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ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)

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Daniel Agar
2023-03-21 11:25:34 -04:00
parent 0784901a66
commit 32a5bd32ad
17 changed files with 343 additions and 173 deletions
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src/modules/ekf2/CMakeLists.txt
+9 -4
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@@ -87,10 +87,6 @@ list(APPEND EKF_SRCS
EKF/mag_control.cpp
EKF/mag_fusion.cpp
EKF/output_predictor.cpp
EKF/range_finder_consistency_check.cpp
EKF/range_height_control.cpp
EKF/sensor_range_finder.cpp
EKF/terrain_estimator.cpp
EKF/vel_pos_fusion.cpp
EKF/zero_innovation_heading_update.cpp
EKF/zero_velocity_update.cpp
@@ -129,6 +125,15 @@ if(CONFIG_EKF2_OPTICAL_FLOW)
)
endif()
if(CONFIG_EKF2_RANGE_FINDER)
list(APPEND EKF_SRCS
EKF/range_finder_consistency_check.cpp
EKF/range_height_control.cpp
EKF/sensor_range_finder.cpp
EKF/terrain_estimator.cpp
)
endif()
if(CONFIG_EKF2_SIDESLIP)
list(APPEND EKF_SRCS EKF/sideslip_fusion.cpp)
endif()