From 2065f577d6c3c8fe8de9966548bc633ec680bcc8 Mon Sep 17 00:00:00 2001
From: Dusan Zivkovic <dusan@sunflower-labs.com>
Date: Fri, 18 Jul 2025 10:32:05 +0200
Subject: [PATCH] EKF: fix compilation error when CONFIG_EKF2_TERRAIN is not
 defined

---
 src/modules/ekf2/EKF/position_fusion.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/ekf2/EKF/position_fusion.cpp b/src/modules/ekf2/EKF/position_fusion.cpp
index 45c4a380fa..cd11355578 100644
--- a/src/modules/ekf2/EKF/position_fusion.cpp
+++ b/src/modules/ekf2/EKF/position_fusion.cpp
@@ -232,6 +232,7 @@ void Ekf::updateVerticalPositionResetStatus(const float delta_z)
 	_state_reset_status.reset_count.posD++;
 }
 
+#if defined(CONFIG_EKF2_TERRAIN)
 void Ekf::updateTerrainResetStatus(const float delta_z)
 {
 	if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) {
@@ -244,6 +245,7 @@ void Ekf::updateTerrainResetStatus(const float delta_z)
 
 	_state_reset_status.reset_count.hagl++;
 }
+#endif // CONFIG_EKF2_TERRAIN
 
 void Ekf::resetHorizontalPositionToLastKnown()
 {