From 309500c84fb17dc9611914c0c3e9670344b22627 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 4 May 2021 21:12:23 +1000
Subject: [PATCH] AP_HAL: allow for double EKF build

---
 libraries/AP_HAL/AP_HAL_Macros.h | 2 +-
 libraries/AP_HAL/board/chibios.h | 4 ++++
 libraries/AP_HAL/board/linux.h   | 8 ++++++++
 libraries/AP_HAL/board/sitl.h    | 7 +++++++
 4 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/AP_HAL_Macros.h b/libraries/AP_HAL/AP_HAL_Macros.h
index e16d26714d..5c198fed06 100644
--- a/libraries/AP_HAL/AP_HAL_Macros.h
+++ b/libraries/AP_HAL/AP_HAL_Macros.h
@@ -6,7 +6,7 @@
   macros to allow code to build on multiple platforms more easily
  */
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || HAL_WITH_EKF_DOUBLE
 /*
   allow double maths on Linux and SITL to avoid problems with system headers
  */
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index 3993b2c2a9..fdca5eb609 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -56,6 +56,10 @@
 #define HAL_WITH_RAMTRON 0
 #endif
 
+#ifndef HAL_WITH_EKF_DOUBLE
+#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
+#endif
+
 // allow for static semaphores
 #include <AP_HAL_ChibiOS/Semaphores.h>
 #define HAL_Semaphore ChibiOS::Semaphore
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index af2e1ad352..74847f28d8 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -355,3 +355,11 @@
 #define HAL_Semaphore Linux::Semaphore
 #include <AP_HAL/EventHandle.h>
 #define HAL_EventHandle AP_HAL::EventHandle
+
+#ifndef HAL_HAVE_HARDWARE_DOUBLE
+#define HAL_HAVE_HARDWARE_DOUBLE 1
+#endif
+
+#ifndef HAL_WITH_EKF_DOUBLE
+#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
+#endif
diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h
index 54764e2fc1..075a3dc32c 100644
--- a/libraries/AP_HAL/board/sitl.h
+++ b/libraries/AP_HAL/board/sitl.h
@@ -71,3 +71,10 @@
 #define HAL_BOARD_STORAGE_DIRECTORY "."
 #endif
 
+#ifndef HAL_HAVE_HARDWARE_DOUBLE
+#define HAL_HAVE_HARDWARE_DOUBLE 1
+#endif
+
+#ifndef HAL_WITH_EKF_DOUBLE
+#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
+#endif