fly316/PX4-Autopilot
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fix(boards): trim unused EKF2 features on flash-constrained F4 targets (#26928)

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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)
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Jacob Dahl 2026-03-31 23:10:13 -08:00 committed by GitHub
parent 4d4d814d19
commit 61f08771a7
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GPG Key ID: B5690EEEBB952194
2 changed files with 9 additions and 0 deletions
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7
boards/diatone/mamba-f405-mk2/default.px4board
View File

@ -25,7 +25,14 @@ CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=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_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_EKF2_SIDESLIP is not set
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LAND_DETECTOR=y

2
boards/px4/fmu-v2/default.px4board
View File

@ -31,6 +31,8 @@ CONFIG_MODULES_EKF2=y
# CONFIG_EKF2_DRAG_FUSION is not set # CONFIG_EKF2_DRAG_FUSION is not set
# CONFIG_EKF2_EXTERNAL_VISION is not set # CONFIG_EKF2_EXTERNAL_VISION is not set
# CONFIG_EKF2_GNSS_YAW 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_EKF2_SIDESLIP is not set
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LAND_DETECTOR=y