mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.7 KiB
C
66 lines
1.7 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Logger/AP_Logger_config.h>
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/**
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maximum number of INS instances available on this platform. If more
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than 1 then redundant sensors may be available
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*/
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#ifndef INS_AUX_INSTANCES
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#define INS_AUX_INSTANCES 0
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#endif
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#ifndef INS_MAX_INSTANCES
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#define INS_MAX_INSTANCES (3+INS_AUX_INSTANCES)
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#endif
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#if INS_MAX_INSTANCES < 3 && INS_AUX_INSTANCES > 0
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#error "INS_AUX_INSTANCES must be zero if INS_MAX_INSTANCES is less than 3"
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#endif
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#if INS_MAX_INSTANCES > 3 && INS_AUX_INSTANCES == 0
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#error "INS_AUX_INSTANCES must be non-zero if INS_MAX_INSTANCES is greater than 3"
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#endif
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#define INS_MAX_BACKENDS 2*INS_MAX_INSTANCES
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#define INS_MAX_NOTCHES 12
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#ifndef INS_VIBRATION_CHECK_INSTANCES
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#if HAL_MEM_CLASS >= HAL_MEM_CLASS_300
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#define INS_VIBRATION_CHECK_INSTANCES INS_MAX_INSTANCES
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#else
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#define INS_VIBRATION_CHECK_INSTANCES 1
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#endif
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#endif
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#define XYZ_AXIS_COUNT 3
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// The maximum we need to store is gyro-rate / loop-rate, worst case ArduCopter with BMI088 is 2000/400
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#define INS_MAX_GYRO_WINDOW_SAMPLES 8
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#define DEFAULT_IMU_LOG_BAT_MASK 0
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#ifndef HAL_INS_TEMPERATURE_CAL_ENABLE
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#define HAL_INS_TEMPERATURE_CAL_ENABLE BOARD_FLASH_SIZE > 1024
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#endif
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#ifndef HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
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#define HAL_INS_NUM_HARMONIC_NOTCH_FILTERS 2
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#endif
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// time for the estimated gyro rates to converge
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#ifndef HAL_INS_CONVERGANCE_MS
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#define HAL_INS_CONVERGANCE_MS 30000
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#endif
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#ifndef AP_INERTIALSENSOR_ENABLED
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#define AP_INERTIALSENSOR_ENABLED 1
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#endif
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#ifndef AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
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#define AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED (AP_INERTIALSENSOR_ENABLED && HAL_LOGGING_ENABLED)
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#endif
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#ifndef AP_INERTIALSENSOR_KILL_IMU_ENABLED
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#define AP_INERTIALSENSOR_KILL_IMU_ENABLED 1
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#endif
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