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Tools: create and use backend defines for AP_ExternalAHRS

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Peter Barker 2023-04-24 19:54:51 +10:00 committed by Peter Barker
parent b471f9bfac
commit 070d159b17
2 changed files with 3 additions and 0 deletions
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2
Tools/scripts/build_options.py
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@ -31,6 +31,8 @@ BUILD_OPTIONS = [
Feature('AHRS', 'EKF3', 'HAL_NAVEKF3_AVAILABLE', 'Enable EKF3', 1, None),
Feature('AHRS', 'EKF2', 'HAL_NAVEKF2_AVAILABLE', 'Enable EKF2', 0, None),
Feature('AHRS', 'AHRS_EXT', 'HAL_EXTERNAL_AHRS_ENABLED', 'Enable External AHRS', 0, None),
Feature('AHRS', 'AHRS_EXT_LORD', 'AP_EXTERNAL_AHRS_LORD_ENABLED', 'Enable LORD External AHRS', 0, "AHRS_EXT"),
Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav External AHRS', 0, "AHRS_EXT"), # noqa
Feature('AHRS', 'TEMPCAL', 'HAL_INS_TEMPERATURE_CAL_ENABLE', 'Enable IMU Temperature Calibration', 0, None),
Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),
Feature('AHRS', 'EKF3_EXTNAV', 'EK3_FEATURE_EXTERNAL_NAV', 'Enable External Navigation for EKF3', 0, 'EKF3'),

1
Tools/scripts/extract_features.py
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@ -64,6 +64,7 @@ class ExtractFeatures(object):
('HAL_NAVEKF3_AVAILABLE', 'NavEKF3::NavEKF3',),
('HAL_NAVEKF2_AVAILABLE', 'NavEKF2::NavEKF2',),
('HAL_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',),
('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_{type}::healthy\b',),
('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor::TCal::Learn::save_calibration',),
('HAL_VISUALODOM_ENABLED', 'AP_VisualOdom::init',),