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