From 183357d3883c849294869f62e7248d2159131249 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 11 Sep 2024 14:27:25 +1000 Subject: [PATCH] Tools: added feature selection for CINS --- Tools/scripts/build_options.py | 1 + Tools/scripts/extract_features.py | 2 ++ 2 files changed, 3 insertions(+) diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py index 9f5ed474634a7e..ffae4d22628ad8 100644 --- 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 index 54c13e39c92c45..dc9f6d23df3e3e 100755 --- 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.*)::healthy\b',), ('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor_TCal::Learn::save_calibration',),