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ardupilot/libraries/AP_Compass/AP_Compass_config.h

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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
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#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
#include <AP_MSP/msp.h>
AP_Compass: compass calibration requires DCM
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#include <AP_AHRS/AP_AHRS_config.h>
AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in
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#include <AP_GPS/AP_GPS_config.h>
AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals
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AP_Compass: add and use AP_COMPASS_ENABLED
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#ifndef AP_COMPASS_ENABLED
#define AP_COMPASS_ENABLED 1
#endif
AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals
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#ifndef AP_COMPASS_DIAGONALS_ENABLED
AP_Compass: fix compilation when removing diagonals state
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#define AP_COMPASS_DIAGONALS_ENABLED 1
AP_Compass: correct compilation when COMPASS_MAX_INSTANCE>1 and no diagonals
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#endif
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries
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AP_Compass: correct compilation with COMPASS_CAL_ENABLED off
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#ifndef COMPASS_CAL_ENABLED
AP_Compass: compass calibration requires DCM
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#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
AP_Compass: correct compilation with COMPASS_CAL_ENABLED off
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#endif
AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in
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#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_GPS_ENABLED
#endif
AP_Compass: correct compilation with COMPASS_CAL_ENABLED off
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#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
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// Backend support
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED
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#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
AP_Compass: add and use AP_COMPASS_ENABLED
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#define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED
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#endif
AP_Compass: regularise compass defines start to make compass backends look like backends from our other libraries
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#ifndef AP_COMPASS_EXTERNALAHRS_ENABLED
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED
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#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
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#endif
#ifndef AP_COMPASS_MSP_ENABLED
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED
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#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
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#endif
#ifndef AP_COMPASS_SITL_ENABLED
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED
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#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
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#endif
AP_Compass: change UAVCAN_ENABLED to DRONECAN_ENABLED
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#ifndef AP_COMPASS_DRONECAN_ENABLED
AP_Compass: rename more variables, types and defines
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#define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
AP_Compass: create and use AP_COMPASS_IST8308_ENABLED
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#endif
// 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
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#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
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#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
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#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
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#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
AP_Compass: add and use AP_COMPASS_BMM150_ENABLED
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#endif
AP_Compass: do not detect extra bmm150 instances on SkyViper-v2450
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// 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 and use AP_COMPASS_HMC5843_ENABLED
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#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
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#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
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#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
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#endif
AP_Compass: add and use AP_COMPASS_LSM303D_ENABLED
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AP_Compass: add and use AP_COMPASS_IST8310_ENABLED
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#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
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#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
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#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
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#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
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AP_Compass: add and use AP_COMPASS_MAG3110_ENABLED
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#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
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#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
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AP_Compass: add and use AP_COMPASS_MMC5XX3_ENABLED
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#ifndef AP_COMPASS_MMC5XX3_ENABLED
#define AP_COMPASS_MMC5XX3_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif
AP_Compass: Add in QMC5883P Driver
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#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
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#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
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#ifndef AP_COMPASS_RM3100_ENABLED
#define AP_COMPASS_RM3100_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif