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ekf2: add kconfig for magnetometer support (enabled by default)

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This commit is contained in:
Daniel Agar
2023-09-15 10:02:09 -04:00
parent d1266c856f
commit 845b01a00d
16 changed files with 404 additions and 232 deletions
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src/modules/ekf2/CMakeLists.txt
+10 -4
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@@ -84,12 +84,9 @@ list(APPEND EKF_SRCS
EKF/gravity_fusion.cpp
EKF/height_control.cpp
EKF/imu_down_sampler.cpp
EKF/mag_3d_control.cpp
EKF/mag_control.cpp
EKF/mag_fusion.cpp
EKF/mag_heading_control.cpp
EKF/output_predictor.cpp
EKF/vel_pos_fusion.cpp
EKF/yaw_fusion.cpp
EKF/zero_innovation_heading_update.cpp
EKF/zero_gyro_update.cpp
EKF/zero_velocity_update.cpp
@@ -121,6 +118,15 @@ if(CONFIG_EKF2_GNSS_YAW)
list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
endif()
if(CONFIG_EKF2_MAGNETOMETER)
list(APPEND EKF_SRCS
EKF/mag_3d_control.cpp
EKF/mag_control.cpp
EKF/mag_fusion.cpp
EKF/mag_heading_control.cpp
)
endif()
if(CONFIG_EKF2_OPTICAL_FLOW)
list(APPEND EKF_SRCS
EKF/optical_flow_control.cpp