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Remove EKF2 from all builds #25567

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merged 3 commits into from
Nov 26, 2023
+15 −9
Merged

Remove EKF2 from all builds #25567

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a561bf5
AP_AHRS: compile EKF2 out by default on all boards
peterbarker Nov 17, 2023
90dd21b
waf: invert ekf2-disable command-line option
peterbarker Nov 17, 2023
b17942c
waf: keep EKF2 enabled in SITL
peterbarker Nov 18, 2023
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10 changes: 8 additions & 2 deletions Tools/ardupilotwaf/boards.py
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Original file line number Diff line number Diff line change
Expand Up @@ -462,8 +462,8 @@ def configure_env(self, cfg, env):
# We always want to use PRI format macros
cfg.define('__STDC_FORMAT_MACROS', 1)

if cfg.options.disable_ekf2:
env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
if cfg.options.enable_ekf2:
env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=1']

if cfg.options.disable_ekf3:
env.CXXFLAGS += ['-DHAL_NAVEKF3_AVAILABLE=0']
Expand Down Expand Up @@ -654,6 +654,12 @@ def configure_env(self, cfg, env):
cfg.define('AP_NOTIFY_LP5562_BUS', 2)
cfg.define('AP_NOTIFY_LP5562_ADDR', 0x30)

try:
env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=0')
except ValueError:
pass
env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=1']

if self.with_can:
cfg.define('HAL_NUM_CAN_IFACES', 2)
env.DEFINES.update(CANARD_MULTI_IFACE=1,
Expand Down
6 changes: 3 additions & 3 deletions Tools/autotest/sim_vehicle.py
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Expand Up @@ -378,8 +378,8 @@ def do_build(opts, frame_options):
if opts.math_check_indexes:
cmd_configure.append("--enable-math-check-indexes")

if opts.disable_ekf2:
cmd_configure.append("--disable-ekf2")
if opts.enable_ekf2:
cmd_configure.append("--enable-ekf2")

if opts.disable_ekf3:
cmd_configure.append("--disable-ekf3")
Expand Down Expand Up @@ -1299,7 +1299,7 @@ def generate_frame_help():
group_sim.add_option("--fram-storage",
action='store_true',
help="use fram storage emulation")
group_sim.add_option("--disable-ekf2",
group_sim.add_option("--enable-ekf2",
action='store_true',
help="disable EKF2 in build")
group_sim.add_option("--disable-ekf3",
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_AHRS/AP_AHRS_config.h
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Expand Up @@ -16,8 +16,8 @@
#endif

#ifndef HAL_NAVEKF2_AVAILABLE
// only default to EK2 enabled on boards with over 1M flash
#define HAL_NAVEKF2_AVAILABLE (BOARD_FLASH_SIZE>1024)
// EKF2 slated compiled out by default in 4.5, slated to be removed.
#define HAL_NAVEKF2_AVAILABLE 0
#endif

#ifndef HAL_NAVEKF3_AVAILABLE
Expand Down
4 changes: 2 additions & 2 deletions wscript
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Expand Up @@ -360,10 +360,10 @@ configuration in order to save typing.
default=False,
help='Use flash storage emulation.')

g.add_option('--disable-ekf2',
g.add_option('--enable-ekf2',
action='store_true',
default=False,
help='Configure without EKF2.')
help='Configure with EKF2.')

g.add_option('--disable-ekf3',
action='store_true',
Expand Down