From 880dc6accda4d4a368bd33653fe8213ed50d4c0c Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 1 Nov 2020 09:45:01 -0500
Subject: [PATCH] ekf2: compile at MAX_CUSTOM_OPT_LEVEL

---
 boards/intel/aerofc-v1/default.cmake  | 1 +
 boards/nxp/fmurt1062-v1/default.cmake | 2 +-
 src/drivers/roboclaw/RoboClaw.cpp     | 2 --
 src/modules/ekf2/CMakeLists.txt       | 2 +-
 4 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
index 586653708f..3fd3652c19 100644
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
+	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		GPS1:/dev/ttyS5
 		TEL1:/dev/ttyS3
diff --git a/boards/nxp/fmurt1062-v1/default.cmake b/boards/nxp/fmurt1062-v1/default.cmake
index 95bdb8395f..f42f3b03ad 100644
--- a/boards/nxp/fmurt1062-v1/default.cmake
+++ b/boards/nxp/fmurt1062-v1/default.cmake
@@ -9,7 +9,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	LINKER_PREFIX ocram
 #	UAVCAN_INTERFACES 2
-
+	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		GPS1:/dev/ttyS1
 		TEL1:/dev/ttyS3
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index eae1504e03..c59a91e739 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -52,9 +52,7 @@
 #include <systemlib/err.h>
 #include <systemlib/mavlink_log.h>
 
-
 #include <uORB/Publication.hpp>
-#include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 
diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index c26f6727ea..56d0b143e9 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -37,7 +37,7 @@ px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
 	COMPILE_FLAGS
-	STACK_MAX 2400
+		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
 		EKF2.cpp
 		EKF2.hpp