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27 lines
787 B
27 lines
787 B
/* |
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feature selection for EKF3 |
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*/ |
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#pragma once |
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#include <AP_Vehicle/AP_Vehicle_Type.h> |
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#include <AP_HAL/AP_HAL_Boards.h> |
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// define for when to include all features |
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#define EK3_FEATURE_ALL APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) || APM_BUILD_TYPE(APM_BUILD_Replay) |
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// body odomotry (which includes wheel encoding) on rover or 2M boards |
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#ifndef EK3_FEATURE_BODY_ODOM |
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#define EK3_FEATURE_BODY_ODOM EK3_FEATURE_ALL || APM_BUILD_TYPE(APM_BUILD_Rover) || BOARD_FLASH_SIZE > 1024 |
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#endif |
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// external navigation on 2M boards |
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#ifndef EK3_FEATURE_EXTERNAL_NAV |
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#define EK3_FEATURE_EXTERNAL_NAV EK3_FEATURE_ALL || BOARD_FLASH_SIZE > 1024 |
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#endif |
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// drag fusion on 2M boards |
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#ifndef EK3_FEATURE_DRAG_FUSION |
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#define EK3_FEATURE_DRAG_FUSION EK3_FEATURE_ALL || BOARD_FLASH_SIZE > 1024 |
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#endif |
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