From 9bbd2b19c209c708b8633eb6bdec88d884d39ed7 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Wed, 29 Apr 2020 14:52:00 +0200
Subject: [PATCH] AP_NavEKF2: add --debug-ekf to debug the EKF

---
 libraries/AP_NavEKF2/AP_NavEKF2_core.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index 79bd26f236..f3fd1a9257 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -20,7 +20,9 @@
  */
 #pragma once
 
-#pragma GCC optimize("O2")
+#if !defined(HAL_DEBUG_BUILD) || !HAL_DEBUG_BUILD
+    #pragma GCC optimize("O2")
+#endif
 
 #define EK2_DISABLE_INTERRUPTS 0