mirror of https://github.com/ArduPilot/ardupilot
96 lines
3.1 KiB
C
96 lines
3.1 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Relay/AP_Relay_config.h>
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#ifndef HAL_GCS_ENABLED
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#define HAL_GCS_ENABLED 1
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#endif
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#ifndef HAL_MAVLINK_BINDINGS_ENABLED
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#define HAL_MAVLINK_BINDINGS_ENABLED HAL_GCS_ENABLED
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#endif
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// BATTERY2 is slated to be removed:
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#ifndef AP_MAVLINK_BATTERY2_ENABLED
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#define AP_MAVLINK_BATTERY2_ENABLED 1
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#endif
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#ifndef HAL_HIGH_LATENCY2_ENABLED
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#define HAL_HIGH_LATENCY2_ENABLED 1
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#endif
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// handling of MISSION_SET_CURRENT (the message) is slated to be
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// removed. It has signficant deficiencies vs MAV_CMD_DO_SET_CURRENT.
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// The command was added to the spec in January 2019 and to MAVLink in
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// ArduPilot in 4.1.x
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#ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
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#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
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#endif
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// AUTOPILOT_VERSION_REQUEST is slated to be removed; an instance of
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// AUTOPILOT_VERSION can be requested with MAV_CMD_REQUEST_MESSAGE,
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// which gets you an ACK/NACK
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#ifndef AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
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#define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 1
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#endif
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// handling of MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES is slated to be
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// removed; the message can be requested with MAV_CMD_REQUEST_MESSAGE
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#ifndef AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
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#define AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED 1
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#endif
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#ifndef HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED
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#define HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED ((AP_FILESYSTEM_FATFS_ENABLED || AP_FILESYSTEM_POSIX_ENABLED) && BOARD_FLASH_SIZE > 1024)
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#endif
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#ifndef AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
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#define AP_MAVLINK_MSG_RELAY_STATUS_ENABLED HAL_GCS_ENABLED && AP_RELAY_ENABLED
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#endif
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// allow removal of developer-centric mavlink commands
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#ifndef AP_MAVLINK_FAILURE_CREATION_ENABLED
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#define AP_MAVLINK_FAILURE_CREATION_ENABLED 1
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#endif
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#ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
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#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
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#endif
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#ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
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#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED HAL_GCS_ENABLED
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#endif
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#ifndef AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
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#define AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED HAL_GCS_ENABLED
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#endif
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// this is for both read and write messages:
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#ifndef AP_MAVLINK_MSG_DEVICE_OP_ENABLED
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#define AP_MAVLINK_MSG_DEVICE_OP_ENABLED HAL_GCS_ENABLED
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#endif
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#ifndef AP_MAVLINK_SERVO_RELAY_ENABLED
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#define AP_MAVLINK_SERVO_RELAY_ENABLED HAL_GCS_ENABLED && AP_SERVORELAYEVENTS_ENABLED
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#endif
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#ifndef AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED
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#define AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED HAL_GCS_ENABLED
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#endif
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// GCS should be using MISSION_REQUEST_INT instead; this is a waste of
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// flash. MISSION_REQUEST was deprecated in June 2020. We started
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// sending warnings to the GCS in Sep 2022 if this command was used.
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// Copter 4.4.0 sends this warning.
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#ifndef AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
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#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED 1
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#endif
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// all commands can be executed by COMMAND_INT, so COMMAND_LONG isn't
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// strictly required. This option created for 4.5, Nov 2023, and code
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// left in place.
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#ifndef AP_MAVLINK_COMMAND_LONG_ENABLED
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#define AP_MAVLINK_COMMAND_LONG_ENABLED 1
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#endif
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