif

#ifndef HAL_MSP_GPS_ENABLED
#define HAL_MSP_GPS_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED
#endif

#ifndef AP_GPS_NMEA_ENABLED
  #define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_NMEA_UNICORE_ENABLED
  #define AP_GPS_NMEA_UNICORE_ENABLED AP_GPS_NMEA_ENABLED
#endif

#ifndef AP_GPS_NOVA_ENABLED
  #define AP_GPS_NOVA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_SBF_ENABLED
  #define AP_GPS_SBF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_SBP_ENABLED
  #define AP_GPS_SBP_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_SBP2_ENABLED
   #define AP_GPS_SBP2_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_SIRF_ENABLED
  #define AP_GPS_SIRF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_UBLOX_ENABLED
  #define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_GPS_RTCM_DECODE_ENABLED
  #define AP_GPS_RTCM_DECODE_ENABLED BOARD_FLASH_SIZE > 1024
#endif

#ifndef HAL_GPS_COM_PORT_DEFAULT
#define HAL_GPS_COM_PORT_DEFAULT 1
#endif
AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-06 06:34:31 -03:00			`#pragma once`

AP_GPS: correct config boards include Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively 2023-03-16 06:49:38 -03:00			`#include <AP_HAL/AP_HAL_Boards.h>`
AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED 2023-08-04 01:07:28 -03:00			`#include <GCS_MAVLink/GCS_config.h>`
AP_GPS: correct config boards include Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively 2023-03-16 06:49:38 -03:00
AP_GPS: add and use AP_GPS_ENABLED 2023-06-20 03:40:34 -03:00			`#ifndef AP_GPS_ENABLED`
			`#define AP_GPS_ENABLED 1`
			`#endif`

AP_GPS: remove blended GPS from small boards those boards which are not including all backends will lose blended after this 2024-03-21 00:43:23 -03:00			`#if AP_GPS_ENABLED`
			`/**`
			`maximum number of GPS instances available on this platform. If more`
			`than 1 then redundant sensors may be available`
			`*/`
			`#ifndef GPS_MAX_RECEIVERS`
			`#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data`
			`#endif`
AP_GPS: create real AP_GPS_Blended backend 2024-03-20 08:01:56 -03:00
AP_GPS: remove blended GPS from small boards those boards which are not including all backends will lose blended after this 2024-03-21 00:43:23 -03:00			`#if !defined(GPS_MAX_INSTANCES)`
			`#if GPS_MAX_RECEIVERS > 1`
			`#define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data`
			`#else`
			`#define GPS_MAX_INSTANCES 1`
			`#endif // GPS_MAX_RECEIVERS > 1`
			`#endif // GPS_MAX_INSTANCES`

			`#if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1`
			`#error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1"`
			`#endif`
			`#endif`

AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-06 06:34:31 -03:00			`#ifndef AP_GPS_BACKEND_DEFAULT_ENABLED`
AP_GPS: add and use AP_GPS_ENABLED 2023-06-20 03:40:34 -03:00			`#define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED`
AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-06 06:34:31 -03:00			`#endif`

AP_GPS: create real AP_GPS_Blended backend 2024-03-20 08:01:56 -03:00			`#if !defined(AP_GPS_BLENDED_ENABLED) && defined(GPS_MAX_INSTANCES)`
			`#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS`
			`#endif`

AP_GPS: remove blended GPS from small boards those boards which are not including all backends will lose blended after this 2024-03-21 00:43:23 -03:00			`#ifndef AP_GPS_BLENDED_ENABLED`
AP_GPS: create real AP_GPS_Blended backend 2024-03-20 08:01:56 -03:00			`#define AP_GPS_BLENDED_ENABLED 0`
AP_GPS: remove blended GPS from small boards those boards which are not including all backends will lose blended after this 2024-03-21 00:43:23 -03:00			`#endif`

AP_GPS: define GPS_BLENDED_INSTANCE any time AP_GPS_BLENDED_ENABLED otherwise someone can explicity ebable it but not have a blended instance ID 2024-08-31 06:56:53 -03:00			`#if AP_GPS_BLENDED_ENABLED`
			`#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)`
			`#endif`

AP_GPS: add and use AP_GPS_DRONECAN_ENABLED 2023-08-01 03:15:44 -03:00			`#ifndef AP_GPS_DRONECAN_ENABLED`
AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-25 05:16:34 -03:00			`#define AP_GPS_DRONECAN_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS`
AP_GPS: add and use AP_GPS_DRONECAN_ENABLED 2023-08-01 03:15:44 -03:00			`#endif`

AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-06 06:34:31 -03:00			`#ifndef AP_GPS_ERB_ENABLED`
			`#define AP_GPS_ERB_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

			`#ifndef AP_GPS_GSOF_ENABLED`
			`#define AP_GPS_GSOF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED 2023-08-04 01:07:28 -03:00			`#ifndef AP_GPS_MAV_ENABLED`
			`#define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED`
			`#endif`

AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-25 05:16:34 -03:00			`#ifndef HAL_MSP_GPS_ENABLED`
			`#define HAL_MSP_GPS_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED`
			`#endif`

AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-06 06:34:31 -03:00			`#ifndef AP_GPS_NMEA_ENABLED`
			`#define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_GPS: allow for disabling of NMEA Unicore support 2022-11-22 22:13:57 -04:00			`#ifndef AP_GPS_NMEA_UNICORE_ENABLED`
			`#define AP_GPS_NMEA_UNICORE_ENABLED AP_GPS_NMEA_ENABLED`
			`#endif`

AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-06 06:34:31 -03:00			`#ifndef AP_GPS_NOVA_ENABLED`
			`#define AP_GPS_NOVA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

			`#ifndef AP_GPS_SBF_ENABLED`
			`#define AP_GPS_SBF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

			`#ifndef AP_GPS_SBP_ENABLED`
			`#define AP_GPS_SBP_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

			`#ifndef AP_GPS_SBP2_ENABLED`
			`#define AP_GPS_SBP2_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`

			`#ifndef AP_GPS_SIRF_ENABLED`
			`#define AP_GPS_SIRF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
			`#endif`
AP_GPS: move defaulting of AP_GPS_UBLOX_ENABLED to AP_GPS_config Addition of this define crossed with another PR which created the config.h file 2022-07-13 05:53:16 -03:00
			`#ifndef AP_GPS_UBLOX_ENABLED`
AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-25 05:16:34 -03:00			`#define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED`
AP_GPS: move defaulting of AP_GPS_UBLOX_ENABLED to AP_GPS_config Addition of this define crossed with another PR which created the config.h file 2022-07-13 05:53:16 -03:00			`#endif`
AP_GPS: added option to decode RTCM injected data this allows for redundent RTCM links (eg. WiFi and SiK links for light show drones) without causing corruption into the GPS. If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3 decoder per mavlink channel, and only inject when we get a full packet that passes the RTCM 24 bit CRC 2024-02-24 19:03:25 -04:00
			`#ifndef AP_GPS_RTCM_DECODE_ENABLED`
			`#define AP_GPS_RTCM_DECODE_ENABLED BOARD_FLASH_SIZE > 1024`
			`#endif`
AP_GPS: use subgroup to hold GPS instance parameters 2024-03-12 00:00:05 -03:00
			`#ifndef HAL_GPS_COM_PORT_DEFAULT`
			`#define HAL_GPS_COM_PORT_DEFAULT 1`
			`#endif`