AP_HAL_ChibiOS: eliminate EKF2 from F4 builds not using HAL_MINIMIZE_FEATURES

5 years ago · e5319397b4
11 changed files with 32 additions and 6 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
@ -159,6 +159,9 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
				@@ -159,6 +159,9 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 define HAL_STORAGE_SIZE 15360
 define STORAGE_FLASH_PAGE 1

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 # defaults for battery monitoring
 define HAL_BATT_MONITOR_DEFAULT 4
 define HAL_BATT_VOLT_PIN 11
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
@ -1,8 +1,6 @@
				@@ -1,8 +1,6 @@
 # hw definition file for KakuteF4 hardware

-# STATUS:
-# This port is mostly complete. Main missing feature are OSD,
-# dataflash
+

 # MCU class and specific type
 MCU STM32F4xx STM32F405xx
@ -154,6 +152,9 @@ define OSD_ENABLED 1
				@@ -154,6 +152,9 @@ define OSD_ENABLED 1
 define HAL_OSD_TYPE_DEFAULT 1
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 # 8 PWM available by default
 define BOARD_PWM_COUNT_DEFAULT 8

--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
@ -2,9 +2,6 @@
				@@ -2,9 +2,6 @@
 # tested on the MatekF405-OSD board
 # with thanks to betaflight for pinout

-# STATUS:
-# This port is mostly complete. Main missing feature are OSD,
-# dataflash

 # MCU class and specific type
 MCU STM32F4xx STM32F405xx
@ -182,5 +179,8 @@ define HAL_BATTMON_FUEL_ENABLE 0
				@@ -182,5 +179,8 @@ define HAL_BATTMON_FUEL_ENABLE 0
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 # reduce max size of embedded params for apj_tool.py
 define AP_PARAM_MAX_EMBEDDED_PARAM 1024
--- a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat
@ -140,6 +140,9 @@ define HAL_OSD_TYPE_DEFAULT 1
				@@ -140,6 +140,9 @@ define HAL_OSD_TYPE_DEFAULT 1
 #To complementary channels work we define this
 define STM32_PWM_USE_ADVANCED TRUE

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 define BOARD_PWM_COUNT_DEFAULT 4

 #define CH_DBG_ENABLE_ASSERTS TRUE
--- a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat
@ -136,5 +136,8 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
				@@ -136,5 +136,8 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 # reduce max size of embedded params for apj_tool.py
 define AP_PARAM_MAX_EMBEDDED_PARAM 1024
--- a/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
@ -108,4 +108,7 @@ define HAL_GPIO_A_LED_PIN 57
				@@ -108,4 +108,7 @@ define HAL_GPIO_A_LED_PIN 57
 #To complementary channels work we define this
 define STM32_PWM_USE_ADVANCED TRUE

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 define BOARD_PWM_COUNT_DEFAULT 6
--- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
@ -155,4 +155,6 @@ define HAL_GPIO_C_LED_PIN 2
				@@ -155,4 +155,6 @@ define HAL_GPIO_C_LED_PIN 2
 define HAL_GPIO_LED_ON  0
 define HAL_GPIO_LED_OFF 1

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0

--- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
@ -154,5 +154,7 @@ define HAL_BATTMON_FUEL_ENABLE 0
				@@ -154,5 +154,7 @@ define HAL_BATTMON_FUEL_ENABLE 0
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0

+define HAL_NAVEKF2_AVAILABLE 0
+
 # reduce max size of embedded params for apj_tool.py
 define AP_PARAM_MAX_EMBEDDED_PARAM 1024
--- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat
@ -149,6 +149,9 @@ define HAL_GPIO_A_LED_PIN 41
				@@ -149,6 +149,9 @@ define HAL_GPIO_A_LED_PIN 41
 #To have complementary channels work we define this
 define STM32_PWM_USE_ADVANCED TRUE

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 define BOARD_PWM_COUNT_DEFAULT 6

 define OSD_ENABLED 1
--- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat
@ -134,6 +134,9 @@ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
				@@ -134,6 +134,9 @@ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
 # enable logging to dataflash
 define HAL_LOGGING_DATAFLASH

+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0
+
 # 8 PWM available by default
 define BOARD_PWM_COUNT_DEFAULT 8
 define HAL_WITH_DSP FALSE
--- a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat
@ -160,3 +160,6 @@ define BOARD_PWM_COUNT_DEFAULT 8
				@@ -160,3 +160,6 @@ define BOARD_PWM_COUNT_DEFAULT 8
 define OSD_ENABLED 1
 define HAL_OSD_TYPE_DEFAULT 1
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+#eliminate EKF2 to save flash size
+define HAL_NAVEKF2_AVAILABLE 0