Add Lee Controller as option in Kconfig

[logdog]

Problem Statement

When using the make menuconfig tool, it is currently not possible to select the Lee controller as the controller, even though all other types of controllers defined in src/modules/src/controller/controller.c can be selected. It looks like the Lee controller was simply forgotten about in the Kconfig file, as there are checks to see whether CONFIG_CONTROLLER_LEE is set within the controller.c file here. The Lee Controller was added in #1343 but this PR did not modify the Kconfig file.

Solution

With this PR, one can select the Lee controller as the controller option:

Verification

After running make menuconfig and selecting the Lee controller option, the following is put into build/.config:

#
# Controllers and Estimators
#
# CONFIG_CONTROLLER_AUTO_SELECT is not set
# CONFIG_CONTROLLER_PID is not set
# CONFIG_CONTROLLER_INDI is not set
# CONFIG_CONTROLLER_MELLINGER is not set
# CONFIG_CONTROLLER_BRESCIANINI is not set
CONFIG_CONTROLLER_LEE=y
# CONFIG_CONTROLLER_OOT is not set

After make is run, the build/include/generated/autoconf.h will contain the proper preprocessor command

#define CONFIG_CONTROLLER_LEE 1

and then the Lee controller is selected in controller.c. This was also verified in the cfclient tool's Console which logs the DEBUG_PRINT statements.

CONTROLLER: Controller type forced
CONTROLLER: Using Lee (5) controller

[gemenerik]

Thank you