From 823d666bc2de1143cb099e1e28385a6e689ce7fe Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 12 Apr 2020 08:25:09 +1000
Subject: [PATCH] waf: added --disable-ekf2 and --disable-ekf3 build options

allows for testing disables in SITL
---
 Tools/ardupilotwaf/boards.py |  5 +++++
 wscript                      | 10 ++++++++++
 2 files changed, 15 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index bbc72a392b..634e4ea6fb 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -290,6 +290,11 @@ class Board:
         # We always want to use PRI format macros
         cfg.define('__STDC_FORMAT_MACROS', 1)
 
+        if cfg.options.disable_ekf2:
+            env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
+
+        if cfg.options.disable_ekf3:
+            env.CXXFLAGS += ['-DHAL_NAVEKF3_AVAILABLE=0']
 
     def pre_build(self, bld):
         '''pre-build hook that gets called before dynamic sources'''
diff --git a/wscript b/wscript
index 598a902e3c..c420f3054f 100644
--- a/wscript
+++ b/wscript
@@ -199,6 +199,16 @@ configuration in order to save typing.
         action='store_true',
         default=False,
         help='Configure for building SITL with flash storage emulation.')
+
+    g.add_option('--disable-ekf2',
+        action='store_true',
+        default=False,
+        help='Configure without EKF2.')
+
+    g.add_option('--disable-ekf3',
+        action='store_true',
+        default=False,
+        help='Configure without EKF3.')
     
     g.add_option('--static',
         action='store_true',