2023-01-03 08:55:28 -04:00
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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2023-09-20 08:20:44 -03:00
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#include <AP_InertialSensor/AP_InertialSensor_config.h>
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2023-11-27 21:13:11 -04:00
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#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
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2023-01-03 08:55:28 -04:00
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2023-06-20 03:22:13 -03:00
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#ifndef AP_AHRS_ENABLED
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#define AP_AHRS_ENABLED 1
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#endif
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2023-09-20 08:20:44 -03:00
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#ifndef AP_AHRS_BACKEND_DEFAULT_ENABLED
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#define AP_AHRS_BACKEND_DEFAULT_ENABLED AP_AHRS_ENABLED
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#endif
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#ifndef AP_AHRS_DCM_ENABLED
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#define AP_AHRS_DCM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
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#endif
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2023-11-27 21:13:11 -04:00
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#ifndef AP_AHRS_EXTERNAL_ENABLED
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#define AP_AHRS_EXTERNAL_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED
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#endif
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2023-01-03 08:55:28 -04:00
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#ifndef HAL_NAVEKF2_AVAILABLE
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2023-11-17 02:03:28 -04:00
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// EKF2 slated compiled out by default in 4.5, slated to be removed.
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#define HAL_NAVEKF2_AVAILABLE 0
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2023-01-03 08:55:28 -04:00
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#endif
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#ifndef HAL_NAVEKF3_AVAILABLE
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2024-01-11 22:52:09 -04:00
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#define HAL_NAVEKF3_AVAILABLE AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
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2023-01-03 08:55:28 -04:00
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#endif
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#ifndef AP_AHRS_SIM_ENABLED
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2024-01-11 22:52:09 -04:00
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#define AP_AHRS_SIM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
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2023-01-03 08:55:28 -04:00
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#endif
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2023-05-13 20:56:58 -03:00
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#ifndef AP_AHRS_POSITION_RESET_ENABLED
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2024-01-10 18:16:57 -04:00
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#define AP_AHRS_POSITION_RESET_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_ENABLED)
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2023-05-13 20:56:58 -03:00
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#endif
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