mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
e979a9076c
this allows for redundent RTCM links (eg. WiFi and SiK links for light show drones) without causing corruption into the GPS. If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3 decoder per mavlink channel, and only inject when we get a full packet that passes the RTCM 24 bit CRC
69 lines
1.6 KiB
C
69 lines
1.6 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <GCS_MAVLink/GCS_config.h>
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#ifndef AP_GPS_ENABLED
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#define AP_GPS_ENABLED 1
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#endif
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#ifndef AP_GPS_BACKEND_DEFAULT_ENABLED
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#define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED
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#endif
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#ifndef AP_GPS_DRONECAN_ENABLED
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#define AP_GPS_DRONECAN_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
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#endif
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#ifndef AP_GPS_ERB_ENABLED
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#define AP_GPS_ERB_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_GSOF_ENABLED
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#define AP_GPS_GSOF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_MAV_ENABLED
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#define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
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#endif
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#ifndef HAL_MSP_GPS_ENABLED
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#define HAL_MSP_GPS_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED
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#endif
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#ifndef AP_GPS_NMEA_ENABLED
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#define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_NMEA_UNICORE_ENABLED
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#define AP_GPS_NMEA_UNICORE_ENABLED AP_GPS_NMEA_ENABLED
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#endif
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#ifndef AP_GPS_NOVA_ENABLED
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#define AP_GPS_NOVA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SBF_ENABLED
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#define AP_GPS_SBF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SBP_ENABLED
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#define AP_GPS_SBP_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SBP2_ENABLED
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#define AP_GPS_SBP2_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SIRF_ENABLED
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#define AP_GPS_SIRF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_UBLOX_ENABLED
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#define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_RTCM_DECODE_ENABLED
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#define AP_GPS_RTCM_DECODE_ENABLED BOARD_FLASH_SIZE > 1024
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#endif
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