Filter: enable 4 filters on low-flash boards

tridge · Dec 1, 2024 · 6c0e20c · 6c0e20c
1 parent 96a1a02
commit 6c0e20c
Showing 1 changed file with 11 additions and 9 deletions.
diff --git a/libraries/Filter/AP_Filter_config.h b/libraries/Filter/AP_Filter_config.h
@@ -2,14 +2,16 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 
-#ifndef AP_FILTER_NUM_FILTERS
-#if BOARD_FLASH_SIZE > 1024
-#define AP_FILTER_NUM_FILTERS 8
-#else
-#define AP_FILTER_NUM_FILTERS 0
-#endif
-#endif
-
 #ifndef AP_FILTER_ENABLED
-#define AP_FILTER_ENABLED AP_FILTER_NUM_FILTERS > 0
+#define AP_FILTER_ENABLED BOARD_FLASH_SIZE > 1024
 #endif
+
+#if AP_FILTER_ENABLED
+ #ifndef AP_FILTER_NUM_FILTERS
+ #if BOARD_FLASH_SIZE > 1024
+  #define AP_FILTER_NUM_FILTERS 8
+ #else
+  #define AP_FILTER_NUM_FILTERS 4
+ #endif // BOARD_FLASH_SIZE
+ #endif // AP_FILTER_NUM_FILTERS
+#endif // AP_FILTER_ENABLED