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Copter: allow NavEKFs to be compiled out

This commit is contained in:
Peter Barker 2019-12-12 18:30:16 +11:00 committed by Andrew Tridgell
parent d95956a587
commit e3dd0d33e7
2 changed files with 7 additions and 2 deletions
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6
ArduCopter/Parameters.cpp
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@ -627,13 +627,17 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
#if HAL_NAVEKF3_AVAILABLE
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
#if MODE_AUTO_ENABLED == ENABLED
// @Group: MIS_

3
ArduCopter/ekf_check.cpp
View File

@ -198,7 +198,8 @@ void Copter::check_ekf_reset()
AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
}
#if AP_AHRS_NAVEKF_AVAILABLE
#if AP_AHRS_NAVEKF_AVAILABLE && HAL_NAVEKF2_AVAILABLE
// check for change in primary EKF (log only, AC_WPNav handles position target adjustment)
if ((ahrs.EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (ahrs.EKF2.getPrimaryCoreIndex() != -1)) {
attitude_control->inertial_frame_reset();