Clean up defconfig architecture

Remove cf2p/cf2t defconfigs (should be runtime config) and convert sysid/wearable to platform-agnostic .conf overlays.

Author: gemenerik

configs/cf2p_defconfig

@@ -1,8 +1,5 @@
-CONFIG_PLATFORM_CF2=y
 CONFIG_DECK_RPM=y
 CONFIG_DECK_LOADCELL=y
 CONFIG_DECK_ACS37800=y
-CONFIG_ENABLE_THRUST_BAT_COMPENSATED=y
-CONFIG_THRUST_BAT_COMPENSATION_TYPE=1
 CONFIG_DECK_FORCE="bcRpm:bcLoadcell:bcACS37800"
 

configs/cf2t_defconfig

@@ -1,4 +1,2 @@
-CONFIG_PLATFORM_CF2=y
-
 CONFIG_ESTIMATOR_KALMAN=y
 CONFIG_ESTIMATOR_KALMAN_GENERAL_PURPOSE=y

configs/sysid_defconfig configs/sysid.confconfigs/sysid_defconfig renamed to configs/sysid.conf

@@ -91,11 +91,6 @@ $ make cf21bl_defconfig
 ```
 $ make bolt_defconfig
 ```
-#### Wearable
-Wearable is a configuration intended for a Crazyflie with a Lighthouse deck that is used as a general purpose positioning device.
-```
-$ make wearable_defconfig
-```
 
 ### Building the firmware
 Then build the firmware with:
@@ -170,7 +165,6 @@ cf2_defconfig      : Merge configuration options from `configs/cf2_defconfig` wi
 cf21bl_defconfig   : Merge configuration options from `configs/cf21bl_defconfig` with default
 tag_defconfig      : Merge configuration options from `configs/tag_defconfig` with default
 bolt_defconfig     : Merge configuration options from `configs/bolt_defconfig` with default
-wearable_defconfig : Merge configuration options from `configs/wearaböe_defconfig` with default
 allyesconfig       : Generate a `.config` with the all configuration options enabled
 allnoconfig        : Generate a `.config` with the all configuration options disabled
 randconfig         : Generate a `.config` with random valid values to all configuration options

configs/wearable_defconfig configs/wearable.confconfigs/wearable_defconfig renamed to configs/wearable.conf

@@ -24,7 +24,8 @@ Mount CF upside down (to avoid downwash)
 ### Common
 
 1. Mount CF
-1. Build firmware with configuration `make sysid_defconfig` and `make -j$(nproc)`
+1. Merge `sysid.conf` with your platform default config: `./scripts/kconfig/merge_config.sh configs/sysid.conf configs/cf2_defconfig` (or `cf21bl_defconfig`, etc.)
+1. Compile (`make -j$(nproc)`)
 1. Flash firmware by bringing the Crazyflie into flash mode and running `make cload`
 1. Run `python3 calibscale.py --uri <URI>` and follow the prompts to calibrate the load cell. This will create an output file `calibration.yaml` with the calibration data. The other scripts will read this file (other name can be specified as command line argument). After changing the battery, you don't have to do a whole new calibration. Instead, you can simply set the 0 value for the new battery. It is assumed that the slope of the calibration is the same.
 
@@ -62,7 +63,7 @@ The important parameters will be stored in `params_<COMB>.yaml`. We advise to ta
 
 #### Verification
 
-To verify the parameters, we need to add the new set of values to the firmware. In `motors.c`, we can find the arrays for the battery compensation called the same as in the yaml file (p_vmotor2thrust). After adding the new values and flashing, we run the data collection `mode = static_verification`, where the motors are again given random commands, but the thrust is battery compensated. Note: You need to set the correct compensation mode in the `sysid_defconfig`!
+To verify the parameters, we need to add the new set of values to the firmware. In `motors.c`, we can find the arrays for the battery compensation called the same as in the yaml file (p_vmotor2thrust). After adding the new values and flashing, we run the data collection `mode = static_verification`, where the motors are again given random commands, but the thrust is battery compensated.
 
 In the system_id part, we should see all values beeing on the plane in the first plot or the line in the second plot. That means the battery compensation works.