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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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docs/en/advanced/pps_time_sync.md
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@@ -129,5 +129,5 @@ See also:
The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
::: warning
If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `SENS_GPS0_DELAY` will be used instead for estimating the latency.
:::
docs/en/sim_sih/index.md
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@@ -296,7 +296,7 @@ For all variants of SIH:
For SIH on SITL you will need to explicitly enable these sensors as shown below.
:::
- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH).
- `param set-default SENS_GPS0_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH).
For SIH on FC: