mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.2 KiB
C
44 lines
1.2 KiB
C
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
#include <AP_InertialSensor/AP_InertialSensor_config.h>
|
|
#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
|
|
|
|
#ifndef AP_AHRS_ENABLED
|
|
#define AP_AHRS_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_HOME_ENABLED
|
|
#define AP_HOME_ENABLED AP_AHRS_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_AHRS_BACKEND_DEFAULT_ENABLED
|
|
#define AP_AHRS_BACKEND_DEFAULT_ENABLED AP_AHRS_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_AHRS_DCM_ENABLED
|
|
#define AP_AHRS_DCM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_AHRS_EXTERNAL_ENABLED
|
|
#define AP_AHRS_EXTERNAL_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED
|
|
#endif
|
|
|
|
#ifndef HAL_NAVEKF2_AVAILABLE
|
|
// EKF2 slated compiled out by default in 4.5, slated to be removed.
|
|
#define HAL_NAVEKF2_AVAILABLE 0
|
|
#endif
|
|
|
|
#ifndef HAL_NAVEKF3_AVAILABLE
|
|
#define HAL_NAVEKF3_AVAILABLE AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_AHRS_SIM_ENABLED
|
|
#define AP_AHRS_SIM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_AHRS_POSITION_RESET_ENABLED
|
|
#define AP_AHRS_POSITION_RESET_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_ENABLED)
|
|
#endif
|
|
|