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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DDS/AP_DDS_config.h
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#pragma once

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#include <AP_GPS/AP_GPS_config.h>

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#include <AP_HAL/AP_HAL_Boards.h>

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#include <AP_Networking/AP_Networking_Config.h>

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#include <AP_VisualOdom/AP_VisualOdom_config.h>

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#include <RC_Channel/RC_Channel_config.h>

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#include <AP_RSSI/AP_RSSI_config.h>

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#ifndef AP_DDS_ENABLED

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#define AP_DDS_ENABLED 1

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#endif

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// UDP only on SITL for now

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#ifndef AP_DDS_UDP_ENABLED

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#define AP_DDS_UDP_ENABLED AP_DDS_ENABLED && AP_NETWORKING_ENABLED

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#endif

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#include <AP_VisualOdom/AP_VisualOdom_config.h>

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#ifndef AP_DDS_VISUALODOM_ENABLED

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#define AP_DDS_VISUALODOM_ENABLED HAL_VISUALODOM_ENABLED && AP_DDS_ENABLED

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#endif

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// Whether experimental interfaces are enabled.

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#ifndef AP_DDS_EXPERIMENTAL_ENABLED

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#define AP_DDS_EXPERIMENTAL_ENABLED 1

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#endif

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#ifndef AP_DDS_IMU_PUB_ENABLED

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#define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED

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#endif

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#ifndef AP_DDS_DELAY_IMU_TOPIC_MS

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#define AP_DDS_DELAY_IMU_TOPIC_MS 5

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#endif

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#ifndef AP_DDS_TIME_PUB_ENABLED

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#define AP_DDS_TIME_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_TIME_TOPIC_MS

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#define AP_DDS_DELAY_TIME_TOPIC_MS 10

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#endif

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#ifndef AP_DDS_NAVSATFIX_PUB_ENABLED

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#define AP_DDS_NAVSATFIX_PUB_ENABLED AP_GPS_ENABLED

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#endif

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#ifndef AP_DDS_STATIC_TF_PUB_ENABLED

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#define AP_DDS_STATIC_TF_PUB_ENABLED AP_GPS_ENABLED

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#endif

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#ifndef AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED

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#define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS

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#define AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS 1000

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#endif

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#ifndef AP_DDS_GEOPOSE_PUB_ENABLED

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#define AP_DDS_GEOPOSE_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_GEO_POSE_TOPIC_MS

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#define AP_DDS_DELAY_GEO_POSE_TOPIC_MS 33

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#endif

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#ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED

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#define AP_DDS_LOCAL_POSE_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS

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#define AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS 33

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#endif

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#ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED

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#define AP_DDS_LOCAL_VEL_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS

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#define AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS 33

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#endif

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#ifndef AP_DDS_AIRSPEED_PUB_ENABLED

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#define AP_DDS_AIRSPEED_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_AIRSPEED_TOPIC_MS

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#define AP_DDS_DELAY_AIRSPEED_TOPIC_MS 33

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#endif

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#ifndef AP_DDS_RC_PUB_ENABLED

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#define AP_DDS_RC_PUB_ENABLED (AP_RSSI_ENABLED && AP_RC_CHANNEL_ENABLED)

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#endif

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#ifndef AP_DDS_DELAY_RC_TOPIC_MS

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#define AP_DDS_DELAY_RC_TOPIC_MS 100

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#endif

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#ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED

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#define AP_DDS_BATTERY_STATE_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS

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#define AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS 1000

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#endif

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#ifndef AP_DDS_DELAY_STATUS_TOPIC_MS

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#define AP_DDS_DELAY_STATUS_TOPIC_MS 100

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#endif

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#ifndef AP_DDS_CLOCK_PUB_ENABLED

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#define AP_DDS_CLOCK_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_CLOCK_TOPIC_MS

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#define AP_DDS_DELAY_CLOCK_TOPIC_MS 10

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#endif

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#ifndef AP_DDS_GOAL_PUB_ENABLED

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#define AP_DDS_GOAL_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_DELAY_GOAL_TOPIC_MS

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#define AP_DDS_DELAY_GOAL_TOPIC_MS  200

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#endif

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#ifndef AP_DDS_STATUS_PUB_ENABLED

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#define AP_DDS_STATUS_PUB_ENABLED 1

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#endif

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#ifndef AP_DDS_JOY_SUB_ENABLED

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#define AP_DDS_JOY_SUB_ENABLED 1

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#endif

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#ifndef AP_DDS_VEL_CTRL_ENABLED

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#define AP_DDS_VEL_CTRL_ENABLED 1

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#endif

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#ifndef AP_DDS_GLOBAL_POS_CTRL_ENABLED

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#define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1

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#endif

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#ifndef AP_DDS_DYNAMIC_TF_SUB_ENABLED

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#define AP_DDS_DYNAMIC_TF_SUB_ENABLED 1

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#endif

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#ifndef AP_DDS_ARM_SERVER_ENABLED

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#define AP_DDS_ARM_SERVER_ENABLED 1

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#endif

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#ifndef AP_DDS_MODE_SWITCH_SERVER_ENABLED

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#define AP_DDS_MODE_SWITCH_SERVER_ENABLED 1

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#endif

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#ifndef AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED

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#define AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED 1

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#endif

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#ifndef AP_DDS_PARAMETER_SERVER_ENABLED

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#define AP_DDS_PARAMETER_SERVER_ENABLED 1

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#endif

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#ifndef AP_DDS_ARM_CHECK_SERVER_ENABLED

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#define AP_DDS_ARM_CHECK_SERVER_ENABLED 1

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#endif

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// Whether to include Twist support

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#define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED

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// Whether to include Transform support

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#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED

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// Whether DDS needs GPS

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#define AP_DDS_NEEDS_GPS AP_DDS_NAVSATFIX_PUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED

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#ifndef AP_DDS_DEFAULT_UDP_IP_ADDR

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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

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#define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.144.2"

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#else

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#define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1"

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#endif

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#endif

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#ifndef AP_DDS_PARTICIPANT_NAME

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#define AP_DDS_PARTICIPANT_NAME "ap"

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#endif

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