From 11760c33f617638419783ce8b98fcb9cd082f650 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Feb 2016 09:35:25 +1100
Subject: [PATCH] AP_NavEKF: avoid use of undefined #defines

Ensure EKF_DISABLE_INTERRUPTS is defined

Do not define MATH_CHECK_INDEXES, assume it is defined
---
 libraries/AP_NavEKF/AP_NavEKF.h      | 2 --
 libraries/AP_NavEKF/AP_NavEKF_core.h | 5 ++---
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index 455911a21f..14eb82ed84 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -31,8 +31,6 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 
-// #define MATH_CHECK_INDEXES 1
-
 #include <AP_Math/vectorN.h>
 
 // GPS pre-flight check bit locations
diff --git a/libraries/AP_NavEKF/AP_NavEKF_core.h b/libraries/AP_NavEKF/AP_NavEKF_core.h
index 31d00ae27f..db02a6f254 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_core.h
+++ b/libraries/AP_NavEKF/AP_NavEKF_core.h
@@ -35,8 +35,7 @@
 #define OPT_MATHS
 #endif
 
-// #define MATH_CHECK_INDEXES 1
-// #define EKF_DISABLE_INTERRUPTS 1
+#define EKF_DISABLE_INTERRUPTS 0
 
 #include <AP_Math/vectorN.h>
 
@@ -58,7 +57,7 @@ public:
     friend class NavEKF;
     
     typedef float ftype;
-#if defined(MATH_CHECK_INDEXES) && (MATH_CHECK_INDEXES == 1)
+#if MATH_CHECK_INDEXES
     typedef VectorN<ftype,2> Vector2;
     typedef VectorN<ftype,3> Vector3;
     typedef VectorN<ftype,4> Vector4;