Plane: allow NavEKFs to be compiled out

5 years ago · e358677f85
1 changed files with 4 additions and 0 deletions
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@ -1049,13 +1049,17 @@ const AP_Param::Info Plane::var_info[] = {
				@@ -1049,13 +1049,17 @@ const AP_Param::Info Plane::var_info[] = {
    GOBJECT(rally,  "RALLY_",       AP_Rally),

 #if AP_AHRS_NAVEKF_AVAILABLE
+#if HAL_NAVEKF2_AVAILABLE
    // @Group: EK2_
    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
    GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
+#endif

+#if HAL_NAVEKF3_AVAILABLE
    // @Group: EK3_
    // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
    GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
+#endif
 #endif

    // @Group: RPM