ardupilot/libraries/AP_NavEKF3/AP_NavEKF3_feature.h

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/*
feature selection for EKF3
*/
#pragma once
#include <AP_Vehicle/AP_Vehicle_Type.h>
// define for when to include all features
#define EK3_FEATURE_ALL APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) || APM_BUILD_TYPE(APM_BUILD_Replay)
// body odomotry (which includes wheel encoding) on rover or 2M boards
#ifndef EK3_FEATURE_BODY_ODOM
#define EK3_FEATURE_BODY_ODOM EK3_FEATURE_ALL || APM_BUILD_TYPE(APM_BUILD_Rover) || BOARD_FLASH_SIZE > 1024
#endif
// external navigation on 2M boards
#ifndef EK3_FEATURE_EXTERNAL_NAV
#define EK3_FEATURE_EXTERNAL_NAV EK3_FEATURE_ALL || BOARD_FLASH_SIZE > 1024
#endif
2021-01-19 00:36:39 -04:00
// drag fusion on 2M boards
#ifndef EK3_FEATURE_DRAG_FUSION
#define EK3_FEATURE_DRAG_FUSION EK3_FEATURE_ALL || BOARD_FLASH_SIZE > 1024
#endif