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

menuconfig EKF2_VERBOSE_STATUS
depends on MODULES_EKF2
	bool "verbose status output"
	default n
	depends on !BOARD_CONSTRAINED_MEMORY
	depends on !BOARD_CONSTRAINED_FLASH
	---help---
		ekf2 status verbose output.

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
	depends on EKF2_WIND
	---help---
		EKF2 airspeed fusion support.

menuconfig EKF2_AUX_GLOBAL_POSITION
depends on MODULES_EKF2
	bool "aux global position fusion support"
	default y
	---help---
		EKF2 auxiliary global position fusion support.

menuconfig EKF2_AUXVEL
depends on MODULES_EKF2
        bool "aux velocity fusion support"
        default y
	---help---
		EKF2 auxiliary velocity fusion support.

menuconfig EKF2_BAROMETER
depends on MODULES_EKF2
	bool "barometer support"
	default y
	---help---
		EKF2 barometer support.

menuconfig EKF2_BARO_COMPENSATION
depends on MODULES_EKF2
        bool "barometer compensation support"
        default y
	depends on EKF2_BAROMETER
	depends on EKF2_WIND
	---help---
		EKF2 pressure compensation support.

menuconfig EKF2_DRAG_FUSION
depends on MODULES_EKF2
        bool "drag fusion support"
        default y
	depends on EKF2_WIND
	---help---
		EKF2 drag fusion support.

menuconfig EKF2_EXTERNAL_VISION
depends on MODULES_EKF2
        bool "external vision (EV) fusion support"
        default y
	---help---
		EKF2 external vision (EV) fusion support.

menuconfig EKF2_GNSS
depends on MODULES_EKF2
	bool "GNSS fusion support"
	default y
	---help---
		EKF2 GNSS fusion support.

menuconfig EKF2_GNSS_YAW
depends on MODULES_EKF2
        bool "GNSS yaw fusion support"
        default y
	depends on EKF2_GNSS
	---help---
		EKF2 GNSS yaw fusion support.

menuconfig EKF2_GRAVITY_FUSION
depends on MODULES_EKF2
	bool "gravity fusion support"
	default y
	---help---
		EKF2 gravity fusion support.

menuconfig EKF2_MAGNETOMETER
depends on MODULES_EKF2
	bool "magnetometer support"
	default y
	---help---
		EKF2 magnetometer support.

menuconfig EKF2_OPTICAL_FLOW
depends on MODULES_EKF2
        bool "optical flow fusion support"
        default y
	select EKF2_TERRAIN
	---help---
		EKF2 optical flow fusion support.

menuconfig EKF2_RANGE_FINDER
depends on MODULES_EKF2
        bool "range finder fusion support"
        default y
	---help---
		EKF2 range finder fusion support.

menuconfig EKF2_SIDESLIP
depends on MODULES_EKF2
        bool "sideslip fusion support"
        default y
	depends on EKF2_WIND
	---help---
		EKF2 sideslip fusion support.

menuconfig EKF2_TERRAIN
depends on MODULES_EKF2
	bool "terrain estimator support"
	default y
	depends on EKF2_OPTICAL_FLOW || EKF2_RANGE_FINDER
	---help---
		EKF2 terrain estimator support.

menuconfig EKF2_WIND
depends on MODULES_EKF2
	bool "wind estimation support"
	default y
	---help---
		EKF2 wind estimation support.

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