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feat(sensors/gps): add per-receiver GPS delay parameters (#26660)

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* sensors: add per-receiver GPS delay parameters

Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the
same device-ID matching pattern used for antenna offsets. Each receiver
can now have its own measurement delay relative to the IMU.

The delay is applied to timestamp_sample before blending. When PPS time
correction is active it takes priority over the parameter-based delay.
When a GPS driver already provides its own timestamp_sample the
per-receiver delay is not applied on top of it.

* fix(ekf2): remove EKF2_GPS_DELAY and perform param transation

* fix(param_translation): fix GPS param migration return values

Add missing return for EKF2_GPS_POS_Z and remove incorrect return for
EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED).

* fix(sensors,ekf2): rename pps_compensation and clarify delay default

* fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing

* fix(docs): migrate EKF2_GPS_DELAY param
This commit is contained in:
Jacob Dahl
2026-03-17 18:19:08 -08:00
committed by GitHub
parent 533b2d677c
commit 4b2e0a6f59
22 changed files with 98 additions and 56 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+2 -1
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@@ -34,6 +34,7 @@ param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default EKF2_GPS_DELAY 0
param set-default SENS_GPS0_DELAY 0
param set-default SENS_GPS1_DELAY 0
param set SIH_VEHICLE_TYPE 0
ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+2 -1
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@@ -44,7 +44,8 @@ param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 203
param set-default PWM_MAIN_FUNC4 101
param set-default EKF2_GPS_DELAY 0
param set-default SENS_GPS0_DELAY 0
param set-default SENS_GPS1_DELAY 0
# Rate controllers
param set-default FW_RR_P 0.0500
ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+2 -1
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@@ -11,7 +11,8 @@
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
param set-default EKF2_GPS_DELAY 0
param set-default SENS_GPS0_DELAY 0
param set-default SENS_GPS1_DELAY 0
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
param set-default SENS_EN_GPSSIM 1
ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
+2 -1
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@@ -27,7 +27,8 @@ param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default EKF2_GPS_DELAY 0
param set-default SENS_GPS0_DELAY 0
param set-default SENS_GPS1_DELAY 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex
+2 -1
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@@ -44,4 +44,5 @@ param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default EKF2_GPS_DELAY 0
param set-default SENS_GPS0_DELAY 0
param set-default SENS_GPS1_DELAY 0
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim
+2 -1
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@@ -2,7 +2,8 @@
# shellcheck disable=SC2154
# EKF2 specifics
param set-default EKF2_GPS_DELAY 10
param set-default SENS_GPS0_DELAY 10
param set-default SENS_GPS1_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0