From 8868ac2d6f33456da3107534bea2ef93604c886d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 May 2020 12:22:43 +1000
Subject: [PATCH] AP_AHRS: disable EKF2 by default on 1M boards

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index a02a7ce9de..be8568baf1 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -24,7 +24,8 @@
 #include <AP_HAL/AP_HAL.h>
 
 #ifndef HAL_NAVEKF2_AVAILABLE
-#define HAL_NAVEKF2_AVAILABLE 1
+// only default to EK2 enabled on boards with over 1M flash
+#define HAL_NAVEKF2_AVAILABLE (BOARD_FLASH_SIZE>1024)
 #endif
 
 #ifndef HAL_NAVEKF3_AVAILABLE