Tools: add EKF3 optical flow fusion to build options

ArduPilot · Aug 30, 2024 · 4152f9e · 4152f9e
1 parent 3905837
commit 4152f9e
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diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
@@ -38,6 +38,7 @@ def __init__(self,
     Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),
     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('Safety', 'PARACHUTE', 'HAL_PARACHUTE_ENABLED', 'Enable Parachute', 0, None),

diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
@@ -212,6 +212,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('HAL_PICCOLO_CAN_ENABLE', r'AP_PiccoloCAN::update',),
             ('EK3_FEATURE_EXTERNAL_NAV', r'NavEKF3::writeExtNavVelData'),
             ('EK3_FEATURE_DRAG_FUSION', r'NavEKF3_core::FuseDragForces'),
+            ('EK3_FEATURE_OPTFLOW_FUSION', r'NavEKF3_core::FuseOptFlow'),
 
             ('AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED', r'RC_Channel::lookuptable',),
             ('AP_SCRIPTING_ENABLED', r'AP_Scripting::init',),