ekf2: add kconfig to disable wind estimation (off by default)

src/modules/ekf2/EKF/common.h

@@ -297,14 +297,17 @@ struct parameters {
 	float accel_bias_p_noise{1.0e-2f};      ///< process noise for IMU accelerometer bias prediction (m/sec**3)
 	float mage_p_noise{1.0e-3f};            ///< process noise for earth magnetic field prediction (Gauss/sec)
 	float magb_p_noise{1.0e-4f};            ///< process noise for body magnetic field prediction (Gauss/sec)
+
+#if defined(CONFIG_EKF2_WIND)
+	const float initial_wind_uncertainty{1.0f};     ///< 1-sigma initial uncertainty in wind velocity (m/sec)
 	float wind_vel_nsd{1.0e-2f};        ///< process noise spectral density for wind velocity prediction (m/sec**2/sqrt(Hz))
 	const float wind_vel_nsd_scaler{0.5f};      ///< scaling of wind process noise with vertical velocity
+#endif // CONFIG_EKF2_WIND
 
 	// initialization errors
 	float switch_on_gyro_bias{0.1f};        ///< 1-sigma gyro bias uncertainty at switch on (rad/sec)
 	float switch_on_accel_bias{0.2f};       ///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2)
 	float initial_tilt_err{0.1f};           ///< 1-sigma tilt error after initial alignment using gravity vector (rad)
-	const float initial_wind_uncertainty{1.0f};     ///< 1-sigma initial uncertainty in wind velocity (m/sec)
 
 	// position and velocity fusion
 	float gps_vel_noise{0.5f};           ///< minimum allowed observation noise for gps velocity fusion (m/sec)