waf: added --disable-ekf2 and --disable-ekf3 build options

allows for testing disables in SITL

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'''

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',