From eb666e94a44a3863e8f079adb9ad9ffba90dfc71 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 25 Mar 2022 11:57:35 -0400
Subject: [PATCH] bords: omnibus_f4sd move ekf2 from default to new ekf2 board
 variant

 - temporary solution to flash overflow
---
 boards/omnibus/f4sd/default.px4board | 2 --
 boards/omnibus/f4sd/ekf2.px4board    | 2 ++
 2 files changed, 2 insertions(+), 2 deletions(-)
 create mode 100644 boards/omnibus/f4sd/ekf2.px4board

diff --git a/boards/omnibus/f4sd/default.px4board b/boards/omnibus/f4sd/default.px4board
index f02c81ecc8..942328ce95 100644
--- a/boards/omnibus/f4sd/default.px4board
+++ b/boards/omnibus/f4sd/default.px4board
@@ -21,7 +21,6 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -33,7 +32,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
diff --git a/boards/omnibus/f4sd/ekf2.px4board b/boards/omnibus/f4sd/ekf2.px4board
new file mode 100644
index 0000000000..e2b373871a
--- /dev/null
+++ b/boards/omnibus/f4sd/ekf2.px4board
@@ -0,0 +1,2 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_EKF2=y