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

src/modules/ekf2/EKF2.cpp

@@ -62,7 +62,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_params(_ekf.getParamHandle()),
 	_param_ekf2_predict_us(_params->filter_update_interval_us),
 	_param_ekf2_imu_ctrl(_params->imu_ctrl),
-	_param_ekf2_gps_delay(_params->gps_delay_ms),
 #if defined(CONFIG_EKF2_AUXVEL)
 	_param_ekf2_avel_delay(_params->auxvel_delay_ms),
 #endif // CONFIG_EKF2_AUXVEL
@@ -73,9 +72,27 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 #if defined(CONFIG_EKF2_WIND)
 	_param_ekf2_wind_nsd(_params->wind_vel_nsd),
 #endif // CONFIG_EKF2_WIND
+	_param_ekf2_noaid_noise(_params->pos_noaid_noise),
+#if defined(CONFIG_EKF2_GNSS)
+	_param_ekf2_gps_ctrl(_params->gnss_ctrl),
+	_param_ekf2_gps_delay(_params->gps_delay_ms),
+	_param_ekf2_gps_pos_x(_params->gps_pos_body(0)),
+	_param_ekf2_gps_pos_y(_params->gps_pos_body(1)),
+	_param_ekf2_gps_pos_z(_params->gps_pos_body(2)),
 	_param_ekf2_gps_v_noise(_params->gps_vel_noise),
 	_param_ekf2_gps_p_noise(_params->gps_pos_noise),
-	_param_ekf2_noaid_noise(_params->pos_noaid_noise),
+	_param_ekf2_gps_p_gate(_params->gps_pos_innov_gate),
+	_param_ekf2_gps_v_gate(_params->gps_vel_innov_gate),
+	_param_ekf2_gps_check(_params->gps_check_mask),
+	_param_ekf2_req_eph(_params->req_hacc),
+	_param_ekf2_req_epv(_params->req_vacc),
+	_param_ekf2_req_sacc(_params->req_sacc),
+	_param_ekf2_req_nsats(_params->req_nsats),
+	_param_ekf2_req_pdop(_params->req_pdop),
+	_param_ekf2_req_hdrift(_params->req_hdrift),
+	_param_ekf2_req_vdrift(_params->req_vdrift),
+	_param_ekf2_gsf_tas_default(_params->EKFGSF_tas_default),
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_BAROMETER)
 	_param_ekf2_baro_ctrl(_params->baro_ctrl),
 	_param_ekf2_baro_delay(_params->baro_delay_ms),
@@ -92,8 +109,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_pcoef_z(_params->static_pressure_coef_z),
 # endif // CONFIG_EKF2_BARO_COMPENSATION
 #endif // CONFIG_EKF2_BAROMETER
-	_param_ekf2_gps_p_gate(_params->gps_pos_innov_gate),
-	_param_ekf2_gps_v_gate(_params->gps_vel_innov_gate),
 #if defined(CONFIG_EKF2_AIRSPEED)
 	_param_ekf2_asp_delay(_params->airspeed_delay_ms),
 	_param_ekf2_tas_gate(_params->tas_innov_gate),
@@ -123,16 +138,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_mag_chk_inc(_params->mag_check_inclination_tolerance_deg),
 	_param_ekf2_synthetic_mag_z(_params->synthesize_mag_z),
 #endif // CONFIG_EKF2_MAGNETOMETER
-	_param_ekf2_gps_check(_params->gps_check_mask),
-	_param_ekf2_req_eph(_params->req_hacc),
-	_param_ekf2_req_epv(_params->req_vacc),
-	_param_ekf2_req_sacc(_params->req_sacc),
-	_param_ekf2_req_nsats(_params->req_nsats),
-	_param_ekf2_req_pdop(_params->req_pdop),
-	_param_ekf2_req_hdrift(_params->req_hdrift),
-	_param_ekf2_req_vdrift(_params->req_vdrift),
 	_param_ekf2_hgt_ref(_params->height_sensor_ref),
-	_param_ekf2_gps_ctrl(_params->gnss_ctrl),
 	_param_ekf2_noaid_tout(_params->valid_timeout_max),
 #if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER)
 	_param_ekf2_min_rng(_params->rng_gnd_clearance),
@@ -171,7 +177,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_ev_pos_y(_params->ev_pos_body(1)),
 	_param_ekf2_ev_pos_z(_params->ev_pos_body(2)),
 #endif // CONFIG_EKF2_EXTERNAL_VISION
-	_param_ekf2_grav_noise(_params->gravity_noise),
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	_param_ekf2_of_ctrl(_params->flow_ctrl),
 	_param_ekf2_of_delay(_params->flow_delay_ms),
@@ -187,9 +192,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_imu_pos_x(_params->imu_pos_body(0)),
 	_param_ekf2_imu_pos_y(_params->imu_pos_body(1)),
 	_param_ekf2_imu_pos_z(_params->imu_pos_body(2)),
-	_param_ekf2_gps_pos_x(_params->gps_pos_body(0)),
-	_param_ekf2_gps_pos_y(_params->gps_pos_body(1)),
-	_param_ekf2_gps_pos_z(_params->gps_pos_body(2)),
 	_param_ekf2_gbias_init(_params->switch_on_gyro_bias),
 	_param_ekf2_abias_init(_params->switch_on_accel_bias),
 	_param_ekf2_angerr_init(_params->initial_tilt_err),
@@ -205,7 +207,8 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_bcoef_y(_params->bcoef_y),
 	_param_ekf2_mcoef(_params->mcoef),
 #endif // CONFIG_EKF2_DRAG_FUSION
-	_param_ekf2_gsf_tas_default(_params->EKFGSF_tas_default)
+	_param_ekf2_grav_noise(_params->gravity_noise)
+
 {
 	// advertise expected minimal topic set immediately to ensure logging
 	_attitude_pub.advertise();
@@ -233,7 +236,9 @@ EKF2::~EKF2()
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	perf_free(_msg_missed_distance_sensor_perf);
 #endif // CONFIG_EKF2_RANGE_FINDER
+#if defined(CONFIG_EKF2_GNSS)
 	perf_free(_msg_missed_gps_perf);
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_AUXVEL)
 	perf_free(_msg_missed_landing_target_pose_perf);
 #endif // CONFIG_EKF2_AUXVEL
@@ -262,7 +267,9 @@ bool EKF2::multi_init(int imu, int mag)
 	_estimator_states_pub.advertise();
 	_estimator_status_flags_pub.advertise();
 	_estimator_status_pub.advertise();
+#if defined(CONFIG_EKF2_GNSS)
 	_yaw_est_pub.advertise();
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_BAROMETER)
 
@@ -297,6 +304,8 @@ bool EKF2::multi_init(int imu, int mag)
 
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
+#if defined(CONFIG_EKF2_GNSS)
+
 	// GNSS advertise
 	if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VPOS)) {
 		_estimator_aid_src_gnss_hgt_pub.advertise();
@@ -312,13 +321,14 @@ bool EKF2::multi_init(int imu, int mag)
 		_estimator_aid_src_gnss_vel_pub.advertise();
 	}
 
-#if defined(CONFIG_EKF2_GNSS_YAW)
+# if defined(CONFIG_EKF2_GNSS_YAW)
 
 	if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::YAW)) {
 		_estimator_aid_src_gnss_yaw_pub.advertise();
 	}
 
-#endif // CONFIG_EKF2_GNSS_YAW
+# endif // CONFIG_EKF2_GNSS_YAW
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 
@@ -395,7 +405,9 @@ int EKF2::print_status()
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	perf_print_counter(_msg_missed_distance_sensor_perf);
 #endif // CONFIG_EKF2_RANGE_FINDER
+#if defined(CONFIG_EKF2_GNSS)
 	perf_print_counter(_msg_missed_gps_perf);
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_AUXVEL)
 	perf_print_counter(_msg_missed_landing_target_pose_perf);
 #endif // CONFIG_EKF2_AUXVEL
@@ -434,7 +446,9 @@ void EKF2::Run()
 
 		VerifyParams();
 
+#if defined(CONFIG_EKF2_GNSS)
 		_ekf.set_min_required_gps_health_time(_param_ekf2_req_gps_h.get() * 1_s);
+#endif // CONFIG_EKF2_GNSS
 
 		const matrix::Vector3f imu_pos_body(_param_ekf2_imu_pos_x.get(),
 						    _param_ekf2_imu_pos_y.get(),
@@ -721,7 +735,9 @@ void EKF2::Run()
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 		UpdateFlowSample(ekf2_timestamps);
 #endif // CONFIG_EKF2_OPTICAL_FLOW
+#if defined(CONFIG_EKF2_GNSS)
 		UpdateGpsSample(ekf2_timestamps);
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 		UpdateMagSample(ekf2_timestamps);
 #endif // CONFIG_EKF2_MAGNETOMETER
@@ -739,43 +755,49 @@ void EKF2::Run()
 			PublishLocalPosition(now);
 			PublishOdometry(now, imu_sample_new);
 			PublishGlobalPosition(now);
+			PublishSensorBias(now);
 
 #if defined(CONFIG_EKF2_WIND)
 			PublishWindEstimate(now);
 #endif // CONFIG_EKF2_WIND
 
 			// publish status/logging messages
-#if defined(CONFIG_EKF2_BAROMETER)
-			PublishBaroBias(now);
-#endif // CONFIG_EKF2_BAROMETER
-			PublishGnssHgtBias(now);
-#if defined(CONFIG_EKF2_RANGE_FINDER)
-			PublishRngHgtBias(now);
-#endif // CONFIG_EKF2_RANGE_FINDER
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-			PublishEvPosBias(now);
-#endif // CONFIG_EKF2_EXTERNAL_VISION
 			PublishEventFlags(now);
-			PublishGpsStatus(now);
 			PublishInnovations(now);
 			PublishInnovationTestRatios(now);
 			PublishInnovationVariances(now);
-#if defined(CONFIG_EKF2_OPTICAL_FLOW)
-			PublishOpticalFlowVel(now);
-#endif // CONFIG_EKF2_OPTICAL_FLOW
 			PublishStates(now);
 			PublishStatus(now);
 			PublishStatusFlags(now);
+			PublishAidSourceStatus(now);
+
+#if defined(CONFIG_EKF2_BAROMETER)
+			PublishBaroBias(now);
+#endif // CONFIG_EKF2_BAROMETER
+
+#if defined(CONFIG_EKF2_RANGE_FINDER)
+			PublishRngHgtBias(now);
+#endif // CONFIG_EKF2_RANGE_FINDER
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+			PublishEvPosBias(now);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+
+#if defined(CONFIG_EKF2_GNSS)
+			PublishGnssHgtBias(now);
+			PublishGpsStatus(now);
 			PublishYawEstimatorStatus(now);
+#endif // CONFIG_EKF2_GNSS
+
+#if defined(CONFIG_EKF2_OPTICAL_FLOW)
+			PublishOpticalFlowVel(now);
+#endif // CONFIG_EKF2_OPTICAL_FLOW
 
 			UpdateAccelCalibration(now);
 			UpdateGyroCalibration(now);
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 			UpdateMagCalibration(now);
 #endif // CONFIG_EKF2_MAGNETOMETER
-			PublishSensorBias(now);
-
-			PublishAidSourceStatus(now);
 
 		} else {
 			// ekf no update
@@ -792,6 +814,8 @@ void EKF2::Run()
 
 void EKF2::VerifyParams()
 {
+#if defined(CONFIG_EKF2_GNSS)
+
 	if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS)
 	    || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS_YAW)) {
 		_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_GPS |
@@ -816,6 +840,8 @@ void EKF2::VerifyParams()
 				    "GPS lon/lat is required for altitude fusion", _param_ekf2_gps_ctrl.get());
 	}
 
+#endif // CONFIG_EKF2_GNSS
+
 #if defined(CONFIG_EKF2_BAROMETER)
 
 	if ((_param_ekf2_hgt_ref.get() == HeightSensor::BARO) && (_param_ekf2_baro_ctrl.get() == 0)) {
@@ -846,6 +872,8 @@ void EKF2::VerifyParams()
 
 #endif // CONFIG_EKF2_RANGE_FINDER
 
+#if defined(CONFIG_EKF2_GNSS)
+
 	if ((_param_ekf2_hgt_ref.get() == HeightSensor::GNSS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS)) {
 		_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() | (GnssCtrl::VPOS | GnssCtrl::HPOS | GnssCtrl::VEL));
 		_param_ekf2_gps_ctrl.commit();
@@ -857,6 +885,8 @@ void EKF2::VerifyParams()
 				    "GPS enabled by EKF2_HGT_REF", _param_ekf2_gps_ctrl.get());
 	}
 
+#endif // CONFIG_EKF2_GNSS
+
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 
 	if ((_param_ekf2_hgt_ref.get() == HeightSensor::EV)
@@ -1034,13 +1064,15 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
 	PublishAidSourceStatus(_ekf.aid_src_ev_yaw(), _status_ev_yaw_pub_last, _estimator_aid_src_ev_yaw_pub);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
+#if defined(CONFIG_EKF2_GNSS)
 	// GNSS hgt/pos/vel/yaw
 	PublishAidSourceStatus(_ekf.aid_src_gnss_hgt(), _status_gnss_hgt_pub_last, _estimator_aid_src_gnss_hgt_pub);
 	PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
 	PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
-#if defined(CONFIG_EKF2_GNSS_YAW)
+# if defined(CONFIG_EKF2_GNSS_YAW)
 	PublishAidSourceStatus(_ekf.aid_src_gnss_yaw(), _status_gnss_yaw_pub_last, _estimator_aid_src_gnss_yaw_pub);
-#endif // CONFIG_EKF2_GNSS_YAW
+# endif // CONFIG_EKF2_GNSS_YAW
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	// mag heading
@@ -1115,6 +1147,7 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 }
 #endif // CONFIG_EKF2_BAROMETER
 
+#if defined(CONFIG_EKF2_GNSS)
 void EKF2::PublishGnssHgtBias(const hrt_abstime &timestamp)
 {
 	if (_ekf.get_gps_sample_delayed().time_us != 0) {
@@ -1127,6 +1160,7 @@ void EKF2::PublishGnssHgtBias(const hrt_abstime &timestamp)
 		}
 	}
 }
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 void EKF2::PublishRngHgtBias(const hrt_abstime &timestamp)
@@ -1280,7 +1314,11 @@ void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
 		_ekf.global_origin().reproject(position(0), position(1), global_pos.lat, global_pos.lon);
 
 		global_pos.alt = -position(2) + _ekf.getEkfGlobalOriginAltitude(); // Altitude AMSL in meters
+#if defined(CONFIG_EKF2_GNSS)
 		global_pos.alt_ellipsoid = filter_altitude_ellipsoid(global_pos.alt);
+#else
+		global_pos.alt_ellipsoid = global_pos.alt;
+#endif
 
 		// delta_alt, alt_reset_counter
 		//  global altitude has opposite sign of local down position
@@ -1319,6 +1357,7 @@ void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
 	}
 }
 
+#if defined(CONFIG_EKF2_GNSS)
 void EKF2::PublishGpsStatus(const hrt_abstime &timestamp)
 {
 	const hrt_abstime timestamp_sample = _ekf.get_gps_sample_delayed().time_us;
@@ -1353,13 +1392,16 @@ void EKF2::PublishGpsStatus(const hrt_abstime &timestamp)
 
 	_last_gps_status_published = timestamp_sample;
 }
+#endif // CONFIG_EKF2_GNSS
 
 void EKF2::PublishInnovations(const hrt_abstime &timestamp)
 {
 	// publish estimator innovation data
 	estimator_innovations_s innovations{};
 	innovations.timestamp_sample = _ekf.time_delayed_us();
+#if defined(CONFIG_EKF2_GNSS)
 	_ekf.getGpsVelPosInnov(innovations.gps_hvel, innovations.gps_vvel, innovations.gps_hpos, innovations.gps_vpos);
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ekf.getEvVelPosInnov(innovations.ev_hvel, innovations.ev_vvel, innovations.ev_hpos, innovations.ev_vpos);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -1449,8 +1491,10 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime &timestamp)
 	// publish estimator innovation test ratio data
 	estimator_innovations_s test_ratios{};
 	test_ratios.timestamp_sample = _ekf.time_delayed_us();
+#if defined(CONFIG_EKF2_GNSS)
 	_ekf.getGpsVelPosInnovRatio(test_ratios.gps_hvel[0], test_ratios.gps_vvel, test_ratios.gps_hpos[0],
 				    test_ratios.gps_vpos);
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ekf.getEvVelPosInnovRatio(test_ratios.ev_hvel[0], test_ratios.ev_vvel, test_ratios.ev_hpos[0], test_ratios.ev_vpos);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -1504,7 +1548,9 @@ void EKF2::PublishInnovationVariances(const hrt_abstime &timestamp)
 	// publish estimator innovation variance data
 	estimator_innovations_s variances{};
 	variances.timestamp_sample = _ekf.time_delayed_us();
+#if defined(CONFIG_EKF2_GNSS)
 	_ekf.getGpsVelPosInnovVar(variances.gps_hvel, variances.gps_vvel, variances.gps_hpos, variances.gps_vpos);
+#endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ekf.getEvVelPosInnovVar(variances.ev_hvel, variances.ev_vvel, variances.ev_hpos, variances.ev_vpos);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -1787,9 +1833,11 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 
 	_ekf.getOutputTrackingError().copyTo(status.output_tracking_error);
 
+#if defined(CONFIG_EKF2_GNSS)
 	// only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include
 	// the GPS Fix bit, which is always checked)
 	status.gps_check_fail_flags = _ekf.gps_check_fail_status().value & (((uint16_t)_params->gps_check_mask << 1) | 1);
+#endif // CONFIG_EKF2_GNSS
 
 	status.control_mode_flags = _ekf.control_status().value;
 	status.filter_fault_flags = _ekf.fault_status().value;
@@ -1948,6 +1996,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 	}
 }
 
+#if defined(CONFIG_EKF2_GNSS)
 void EKF2::PublishYawEstimatorStatus(const hrt_abstime &timestamp)
 {
 	static_assert(sizeof(yaw_estimator_status_s::yaw) / sizeof(float) == N_MODELS_EKFGSF,
@@ -1967,6 +2016,7 @@ void EKF2::PublishYawEstimatorStatus(const hrt_abstime &timestamp)
 		_yaw_est_pub.publish(yaw_est_test_data);
 	}
 }
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_WIND)
 void EKF2::PublishWindEstimate(const hrt_abstime &timestamp)
@@ -2029,6 +2079,7 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
 }
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
+#if defined(CONFIG_EKF2_GNSS)
 float EKF2::filter_altitude_ellipsoid(float amsl_hgt)
 {
 	float height_diff = static_cast<float>(_gps_alttitude_ellipsoid) * 1e-3f - amsl_hgt;
@@ -2049,6 +2100,7 @@ float EKF2::filter_altitude_ellipsoid(float amsl_hgt)
 
 	return amsl_hgt + _wgs84_hgt_offset;
 }
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_AIRSPEED)
 void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
@@ -2412,6 +2464,7 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps)
 }
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
+#if defined(CONFIG_EKF2_GNSS)
 void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
 {
 	// EKF GPS message
@@ -2455,6 +2508,7 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
 		_gps_alttitude_ellipsoid = static_cast<int32_t>(round(vehicle_gps_position.altitude_ellipsoid_m * 1e3));
 	}
 }
+#endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)