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ekf2: new kconfig to enable/disable GNSS (enabled by default)

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This commit is contained in:
Daniel Agar
2023-10-11 14:02:34 -04:00
committed by GitHub
parent 2d78383296
commit d2b3e7fe16
24 changed files with 476 additions and 331 deletions
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src/modules/ekf2/CMakeLists.txt
+8 -3
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@@ -124,9 +124,6 @@ list(APPEND EKF_SRCS
EKF/estimator_interface.cpp
EKF/fake_height_control.cpp
EKF/fake_pos_control.cpp
EKF/gnss_height_control.cpp
EKF/gps_checks.cpp
EKF/gps_control.cpp
EKF/gravity_fusion.cpp
EKF/height_control.cpp
EKF/imu_down_sampler.cpp
@@ -166,6 +163,14 @@ if(CONFIG_EKF2_EXTERNAL_VISION)
)
endif()
if(CONFIG_EKF2_GNSS)
list(APPEND EKF_SRCS
EKF/gnss_height_control.cpp
EKF/gps_checks.cpp
EKF/gps_control.cpp
)
endif()
if(CONFIG_EKF2_GNSS_YAW)
list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
endif()