From 8486d4ab5e56ccbee8efa2e03699f191876890ab Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 20 May 2016 16:25:04 +1000 Subject: [PATCH] AP_AHRS: disable EKF1 on all PX4v1 and PX4v2 boards we're out of space in copter now too --- libraries/AP_AHRS/AP_AHRS_NavEKF.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h index f7d5334f3d..782e2864f6 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h @@ -38,9 +38,11 @@ #define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started /* - we are too close to running out of flash on px4 with plane firmware, so disable it + we are too close to running out of flash on px4, so disable + it. Leave it enabled on V4 for now as that has sufficient flash + space */ -#if APM_BUILD_TYPE(APM_BUILD_ArduPlane) && CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2)) #define AP_AHRS_WITH_EKF1 0 #else #define AP_AHRS_WITH_EKF1 1