#pragma once

#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
#include <AP_MSP/msp.h>

#ifndef AP_COMPASS_DIAGONALS_ENABLED
#define AP_COMPASS_DIAGONALS_ENABLED 1
#endif

// Backend support
#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
#define AP_COMPASS_BACKEND_DEFAULT_ENABLED 1
#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_UAVCAN_ENABLED
#define AP_COMPASS_UAVCAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
#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_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 && !defined(STM32F1)
#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_HMC5843_ENABLED
#define AP_COMPASS_HMC5843_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