ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_config.h

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#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Logger/AP_Logger_config.h>
/**
maximum number of INS instances available on this platform. If more
than 1 then redundant sensors may be available
*/
#ifndef INS_AUX_INSTANCES
#define INS_AUX_INSTANCES 0
#endif
#ifndef INS_MAX_INSTANCES
#define INS_MAX_INSTANCES (3+INS_AUX_INSTANCES)
#endif
#if INS_MAX_INSTANCES < 3 && INS_AUX_INSTANCES > 0
#error "INS_AUX_INSTANCES must be zero if INS_MAX_INSTANCES is less than 3"
#endif
#if INS_MAX_INSTANCES > 3 && INS_AUX_INSTANCES == 0
#error "INS_AUX_INSTANCES must be non-zero if INS_MAX_INSTANCES is greater than 3"
#endif
#define INS_MAX_BACKENDS 2*INS_MAX_INSTANCES
#define INS_MAX_NOTCHES 12
#ifndef INS_VIBRATION_CHECK_INSTANCES
#if HAL_MEM_CLASS >= HAL_MEM_CLASS_300
#define INS_VIBRATION_CHECK_INSTANCES INS_MAX_INSTANCES
#else
#define INS_VIBRATION_CHECK_INSTANCES 1
#endif
#endif
#define XYZ_AXIS_COUNT 3
// The maximum we need to store is gyro-rate / loop-rate, worst case ArduCopter with BMI088 is 2000/400
#define INS_MAX_GYRO_WINDOW_SAMPLES 8
#define DEFAULT_IMU_LOG_BAT_MASK 0
#ifndef HAL_INS_TEMPERATURE_CAL_ENABLE
#define HAL_INS_TEMPERATURE_CAL_ENABLE BOARD_FLASH_SIZE > 1024
#endif
#ifndef HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
#define HAL_INS_NUM_HARMONIC_NOTCH_FILTERS 2
#endif
// time for the estimated gyro rates to converge
#ifndef HAL_INS_CONVERGANCE_MS
#define HAL_INS_CONVERGANCE_MS 30000
#endif
#ifndef AP_INERTIALSENSOR_ENABLED
#define AP_INERTIALSENSOR_ENABLED 1
#endif
#ifndef AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
#define AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED (AP_INERTIALSENSOR_ENABLED && HAL_LOGGING_ENABLED)
#endif