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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_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_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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#include <AP_InertialSensor/AP_InertialSensor_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_COMPASS_ENABLED && AP_GPS_ENABLED && AP_AHRS_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 && AP_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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#ifndef AP_COMPASS_DRONECAN_HIRES_ENABLED

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#define AP_COMPASS_DRONECAN_HIRES_ENABLED 0

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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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#ifndef AP_COMPASS_BMM350_ENABLED

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#define AP_COMPASS_BMM350_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_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 && AP_INERTIALSENSOR_ENABLED

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#endif

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#ifndef AP_COMPASS_IIS2MDC_ENABLED

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#define AP_COMPASS_IIS2MDC_ENABLED 0

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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_LIS2MDL_ENABLED

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#define AP_COMPASS_LIS2MDL_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)

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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 && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)

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#endif

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#ifndef AP_COMPASS_QMC5883P_ENABLED

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#define AP_COMPASS_QMC5883P_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)

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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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#ifndef AP_COMPASS_PROBING_ENABLED

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// FIXME: vast majority of boards define this to 1!

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#define AP_COMPASS_PROBING_ENABLED 0

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#endif

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// boards can specify that they do not want their internal buses

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// probed for compasses - we default to probing them if we are probing

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// any buses:

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#ifndef AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED

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#define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_PROBING_ENABLED || AP_FEATURE_BOARD_DETECT)

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#endif

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// some boards do not want to probe the internal buses for IS8310 but

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// *do* want to probe internal buses for other compasses:

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#ifndef AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED

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#define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_IST8310_ENABLED && AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED)

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#endif

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// fmuv5 boards didn't want to probe external buses for IS8310 -

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// possibly one of their internal buses is marked external so don't

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// want onboard IST8310 detected before *actual* external compasses?

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#ifndef AP_COMPASS_IST8310_EXTERNAL_BUS_PROBING_ENABLED

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#define AP_COMPASS_IST8310_EXTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_IST8310_ENABLED && AP_COMPASS_PROBING_ENABLED)

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#endif  // AP_COMPASS_IST8310_EXTERNAL_BUS_PROBING_ENABLED

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#ifndef AP_COMPASS_LIS2MDL_EXTERNAL_BUS_PROBING_ENABLED

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#define AP_COMPASS_LIS2MDL_EXTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_LIS2MDL_ENABLED && AP_COMPASS_PROBING_ENABLED)

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#endif  // AP_COMPASS_LIS2MDL_EXTERNAL_BUS_PROBING_ENABLED

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#ifndef AP_COMPASS_HMC5843_INTERNAL_BUS_PROBING_ENABLED

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#define AP_COMPASS_HMC5843_INTERNAL_BUS_PROBING_ENABLED (AP_COMPASS_HMC5843_ENABLED && AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED)

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#endif  // AP_COMPASS_HMC5843_INTERNAL_BUS_PROBING_ENABLED

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