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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_AHRS/AP_AHRS_config.h
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#pragma once

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#include <AP_HAL/AP_HAL_Boards.h>

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#include <AP_InertialSensor/AP_InertialSensor_config.h>

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#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>

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#ifndef AP_AHRS_ENABLED

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#define AP_AHRS_ENABLED 1

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#endif

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#ifndef AP_HOME_ENABLED

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#define AP_HOME_ENABLED AP_AHRS_ENABLED

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#endif

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#ifndef AP_AHRS_BACKEND_DEFAULT_ENABLED

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#define AP_AHRS_BACKEND_DEFAULT_ENABLED AP_AHRS_ENABLED

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#endif

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#ifndef AP_AHRS_DCM_ENABLED

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#define AP_AHRS_DCM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED

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#endif

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#ifndef AP_AHRS_EXTERNAL_ENABLED

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#define AP_AHRS_EXTERNAL_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_EXTERNAL_AHRS_ENABLED

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#endif

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#ifndef HAL_NAVEKF2_AVAILABLE

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// EKF2 slated compiled out by default in 4.5, slated to be removed.

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#define HAL_NAVEKF2_AVAILABLE 0

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#endif

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#ifndef HAL_NAVEKF3_AVAILABLE

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#define HAL_NAVEKF3_AVAILABLE AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED

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#endif

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#ifndef AP_AHRS_SIM_ENABLED

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#define AP_AHRS_SIM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED

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#endif

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#ifndef AP_AHRS_POSITION_RESET_ENABLED

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#define AP_AHRS_POSITION_RESET_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB>1024 && AP_AHRS_ENABLED)

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#endif

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#ifndef AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED

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#define AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB>1024 && AP_AHRS_DCM_ENABLED)

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#endif

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