Tools: added feature selection for CINS

ArduPilot · Sep 11, 2024 · 183357d · 183357d
1 parent 52fb663
commit 183357d
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diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
@@ -40,6 +40,7 @@ def __init__(self,
     Feature('AHRS', 'EKF3_WINDEST', 'EK3_FEATURE_DRAG_FUSION', 'Enable Wind Estimation for EKF3', 0, 'EKF3'),
     Feature('AHRS', 'EKF3_OPTFLOW', 'EK3_FEATURE_OPTFLOW_FUSION', 'Enable OpticalFlow Fusion for EKF3', 0, 'EKF3,OPTICALFLOW'),
     Feature('AHRS', 'BARO_WIND_COMP', 'HAL_BARO_WIND_COMP_ENABLED', 'Enable Baro Wind Compensation', 0, None),
+    Feature('AHRS', 'CINS', 'AP_EXTERNAL_AHRS_CINS_ENABLED', 'Enable CINS state estimator', 0, None),
 
     Feature('Safety', 'PARACHUTE', 'HAL_PARACHUTE_ENABLED', 'Enable Parachute', 0, None),
     Feature('Safety', 'FENCE', 'AP_FENCE_ENABLED', 'Enable Geofence', 2, None),

diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
@@ -72,6 +72,8 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
 
             ('HAL_NAVEKF3_AVAILABLE', 'NavEKF3::NavEKF3',),
             ('HAL_NAVEKF2_AVAILABLE', 'NavEKF2::NavEKF2',),
+            ('AP_EXTERNAL_AHRS_CINS_ENABLED', 'CINS::init',),
+
             ('HAL_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',),
             ('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_(?P<type>.*)::healthy\b',),
             ('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor_TCal::Learn::save_calibration',),