add GPS fix type check bit to EKF2 GPS checks

src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp

@@ -81,7 +81,7 @@ bool GnssChecks::run(const gnssSample &gnss, uint64_t time_us)
 
 bool GnssChecks::runSimplifiedChecks(const gnssSample &gnss)
 {
-	_check_fail_status.flags.fix = (gnss.fix_type < 3);
+	_check_fail_status.flags.fix = (gnss.fix_type < _params.ekf2_req_fix);
 
 	// Check the reported horizontal and vertical position accuracy
 	_check_fail_status.flags.hacc = (gnss.hacc > 50.f);
@@ -95,7 +95,7 @@ bool GnssChecks::runSimplifiedChecks(const gnssSample &gnss)
 	bool passed = true;
 
 	if (
-		_check_fail_status.flags.fix ||
+		(_check_fail_status.flags.fix     && isCheckEnabled(GnssChecksMask::kFix)) ||
 		(_check_fail_status.flags.hacc    && isCheckEnabled(GnssChecksMask::kHacc)) ||
 		(_check_fail_status.flags.vacc    && isCheckEnabled(GnssChecksMask::kVacc)) ||
 		(_check_fail_status.flags.sacc    && isCheckEnabled(GnssChecksMask::kSacc)) ||
@@ -110,7 +110,7 @@ bool GnssChecks::runSimplifiedChecks(const gnssSample &gnss)
 bool GnssChecks::runInitialFixChecks(const gnssSample &gnss)
 {
 	// Check the fix type
-	_check_fail_status.flags.fix = (gnss.fix_type < 3);
+	_check_fail_status.flags.fix = (gnss.fix_type < _params.ekf2_req_fix);
 
 	// Check the number of satellites
 	_check_fail_status.flags.nsats = (gnss.nsats < _params.ekf2_req_nsats);
@@ -143,7 +143,7 @@ bool GnssChecks::runInitialFixChecks(const gnssSample &gnss)
 
 	// if any user selected checks have failed, record the fail time
 	if (
-		_check_fail_status.flags.fix ||
+		(_check_fail_status.flags.fix     && isCheckEnabled(GnssChecksMask::kFix)) ||
 		(_check_fail_status.flags.nsats   && isCheckEnabled(GnssChecksMask::kNsats)) ||
 		(_check_fail_status.flags.pdop    && isCheckEnabled(GnssChecksMask::kPdop)) ||
 		(_check_fail_status.flags.hacc    && isCheckEnabled(GnssChecksMask::kHacc)) ||

src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.hpp

@@ -45,9 +45,9 @@ class GnssChecks final
 public:
 	GnssChecks(int32_t &check_mask, int32_t &ekf2_req_nsats, float &ekf2_req_pdop, float &ekf2_req_eph, float &ekf2_req_epv,
 		   float &ekf2_req_sacc,
-		   float &ekf2_req_hdrift, float &ekf2_req_vdrift, float &ekf2_vel_lim, uint32_t &min_health_time_us,
+		   float &ekf2_req_hdrift, float &ekf2_req_vdrift, int32_t &ekf2_req_fix, float &ekf2_vel_lim, uint32_t &min_health_time_us,
 		   filter_control_status_u &control_status):
-		_params{check_mask, ekf2_req_nsats, ekf2_req_pdop, ekf2_req_eph, ekf2_req_epv, ekf2_req_sacc, ekf2_req_hdrift, ekf2_req_vdrift, ekf2_vel_lim, min_health_time_us},
+		_params{check_mask, ekf2_req_nsats, ekf2_req_pdop, ekf2_req_eph, ekf2_req_epv, ekf2_req_sacc, ekf2_req_hdrift, ekf2_req_vdrift, ekf2_req_fix, ekf2_vel_lim, min_health_time_us},
 		_control_status(control_status)
 	{};
 
@@ -108,7 +108,8 @@ private:
 		kVdrift  = (1 << 6),
 		kHspd    = (1 << 7),
 		kVspd    = (1 << 8),
-		kSpoofed = (1 << 9)
+		kSpoofed = (1 << 9),
+		kFix     = (1 << 10)
 	};
 
 	bool isCheckEnabled(GnssChecksMask check) { return (_params.check_mask & static_cast<int32_t>(check)); }
@@ -151,6 +152,7 @@ private:
 		const float &ekf2_req_sacc;
 		const float &ekf2_req_hdrift;
 		const float &ekf2_req_vdrift;
+		const int32_t &ekf2_req_fix;
 		const float &ekf2_vel_lim;
 		const uint32_t &min_health_time_us;
 	};

src/modules/ekf2/EKF/common.h

@@ -343,6 +343,7 @@ struct parameters {
 	float ekf2_req_pdop{2.0f};              ///< maximum acceptable position dilution of precision
 	float ekf2_req_hdrift{0.3f};            ///< maximum acceptable horizontal drift speed (m/s)
 	float ekf2_req_vdrift{0.5f};            ///< maximum acceptable vertical drift speed (m/s)
+	int32_t ekf2_req_fix{3};                ///< minimum acceptable GPS fix type
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	// GNSS heading fusion

src/modules/ekf2/EKF/estimator_interface.h

@@ -412,6 +412,7 @@ protected:
 			   _params.ekf2_req_sacc,
 			   _params.ekf2_req_hdrift,
 			   _params.ekf2_req_vdrift,
+			   _params.ekf2_req_fix,
 			   _params.ekf2_vel_lim,
 			   _min_gps_health_time_us,
 			   _control_status};

src/modules/ekf2/EKF2.cpp

@@ -96,6 +96,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_req_pdop(_params->ekf2_req_pdop),
 	_param_ekf2_req_hdrift(_params->ekf2_req_hdrift),
 	_param_ekf2_req_vdrift(_params->ekf2_req_vdrift),
+	_param_ekf2_req_fix(_params->ekf2_req_fix),
 	_param_ekf2_gsf_tas(_params->ekf2_gsf_tas),
 #endif // CONFIG_EKF2_GNSS
 #if defined(CONFIG_EKF2_BAROMETER)

src/modules/ekf2/EKF2.hpp

@@ -533,6 +533,7 @@ private:
 		(ParamExtFloat<px4::params::EKF2_REQ_PDOP>)   _param_ekf2_req_pdop,
 		(ParamExtFloat<px4::params::EKF2_REQ_HDRIFT>) _param_ekf2_req_hdrift,
 		(ParamExtFloat<px4::params::EKF2_REQ_VDRIFT>) _param_ekf2_req_vdrift,
+		(ParamExtInt<px4::params::EKF2_REQ_FIX>)      _param_ekf2_req_fix,
 		(ParamFloat<px4::params::EKF2_REQ_GPS_H>)     _param_ekf2_req_gps_h,
 
 		// Used by EKF-GSF experimental yaw estimator

src/modules/ekf2/params_gnss.yaml

@@ -115,9 +115,10 @@ parameters:
         7: Horizontal speed offset (EKF2_REQ_HDRIFT)
         8: Vertical speed offset (EKF2_REQ_VDRIFT)
         9: Spoofing
-      default: 1023
+        10: GPS fix type (EKF2_REQ_FIX)
+      default: 2047
       min: 0
-      max: 1023
+      max: 2047
     EKF2_REQ_EPH:
       description:
         short: Required EPH to use GPS
@@ -178,6 +179,14 @@ parameters:
       max: 1.5
       decimal: 2
       unit: m/s
+    EKF2_REQ_FIX:
+      description:
+        short: Required minimum GPS fix type to use GPS
+        long: Minimum GPS fix type required for GPS usage. 0-1 - no fix, 2 - 2D fix, 3 - 3D fix, 4 - RTCM code differential, 5 - Real-Time Kinematic, float, 6 - Real-Time Kinematic, fixed, 8 - Extrapolated.
+      type: int32
+      default: 3
+      min: 0
+      max: 8
     EKF2_REQ_GPS_H:
       description:
         short: Required GPS health time on startup