menuconfig MODULES_EKF2
	bool "ekf2"
	default n
	---help---
		Enable support for ekf2

menuconfig EKF2_MULTI_INSTANCE
depends on MODULES_EKF2
        bool "multi-EKF support"
        default y
	depends on !BOARD_CONSTRAINED_MEMORY
	depends on !BOARD_CONSTRAINED_FLASH
	---help---
		EKF2 support multiple instances and selector.

menuconfig EKF2_AIRSPEED
depends on MODULES_EKF2
        bool "airspeed fusion support"
        default y
	depends on EKF2_SIDESLIP
	---help---
		EKF2 airspeed fusion support.

menuconfig EKF2_BARO_COMPENSATION
depends on MODULES_EKF2
        bool "barometer compensation support"
        default y
	---help---
		EKF2 pressure compensation support.

menuconfig EKF2_DRAG_FUSION
depends on MODULES_EKF2
        bool "drag fusion support"
        default y
	---help---
		EKF2 drag fusion support.

menuconfig EKF2_GNSS_YAW
depends on MODULES_EKF2
        bool "GNSS yaw fusion support"
        default y
	---help---
		EKF2 GNSS yaw fusion support.

menuconfig EKF2_SIDESLIP
depends on MODULES_EKF2
        bool "sideslip fusion support"
        default y
	---help---
		EKF2 sideslip fusion support.

menuconfig USER_EKF2
	bool "ekf2 running as userspace module"
	default n
	depends on BOARD_PROTECTED && MODULES_EKF2
	---help---
		Put ekf2 in userspace memory