From 895ab6c089c8e7d3162d7471e84557d51ee1a02b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 22 Jun 2021 15:57:34 +1000
Subject: [PATCH] waf: added --postype-single option

for SITL with single precision postype_t
---
 Tools/ardupilotwaf/boards.py | 3 +++
 wscript                      | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 1ba0d0f3c3..ec378b65da 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -330,6 +330,9 @@ class Board:
         if cfg.options.disable_ekf3:
             env.CXXFLAGS += ['-DHAL_NAVEKF3_AVAILABLE=0']
 
+        if cfg.options.postype_single:
+            env.CXXFLAGS += ['-DHAL_WITH_POSTYPE_DOUBLE=0']
+            
         if cfg.options.osd or cfg.options.osd_fonts:
             env.CXXFLAGS += ['-DOSD_ENABLED=1', '-DHAL_MSP_ENABLED=1']
 
diff --git a/wscript b/wscript
index e4a8f5fb57..98560fbbf0 100644
--- a/wscript
+++ b/wscript
@@ -257,6 +257,11 @@ configuration in order to save typing.
         default=False,
         help='Force a static build')
 
+    g.add_option('--postype-single',
+        action='store_true',
+        default=False,
+        help='force single precision postype_t')
+    
 def _collect_autoconfig_files(cfg):
     for m in sys.modules.values():
         paths = []