mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.6 KiB
C
122 lines
3.6 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
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#include <AP_MSP/msp.h>
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#include <AP_AHRS/AP_AHRS_config.h>
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#include <AP_GPS/AP_GPS_config.h>
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#ifndef AP_COMPASS_ENABLED
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#define AP_COMPASS_ENABLED 1
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#endif
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#ifndef AP_COMPASS_DIAGONALS_ENABLED
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#define AP_COMPASS_DIAGONALS_ENABLED 1
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#endif
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#ifndef COMPASS_CAL_ENABLED
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#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
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#endif
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#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
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#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_GPS_ENABLED
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#endif
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#define COMPASS_MAX_SCALE_FACTOR 1.5
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#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)
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// Backend support
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#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
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#define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED
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#endif
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#ifndef AP_COMPASS_EXTERNALAHRS_ENABLED
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#define AP_COMPASS_EXTERNALAHRS_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED)
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#endif
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#ifndef AP_COMPASS_MSP_ENABLED
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#define AP_COMPASS_MSP_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED)
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#endif
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#ifndef AP_COMPASS_SITL_ENABLED
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#define AP_COMPASS_SITL_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)
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#endif
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#ifndef AP_COMPASS_DRONECAN_ENABLED
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#define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
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#endif
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// i2c-based compasses:
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#ifndef AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#define AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED AP_COMPASS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_AK09916_ENABLED
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#define AP_COMPASS_AK09916_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_AK8963_ENABLED
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#define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_BMM150_ENABLED
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#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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// this define dictates whether we iterate over the external i2c
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// busses looking for BMM150. Ordinarily this should be true, but
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// SkyViper specifies its BMM150 and thus does not need to probe.
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// This is an interim arrangement until PCNC1 is eliminated as an
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// auto-detect board.
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#ifndef AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED
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#define AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED AP_COMPASS_BMM150_ENABLED
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#endif
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#ifndef AP_COMPASS_HMC5843_ENABLED
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#define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_ICM20948_ENABLED
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#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_IST8308_ENABLED
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#define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_IST8310_ENABLED
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#define AP_COMPASS_IST8310_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_LIS3MDL_ENABLED
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#define AP_COMPASS_LIS3MDL_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_LSM303D_ENABLED
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#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_LSM9DS1_ENABLED
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#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_MAG3110_ENABLED
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#define AP_COMPASS_MAG3110_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_MMC3416_ENABLED
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#define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_MMC5XX3_ENABLED
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#define AP_COMPASS_MMC5XX3_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_QMC5883L_ENABLED
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#define AP_COMPASS_QMC5883L_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_RM3100_ENABLED
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#define AP_COMPASS_RM3100_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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