mirror of
https://github.com/ArduPilot/ardupilot
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6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
49 lines
1.5 KiB
C
49 lines
1.5 KiB
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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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Beacon/AP_Beacon_config.h>
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#include <AP_AHRS/AP_AHRS_config.h>
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#include <AP_OpticalFlow/AP_OpticalFlow_config.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) || HAL_PROGRAM_SIZE_LIMIT_KB > 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 || HAL_PROGRAM_SIZE_LIMIT_KB > 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 || HAL_PROGRAM_SIZE_LIMIT_KB > 1024
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#endif
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// Beacon Fusion if beacon data available
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#ifndef EK3_FEATURE_BEACON_FUSION
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#define EK3_FEATURE_BEACON_FUSION AP_BEACON_ENABLED
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#endif
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#ifndef EK3_FEATURE_POSITION_RESET
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#define EK3_FEATURE_POSITION_RESET EK3_FEATURE_ALL || AP_AHRS_POSITION_RESET_ENABLED
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#endif
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// rangefinder measurements if available
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#ifndef EK3_FEATURE_RANGEFINDER_MEASUREMENTS
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#define EK3_FEATURE_RANGEFINDER_MEASUREMENTS AP_RANGEFINDER_ENABLED
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#endif
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// Flow Fusion if Flow data available
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#ifndef EK3_FEATURE_OPTFLOW_FUSION
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#define EK3_FEATURE_OPTFLOW_FUSION HAL_NAVEKF3_AVAILABLE && AP_OPTICALFLOW_ENABLED
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#endif
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