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ekf: enable constant position fusion during engine warm-up (#26041)

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In cold weather, fuel engines need to be warmed up. Currently, this is done by switching to stabilized mode and throttle up. The issue is that when not using GNSS data, the vehicle is not detected as "at rest" due to vibrations and cannot switch into auto/takeoff modes.

If EKF2_ENGINE_WRM is enabled, and if the vehicle is armed and landed, constant position fusion is enabled.
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Mahima Yoga 2025-12-05 15:08:37 +01:00 committed by GitHub
parent fcddea4410
commit bcd67b7bad
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3 changed files with 16 additions and 1 deletions
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8
src/modules/ekf2/EKF2.cpp
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@ -2614,11 +2614,14 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
// vehicle_status
vehicle_status_s vehicle_status;
bool armed = false;
if (_status_sub.copy(&vehicle_status)
&& (ekf2_timestamps.timestamp < vehicle_status.timestamp + 3_s)) {
// initially set in_air from arming_state (will be overridden if land detector is available)
flags.in_air = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
flags.in_air = armed;
// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
flags.is_fixed_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
@ -2644,6 +2647,9 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
flags.at_rest = vehicle_land_detected.at_rest;
flags.in_air = !vehicle_land_detected.landed;
flags.gnd_effect = vehicle_land_detected.in_ground_effect;
// Enable constant position fusion for engine warmup when landed and armed
flags.constant_pos = _param_ekf2_engine_wrm.get() && !flags.in_air && armed;
}
launch_detection_status_s launch_detection_status;

1
src/modules/ekf2/EKF2.hpp
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@ -489,6 +489,7 @@ private:
(ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max,
(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
(ParamExtFloat<px4::params::EKF2_VEL_LIM>) _param_ekf2_vel_lim,
(ParamBool<px4::params::EKF2_ENGINE_WRM>) _param_ekf2_engine_wrm,
#if defined(CONFIG_EKF2_AUXVEL)
(ParamExtFloat<px4::params::EKF2_AVEL_DELAY>)

8
src/modules/ekf2/module.yaml
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@ -183,3 +183,11 @@ parameters:
max: 299792458
unit: m/s
decimal: 1
EKF2_ENGINE_WRM:
description:
short: Enable constant position fusion during engine warmup
long: When enabled, constant position fusion is enabled when the vehicle is landed and armed.
This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.
type: boolean
default: 0