Tools: added feature selection for CINS

tridge · Oct 11, 2024 · 6f9ff1b · 6f9ff1b
1 parent fefc553
commit 6f9ff1b
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
@@ -40,10 +40,11 @@ def config_option(self):
     Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav external AHRS', 0, "AHRS_EXT"),  # noqa
     Feature('AHRS', 'InertialLabs', 'AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED', 'Enable InertialLabs external AHRS', 0, "AHRS_EXT"),  # noqa
     Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, None),
-    Feature('AHRS', 'EKF3_EXTNAV', 'EK3_FEATURE_EXTERNAL_NAV', 'Enable External navigation for EKF3', 0, 'EKF3'),
-    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', 'EKF3_EXTNAV', 'EK3_FEATURE_EXTERNAL_NAV', 'Enable External Navigation for EKF3', 0, 'EKF3'),
+    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 Geofences', 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',),