From 61f08771a728ab1bc59531503e159ca466c89807 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Tue, 31 Mar 2026 23:10:13 -0800
Subject: [PATCH] fix(boards): trim unused EKF2 features on flash-constrained
 F4 targets (#26928)

Disable EKF2 fusion features with no corresponding hardware:
- px4_fmu-v2: optical flow, range finder (~17 KB saved)
- mamba-f405-mk2: optical flow, range finder, external vision,
  aux global position, aux velocity, baro compensation,
  drag fusion (~42 KB saved)
---
 boards/diatone/mamba-f405-mk2/default.px4board | 7 +++++++
 boards/px4/fmu-v2/default.px4board             | 2 ++
 2 files changed, 9 insertions(+)

diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board
index 3c7bf40a1a..31a28bc583 100644
--- a/boards/diatone/mamba-f405-mk2/default.px4board
+++ b/boards/diatone/mamba-f405-mk2/default.px4board
@@ -25,7 +25,14 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
diff --git a/boards/px4/fmu-v2/default.px4board b/boards/px4/fmu-v2/default.px4board
index c5255743df..3eebc94338 100644
--- a/boards/px4/fmu-v2/default.px4board
+++ b/boards/px4/fmu-v2/default.px4board
@@ -31,6 +31,8 @@ CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_DRAG_FUSION is not set
 # CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y