mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.9 KiB
C
61 lines
1.9 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Terrain/AP_Terrain.h>
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#ifndef HAL_MOUNT_ENABLED
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#define HAL_MOUNT_ENABLED 1
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#endif
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#define AP_MOUNT_BACKEND_DEFAULT_ENABLED HAL_MOUNT_ENABLED
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#ifndef HAL_MOUNT_ALEXMOS_ENABLED
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#define HAL_MOUNT_ALEXMOS_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef HAL_MOUNT_GREMSY_ENABLED
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#define HAL_MOUNT_GREMSY_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED && BOARD_FLASH_SIZE > 1024
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#endif
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#ifndef HAL_MOUNT_SCRIPTING_ENABLED
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#define HAL_MOUNT_SCRIPTING_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && AP_SCRIPTING_ENABLED
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#endif
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#ifndef HAL_MOUNT_SERVO_ENABLED
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#define HAL_MOUNT_SERVO_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef HAL_MOUNT_SIYI_ENABLED
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#define HAL_MOUNT_SIYI_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
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#endif
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// solo gimbal is enabled explicitly in hwdefs on some Cubes:
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#ifndef HAL_SOLO_GIMBAL_ENABLED
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#define HAL_SOLO_GIMBAL_ENABLED 0
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#endif
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#ifndef HAL_MOUNT_STORM32MAVLINK_ENABLED
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#define HAL_MOUNT_STORM32MAVLINK_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
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#endif
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#ifndef HAL_MOUNT_STORM32SERIAL_ENABLED
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#define HAL_MOUNT_STORM32SERIAL_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef HAL_MOUNT_XACTI_ENABLED
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#define HAL_MOUNT_XACTI_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS && BOARD_FLASH_SIZE > 1024
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#endif
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#ifndef HAL_MOUNT_VIEWPRO_ENABLED
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#define HAL_MOUNT_VIEWPRO_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
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#endif
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#ifndef AP_MOUNT_POI_TO_LATLONALT_ENABLED
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#define AP_MOUNT_POI_TO_LATLONALT_ENABLED HAL_MOUNT_ENABLED && AP_TERRAIN_AVAILABLE && BOARD_FLASH_SIZE > 1024
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#endif
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// set camera source is supported on gimbals that may have more than one lens
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#ifndef HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
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#define HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SIYI_ENABLED || HAL_MOUNT_XACTI_ENABLED || HAL_MOUNT_VIEWPRO_ENABLED
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#endif
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