mirror of https://github.com/ArduPilot/ardupilot
27 lines
753 B
C
27 lines
753 B
C
/*
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feature selection for EKF3
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*/
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#pragma once
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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// define for when to include all features
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#define EK3_FEATURE_ALL APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) || APM_BUILD_TYPE(APM_BUILD_Replay)
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// body odomotry (which includes wheel encoding) on rover or 2M boards
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#ifndef EK3_FEATURE_BODY_ODOM
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#define EK3_FEATURE_BODY_ODOM EK3_FEATURE_ALL || APM_BUILD_TYPE(APM_BUILD_Rover) || BOARD_FLASH_SIZE > 1024
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#endif
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// external navigation on 2M boards
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#ifndef EK3_FEATURE_EXTERNAL_NAV
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#define EK3_FEATURE_EXTERNAL_NAV EK3_FEATURE_ALL || BOARD_FLASH_SIZE > 1024
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#endif
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// drag fusion on 2M boards
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#ifndef EK3_FEATURE_DRAG_FUSION
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#define EK3_FEATURE_DRAG_FUSION EK3_FEATURE_ALL || BOARD_FLASH_SIZE > 1024
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#endif
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