Tools: added IMUOUT to build options

ArduPilot · Nov 29, 2023 · 17c6d6d · 17c6d6d
1 parent 80b8c32
commit 17c6d6d
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diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
@@ -296,6 +296,7 @@ def __init__(self,
     Feature('Sensors', 'AIRSPEED', 'AP_AIRSPEED_ENABLED', 'Enable Airspeed Sensors', 1, None),    # Default to enabled to not annoy Plane users   # NOQA: E501
     Feature('Sensors', 'BEACON', 'AP_BEACON_ENABLED', 'Enable Beacon', 0, None),
     Feature('Sensors', 'GPS_MOVING_BASELINE', 'GPS_MOVING_BASELINE', 'Enable GPS Moving Baseline', 0, None),
+    Feature('Sensors', 'IMU_ON_UART', 'AP_SERIALMANAGER_IMUOUT_ENABLED', 'Enable sending raw IMU data on a serial port', 0, None), # NOQA: E501
 
     Feature('Other', 'GyroFFT', 'HAL_GYROFFT_ENABLED', 'Enable In-Flight Gyro FFT calculations', 0, None),
     Feature('Other', 'DISPLAY', 'HAL_DISPLAY_ENABLED', 'Enable I2C Displays', 0, None),

diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
@@ -236,6 +236,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),
             ('AP_TUNING_ENABLED', 'AP_Tuning::check_input'),
             ('AP_DRONECAN_SERIAL_ENABLED', 'AP_DroneCAN_Serial::update'),
+            ('AP_SERIALMANAGER_IMUOUT_ENABLED', 'AP_InertialSensor::send_uart_data'),
         ]
 
     def progress(self, msg):