ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem_config.h

#pragma once

#include <AP_HAL/AP_HAL_Boards.h>
#include <SRV_Channel/SRV_Channel_config.h>

#ifndef HAL_WITH_ESC_TELEM
#define HAL_WITH_ESC_TELEM ((NUM_SERVO_CHANNELS > 0) && ((HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS)))
#endif

#ifndef AP_EXTENDED_ESC_TELEM_ENABLED
#define AP_EXTENDED_ESC_TELEM_ENABLED HAL_ENABLE_DRONECAN_DRIVERS
#endif

#if AP_EXTENDED_ESC_TELEM_ENABLED && !HAL_WITH_ESC_TELEM
    #error "AP_EXTENDED_ESC_TELEM_ENABLED requires HAL_WITH_ESC_TELEM"
#endif