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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_GPS/AP_GPS_config.h
Views: 1798
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#pragma once

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#include <AP_HAL/AP_HAL_Boards.h>

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#include <GCS_MAVLink/GCS_config.h>

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#ifndef AP_GPS_ENABLED

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#define AP_GPS_ENABLED 1

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#endif

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#if AP_GPS_ENABLED

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/**

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   maximum number of GPS instances available on this platform. If more

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   than 1 then redundant sensors may be available

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 */

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#ifndef GPS_MAX_RECEIVERS

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#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data

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#endif

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#if !defined(GPS_MAX_INSTANCES)

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#if GPS_MAX_RECEIVERS > 1

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#define GPS_MAX_INSTANCES  (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data

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#else

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#define GPS_MAX_INSTANCES 1

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#endif // GPS_MAX_RECEIVERS > 1

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#endif // GPS_MAX_INSTANCES

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#if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1

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#error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1"

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#endif

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#endif

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#ifndef AP_GPS_BACKEND_DEFAULT_ENABLED

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#define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED

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#endif

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#if !defined(AP_GPS_BLENDED_ENABLED) && defined(GPS_MAX_INSTANCES)

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#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS

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#endif

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#ifndef AP_GPS_BLENDED_ENABLED

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#define AP_GPS_BLENDED_ENABLED 0

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#endif

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#if AP_GPS_BLENDED_ENABLED

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#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS  // the virtual blended GPS is always the highest instance (2)

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#endif

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#ifndef AP_GPS_DRONECAN_ENABLED

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#define AP_GPS_DRONECAN_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS

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#endif

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#ifndef AP_GPS_ERB_ENABLED

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  #define AP_GPS_ERB_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_GSOF_ENABLED

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  #define AP_GPS_GSOF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_MAV_ENABLED

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  #define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED

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#endif

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#ifndef HAL_MSP_GPS_ENABLED

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#define HAL_MSP_GPS_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED

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#endif

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#ifndef AP_GPS_NMEA_ENABLED

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  #define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_NMEA_UNICORE_ENABLED

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  #define AP_GPS_NMEA_UNICORE_ENABLED AP_GPS_NMEA_ENABLED

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#endif

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#ifndef AP_GPS_NOVA_ENABLED

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  #define AP_GPS_NOVA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_SBF_ENABLED

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  #define AP_GPS_SBF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_SBP_ENABLED

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  #define AP_GPS_SBP_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_SBP2_ENABLED

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   #define AP_GPS_SBP2_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_SIRF_ENABLED

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  #define AP_GPS_SIRF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_UBLOX_ENABLED

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  #define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED

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#endif

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#ifndef AP_GPS_RTCM_DECODE_ENABLED

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  #define AP_GPS_RTCM_DECODE_ENABLED BOARD_FLASH_SIZE > 1024

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#endif

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#ifndef HAL_GPS_COM_PORT_DEFAULT

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#define HAL_GPS_COM_PORT_DEFAULT 1

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#endif

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#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED

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#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED

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#endif

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#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED

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#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1

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#endif

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#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED

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#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)

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#endif

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#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED

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#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)

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#endif

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