mirror of https://github.com/ArduPilot/ardupilot
158 lines
3.5 KiB
C
158 lines
3.5 KiB
C
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
#include <AP_Networking/AP_Networking_Config.h>
|
|
|
|
#ifndef AP_DDS_ENABLED
|
|
#define AP_DDS_ENABLED 1
|
|
#endif
|
|
|
|
// UDP only on SITL for now
|
|
#ifndef AP_DDS_UDP_ENABLED
|
|
#define AP_DDS_UDP_ENABLED AP_DDS_ENABLED && AP_NETWORKING_ENABLED
|
|
#endif
|
|
|
|
#include <AP_VisualOdom/AP_VisualOdom_config.h>
|
|
#ifndef AP_DDS_VISUALODOM_ENABLED
|
|
#define AP_DDS_VISUALODOM_ENABLED HAL_VISUALODOM_ENABLED && AP_DDS_ENABLED
|
|
#endif
|
|
|
|
// Whether experimental interfaces are enabled.
|
|
#ifndef AP_DDS_EXPERIMENTAL_ENABLED
|
|
#define AP_DDS_EXPERIMENTAL_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_IMU_PUB_ENABLED
|
|
#define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_IMU_TOPIC_MS
|
|
#define AP_DDS_DELAY_IMU_TOPIC_MS 5
|
|
#endif
|
|
|
|
#ifndef AP_DDS_TIME_PUB_ENABLED
|
|
#define AP_DDS_TIME_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_TIME_TOPIC_MS
|
|
#define AP_DDS_DELAY_TIME_TOPIC_MS 10
|
|
#endif
|
|
|
|
#ifndef AP_DDS_NAVSATFIX_PUB_ENABLED
|
|
#define AP_DDS_NAVSATFIX_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_STATIC_TF_PUB_ENABLED
|
|
#define AP_DDS_STATIC_TF_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
|
#define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS
|
|
#define AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS 1000
|
|
#endif
|
|
|
|
#ifndef AP_DDS_GEOPOSE_PUB_ENABLED
|
|
#define AP_DDS_GEOPOSE_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_GEO_POSE_TOPIC_MS
|
|
#define AP_DDS_DELAY_GEO_POSE_TOPIC_MS 33
|
|
#endif
|
|
|
|
#ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED
|
|
#define AP_DDS_LOCAL_POSE_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS
|
|
#define AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS 33
|
|
#endif
|
|
|
|
#ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED
|
|
#define AP_DDS_LOCAL_VEL_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS
|
|
#define AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS 33
|
|
#endif
|
|
|
|
#ifndef AP_DDS_AIRSPEED_PUB_ENABLED
|
|
#define AP_DDS_AIRSPEED_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_AIRSPEED_TOPIC_MS
|
|
#define AP_DDS_DELAY_AIRSPEED_TOPIC_MS 33
|
|
#endif
|
|
|
|
#ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED
|
|
#define AP_DDS_BATTERY_STATE_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS
|
|
#define AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS 1000
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_STATUS_TOPIC_MS
|
|
#define AP_DDS_DELAY_STATUS_TOPIC_MS 100
|
|
#endif
|
|
|
|
#ifndef AP_DDS_CLOCK_PUB_ENABLED
|
|
#define AP_DDS_CLOCK_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DELAY_CLOCK_TOPIC_MS
|
|
#define AP_DDS_DELAY_CLOCK_TOPIC_MS 10
|
|
#endif
|
|
|
|
#ifndef AP_DDS_STATUS_PUB_ENABLED
|
|
#define AP_DDS_STATUS_PUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_JOY_SUB_ENABLED
|
|
#define AP_DDS_JOY_SUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_VEL_CTRL_ENABLED
|
|
#define AP_DDS_VEL_CTRL_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
|
#define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_DYNAMIC_TF_SUB_ENABLED
|
|
#define AP_DDS_DYNAMIC_TF_SUB_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_ARM_SERVER_ENABLED
|
|
#define AP_DDS_ARM_SERVER_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_MODE_SWITCH_SERVER_ENABLED
|
|
#define AP_DDS_MODE_SWITCH_SERVER_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_DDS_PARAMETER_SERVER_ENABLED
|
|
#define AP_DDS_PARAMETER_SERVER_ENABLED 1
|
|
#endif
|
|
|
|
// Whether to include Twist support
|
|
#define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED
|
|
|
|
// Whether to include Transform support
|
|
#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED
|
|
|
|
#ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"
|
|
#else
|
|
#define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1"
|
|
#endif
|
|
#endif
|
|
|
|
#ifndef AP_DDS_PARTICIPANT_NAME
|
|
#define AP_DDS_PARTICIPANT_NAME "ap"
|
|
#endif
|