mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.3 KiB
C
47 lines
1.3 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_InertialSensor/AP_InertialSensor_config.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
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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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#ifndef AP_HOME_ENABLED
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#define AP_HOME_ENABLED AP_AHRS_ENABLED
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#endif
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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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#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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#ifndef HAL_NAVEKF2_AVAILABLE
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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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#endif
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#ifndef HAL_NAVEKF3_AVAILABLE
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#define HAL_NAVEKF3_AVAILABLE AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
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#endif
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#ifndef AP_AHRS_SIM_ENABLED
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#define AP_AHRS_SIM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
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#endif
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#ifndef AP_AHRS_POSITION_RESET_ENABLED
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#define AP_AHRS_POSITION_RESET_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_ENABLED)
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#endif
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#ifndef AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED
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#define AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_DCM_ENABLED)
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#endif
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