ardupilot/libraries/AP_Compass/AP_Compass_config.h

#pragma once

#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
#include <AP_MSP/msp.h>
#include <AP_AHRS/AP_AHRS_config.h>
#include <AP_GPS/AP_GPS_config.h>

#ifndef AP_COMPASS_ENABLED
#define AP_COMPASS_ENABLED 1
#endif

#ifndef AP_COMPASS_DIAGONALS_ENABLED
#define AP_COMPASS_DIAGONALS_ENABLED 1
#endif

#ifndef COMPASS_CAL_ENABLED
#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
#endif

#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED && AP_AHRS_ENABLED
#endif

#define COMPASS_MAX_SCALE_FACTOR 1.5
#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)

// Backend support
#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
#define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED
#endif

#ifndef AP_COMPASS_EXTERNALAHRS_ENABLED
#define AP_COMPASS_EXTERNALAHRS_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED)
#endif

#ifndef AP_COMPASS_MSP_ENABLED
#define AP_COMPASS_MSP_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED)
#endif

#ifndef AP_COMPASS_SITL_ENABLED
#define AP_COMPASS_SITL_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)
#endif

#ifndef AP_COMPASS_DRONECAN_ENABLED
#define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
#endif

#ifndef AP_COMPASS_DRONECAN_HIRES_ENABLED
#define AP_COMPASS_DRONECAN_HIRES_ENABLED 0
#endif

// i2c-based compasses:
#ifndef AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#define AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED AP_COMPASS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_AK09916_ENABLED
#define AP_COMPASS_AK09916_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_AK8963_ENABLED
#define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_BMM150_ENABLED
#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

// this define dictates whether we iterate over the external i2c
// busses looking for BMM150.  Ordinarily this should be true, but
// SkyViper specifies its BMM150 and thus does not need to probe.
// This is an interim arrangement until PCNC1 is eliminated as an
// auto-detect board.
#ifndef AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED
#define AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED AP_COMPASS_BMM150_ENABLED
#endif

#ifndef AP_COMPASS_BMM350_ENABLED
#define AP_COMPASS_BMM350_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_HMC5843_ENABLED
#define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_ICM20948_ENABLED
#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_IST8308_ENABLED
#define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_IST8310_ENABLED
#define AP_COMPASS_IST8310_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_LIS3MDL_ENABLED
#define AP_COMPASS_LIS3MDL_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_LSM303D_ENABLED
#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_LSM9DS1_ENABLED
#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_MAG3110_ENABLED
#define AP_COMPASS_MAG3110_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_MMC3416_ENABLED
#define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_MMC5XX3_ENABLED
#define AP_COMPASS_MMC5XX3_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_QMC5883P_ENABLED
#define AP_COMPASS_QMC5883P_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
#endif

#ifndef AP_COMPASS_QMC5883L_ENABLED
#define AP_COMPASS_QMC5883L_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_COMPASS_RM3100_ENABLED
#define AP_COMPASS_RM3100_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif
AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals 2022-10-04 21:22:17 -03:00			`#pragma once`

			`#include <AP_HAL/AP_HAL_Boards.h>`
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>`
			`#include <AP_MSP/msp.h>`
AP_Compass: compass calibration requires DCM 2023-09-18 08:53:26 -03:00			`#include <AP_AHRS/AP_AHRS_config.h>`
AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-25 05:16:34 -03:00			`#include <AP_GPS/AP_GPS_config.h>`
AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals 2022-10-04 21:22:17 -03:00
AP_Compass: add and use AP_COMPASS_ENABLED 2023-06-20 03:36:06 -03:00			`#ifndef AP_COMPASS_ENABLED`
			`#define AP_COMPASS_ENABLED 1`
			`#endif`

AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals 2022-10-04 21:22:17 -03:00			`#ifndef AP_COMPASS_DIAGONALS_ENABLED`
AP_Compass: fix compilation when removing diagonals state 2022-10-26 04:14:11 -03:00			`#define AP_COMPASS_DIAGONALS_ENABLED 1`
AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals 2022-10-04 21:22:17 -03:00			`#endif`
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00
AP_Compass: correct compilation with COMPASS_CAL_ENABLED off 2023-09-18 08:53:03 -03:00			`#ifndef COMPASS_CAL_ENABLED`
AP_Compass: compass calibration requires DCM 2023-09-18 08:53:26 -03:00			`#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED`
AP_Compass: correct compilation with COMPASS_CAL_ENABLED off 2023-09-18 08:53:03 -03:00			`#endif`

AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-25 05:16:34 -03:00			`#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED`
AP_Compass: fixed-yaw requires the AP_AHRS library to exist 2024-01-03 21:09:54 -04:00			`#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED && AP_AHRS_ENABLED`
AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-25 05:16:34 -03:00			`#endif`

AP_Compass: correct compilation with COMPASS_CAL_ENABLED off 2023-09-18 08:53:03 -03:00			`#define COMPASS_MAX_SCALE_FACTOR 1.5`
			`#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)`

AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`// Backend support`
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED`
AP_Compass: add and use AP_COMPASS_ENABLED 2023-06-20 03:36:06 -03:00			`#define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED`
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#endif`

AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`#ifndef AP_COMPASS_EXTERNALAHRS_ENABLED`
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#define AP_COMPASS_EXTERNALAHRS_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED)`
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`#endif`

			`#ifndef AP_COMPASS_MSP_ENABLED`
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#define AP_COMPASS_MSP_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED)`
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`#endif`

			`#ifndef AP_COMPASS_SITL_ENABLED`
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#define AP_COMPASS_SITL_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)`
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`#endif`

AP_Compass: change UAVCAN_ENABLED to DRONECAN_ENABLED 2023-04-08 00:58:13 -03:00			`#ifndef AP_COMPASS_DRONECAN_ENABLED`
AP_Compass: rename more variables, types and defines 2023-04-08 01:09:10 -03:00			`#define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)`
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#endif`

AP_Compass: log Hires magnetic field on DroneCAN 2024-03-02 18:04:32 -04:00			`#ifndef AP_COMPASS_DRONECAN_HIRES_ENABLED`
			`#define AP_COMPASS_DRONECAN_HIRES_ENABLED 0`
			`#endif`

AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`// i2c-based compasses:`
			`#ifndef AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#define AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED AP_COMPASS_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_AK09916_ENABLED 2023-02-19 21:05:04 -04:00			`#ifndef AP_COMPASS_AK09916_ENABLED`
			`#define AP_COMPASS_AK09916_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_AK8963_ENABLED 2023-02-01 08:53:43 -04:00			`#ifndef AP_COMPASS_AK8963_ENABLED`
			`#define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_BMM150_ENABLED 2023-02-07 18:55:11 -04:00			`#ifndef AP_COMPASS_BMM150_ENABLED`
AP_Compass: move removal of BMM150 down into hwdef There's no reason apart from space to not have this in 2023-02-27 18:34:04 -04:00			`#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
AP_Compass: add and use AP_COMPASS_BMM150_ENABLED 2023-02-07 18:55:11 -04:00			`#endif`

AP_Compass: do not detect extra bmm150 instances on SkyViper-v2450 2023-02-07 19:48:11 -04:00			`// this define dictates whether we iterate over the external i2c`
			`// busses looking for BMM150. Ordinarily this should be true, but`
			`// SkyViper specifies its BMM150 and thus does not need to probe.`
			`// This is an interim arrangement until PCNC1 is eliminated as an`
			`// auto-detect board.`
			`#ifndef AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED`
			`#define AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED AP_COMPASS_BMM150_ENABLED`
			`#endif`

AP_Compass: Add in BMM350 Driver 2024-09-11 06:10:44 -03:00			`#ifndef AP_COMPASS_BMM350_ENABLED`
			`#define AP_COMPASS_BMM350_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_HMC5843_ENABLED 2023-01-29 19:33:08 -04:00			`#ifndef AP_COMPASS_HMC5843_ENABLED`
			`#define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_ICM20948_ENABLED 2023-02-19 21:05:07 -04:00			`#ifndef AP_COMPASS_ICM20948_ENABLED`
			`#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: create and use AP_COMPASS_IST8308_ENABLED 2023-01-04 18:47:39 -04:00			`#ifndef AP_COMPASS_IST8308_ENABLED`
			`#define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries 2022-10-26 06:21:36 -03:00			`#endif`
AP_Compass: add and use AP_COMPASS_LSM303D_ENABLED 2023-01-27 00:09:50 -04:00
AP_Compass: add and use AP_COMPASS_IST8310_ENABLED 2023-02-09 21:48:02 -04:00			`#ifndef AP_COMPASS_IST8310_ENABLED`
			`#define AP_COMPASS_IST8310_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_LIS3MDL_ENABLED 2023-02-15 07:53:48 -04:00			`#ifndef AP_COMPASS_LIS3MDL_ENABLED`
			`#define AP_COMPASS_LIS3MDL_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_LSM303D_ENABLED 2023-01-27 00:09:50 -04:00			`#ifndef AP_COMPASS_LSM303D_ENABLED`
			`#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`
AP_Compass: add and use AP_COMPASS_LSM9DS1_ENABLED 2023-02-13 23:10:39 -04:00
			`#ifndef AP_COMPASS_LSM9DS1_ENABLED`
			`#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`
AP_Compass: add and use AP_COMPASS_MMC3416 2023-02-19 21:05:08 -04:00
AP_Compass: add and use AP_COMPASS_MAG3110_ENABLED 2023-02-19 21:05:15 -04:00			`#ifndef AP_COMPASS_MAG3110_ENABLED`
			`#define AP_COMPASS_MAG3110_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: add and use AP_COMPASS_MMC3416 2023-02-19 21:05:08 -04:00			`#ifndef AP_COMPASS_MMC3416_ENABLED`
			`#define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`
AP_Compass: add and use AP_COMPASS_QMC5883L_ENABLED 2023-02-19 21:05:13 -04:00
AP_Compass: add and use AP_COMPASS_MMC5XX3_ENABLED 2023-02-19 21:05:18 -04:00			`#ifndef AP_COMPASS_MMC5XX3_ENABLED`
			`#define AP_COMPASS_MMC5XX3_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`

AP_Compass: Add in QMC5883P Driver 2023-11-11 00:00:55 -04:00			`#ifndef AP_COMPASS_QMC5883P_ENABLED`
			`#define AP_COMPASS_QMC5883P_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)`
			`#endif`

AP_Compass: add and use AP_COMPASS_QMC5883L_ENABLED 2023-02-19 21:05:13 -04:00			`#ifndef AP_COMPASS_QMC5883L_ENABLED`
			`#define AP_COMPASS_QMC5883L_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`
AP_Compass: add and use AP_COMPASS_RM3100_ENABLED 2023-02-19 21:05:17 -04:00
			`#ifndef AP_COMPASS_RM3100_ENABLED`
			`#define AP_COMPASS_RM3100_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED`
			`#endif`