Remove EKF2 from all builds #25567
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Remove EKF2 from all builds #25567
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peterbarker
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tridge
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Nov 19, 2023
Ryanf55
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Nov 26, 2023
Tools/ardupilotwaf/boards.py
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| @@ -644,6 +644,10 @@ def configure_env(self, cfg, env): | |||
| AP_BARO_PROBE_EXTERNAL_I2C_BUSES = 1, | |||
| ) | |||
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| env.DEFINES.update( | |||
| 'HAL_NAVEKF2_AVAILABLE', 1 | |||
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Suggested change
| 'HAL_NAVEKF2_AVAILABLE', 1 | |
| 'HAL_NAVEKF2_AVAILABLE' = 1 |
Fixes the following:
https://github.com/ArduPilot/ardupilot/actions/runs/6917086287/job/18817856622?pr=25567#step:7:45
TypeError: update expected at most 1 argument, got 2
|
Built with disable_ekf2. |
peterbarker
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I think you're trying to say that we're still looking at a lot of code in the NavEKF2 directory when we're compiling this code out - and that's probably right. In this PR I'm really just trying to change the default compilation option, not make sweeping changes in code we're wanting to remove anyway :-) Your observation would also be correct for NavEKF3, however. |
just because we don't compile this in doesn't mean we shouldn't continue to test it
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We're looking to remove EKF2 from the codebase.
This is a first step; we'll retain the ability to compile it in on the custom build server and OEM setups and the like for at least one stable version.