Move GPS blending from ekf2 to sensors module

- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>

src/modules/sih/sih.cpp

@@ -229,16 +229,16 @@ void Sih::init_variables()
 
 void Sih::init_sensors()
 {
-	_vehicle_gps_pos.fix_type = 3;  // 3D fix
-	_vehicle_gps_pos.satellites_used = 8;
-	_vehicle_gps_pos.heading = NAN;
-	_vehicle_gps_pos.heading_offset = NAN;
-	_vehicle_gps_pos.s_variance_m_s = 0.5f;
-	_vehicle_gps_pos.c_variance_rad = 0.1f;
-	_vehicle_gps_pos.eph = 0.9f;
-	_vehicle_gps_pos.epv = 1.78f;
-	_vehicle_gps_pos.hdop = 0.7f;
-	_vehicle_gps_pos.vdop = 1.1f;
+	_sensor_gps.fix_type = 3;  // 3D fix
+	_sensor_gps.satellites_used = 8;
+	_sensor_gps.heading = NAN;
+	_sensor_gps.heading_offset = NAN;
+	_sensor_gps.s_variance_m_s = 0.5f;
+	_sensor_gps.c_variance_rad = 0.1f;
+	_sensor_gps.eph = 0.9f;
+	_sensor_gps.epv = 1.78f;
+	_sensor_gps.hdop = 0.7f;
+	_sensor_gps.vdop = 1.1f;
 }
 
 // read the motor signals outputted from the mixer
@@ -351,21 +351,21 @@ void Sih::send_IMU()
 
 void Sih::send_gps()
 {
-	_vehicle_gps_pos.timestamp = _now;
-	_vehicle_gps_pos.lat = (int32_t)(_gps_lat * 1e7);       // Latitude in 1E-7 degrees
-	_vehicle_gps_pos.lon = (int32_t)(_gps_lon * 1e7); // Longitude in 1E-7 degrees
-	_vehicle_gps_pos.alt = (int32_t)(_gps_alt * 1000.0f); // Altitude in 1E-3 meters above MSL, (millimetres)
-	_vehicle_gps_pos.alt_ellipsoid = (int32_t)(_gps_alt * 1000); // Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
-	_vehicle_gps_pos.vel_ned_valid = true;              // True if NED velocity is valid
-	_vehicle_gps_pos.vel_m_s = sqrtf(_gps_vel(0) * _gps_vel(0) + _gps_vel(1) * _gps_vel(
-			1)); // GPS ground speed, (metres/sec)
-	_vehicle_gps_pos.vel_n_m_s = _gps_vel(0);           // GPS North velocity, (metres/sec)
-	_vehicle_gps_pos.vel_e_m_s = _gps_vel(1);           // GPS East velocity, (metres/sec)
-	_vehicle_gps_pos.vel_d_m_s = _gps_vel(2);           // GPS Down velocity, (metres/sec)
-	_vehicle_gps_pos.cog_rad = atan2(_gps_vel(1),
-					 _gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
+	_sensor_gps.timestamp = _now;
+	_sensor_gps.lat = (int32_t)(_gps_lat * 1e7);       // Latitude in 1E-7 degrees
+	_sensor_gps.lon = (int32_t)(_gps_lon * 1e7); // Longitude in 1E-7 degrees
+	_sensor_gps.alt = (int32_t)(_gps_alt * 1000.0f); // Altitude in 1E-3 meters above MSL, (millimetres)
+	_sensor_gps.alt_ellipsoid = (int32_t)(_gps_alt * 1000); // Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
+	_sensor_gps.vel_ned_valid = true;              // True if NED velocity is valid
+	_sensor_gps.vel_m_s = sqrtf(_gps_vel(0) * _gps_vel(0) + _gps_vel(1) * _gps_vel(
+					    1)); // GPS ground speed, (metres/sec)
+	_sensor_gps.vel_n_m_s = _gps_vel(0);           // GPS North velocity, (metres/sec)
+	_sensor_gps.vel_e_m_s = _gps_vel(1);           // GPS East velocity, (metres/sec)
+	_sensor_gps.vel_d_m_s = _gps_vel(2);           // GPS Down velocity, (metres/sec)
+	_sensor_gps.cog_rad = atan2(_gps_vel(1),
+				    _gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
 
-	_vehicle_gps_pos_pub.publish(_vehicle_gps_pos);
+	_sensor_gps_pub.publish(_sensor_gps);
 }
 
 void Sih::publish_sih()

src/modules/sih/sih.hpp

@@ -50,10 +50,10 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_angular_velocity.h>   // to publish groundtruth
 #include <uORB/topics/vehicle_attitude.h>           // to publish groundtruth
 #include <uORB/topics/vehicle_global_position.h>    // to publish groundtruth
-#include <uORB/topics/vehicle_gps_position.h>
 
 extern "C" __EXPORT int sih_main(int argc, char *argv[]);
 
@@ -104,8 +104,8 @@ private:
 	PX4Barometer     _px4_baro{6620172};  // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
 
 	// to publish the gps position
-	vehicle_gps_position_s				_vehicle_gps_pos{};
-	uORB::Publication<vehicle_gps_position_s>	_vehicle_gps_pos_pub{ORB_ID(vehicle_gps_position)};
+	sensor_gps_s			_sensor_gps{};
+	uORB::Publication<sensor_gps_s>	_sensor_gps_pub{ORB_ID(sensor_gps)};
 
 	// angular velocity groundtruth
 	vehicle_angular_velocity_s			_vehicle_angular_velocity_gt{};