mirror of https://github.com/ArduPilot/ardupilot
102 lines
2.7 KiB
C
102 lines
2.7 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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#if AP_GPS_ENABLED
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/**
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maximum number of GPS 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 GPS_MAX_RECEIVERS
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#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data
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#endif
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#if !defined(GPS_MAX_INSTANCES)
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#if GPS_MAX_RECEIVERS > 1
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#define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data
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#else
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#define GPS_MAX_INSTANCES 1
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#endif // GPS_MAX_RECEIVERS > 1
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#endif // GPS_MAX_INSTANCES
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#if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1
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#error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1"
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#endif
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#if GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS
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#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)
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#endif
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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_BLENDED_ENABLED
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#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && defined(GPS_BLENDED_INSTANCE)
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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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#ifndef HAL_GPS_COM_PORT_DEFAULT
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#define HAL_GPS_COM_PORT_DEFAULT 1
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#endif
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