* removing logic from driver to send warnings when state-change to spoofing is detected, handled in estimatorChecks
* also remove jamming warnings from drivers, those are handled in the estimator checks as well
Within the first 2min of a flight, check if the integrated GNSS vertical velocity and the baro
measurements disagree with the reported GNSS altitude, and in that case update the
set home position altitude to cancel out GNSS altitude drift.
* prevent re-init when reaching negative altitudes
* only allow correction during the first 120 second after takeoff
* add dependency to COM_HOME_EN parameter. reset vel-integral for multiple takeoffs
* apply offset to baro sensors based on gnss measurements when gnss is selected as hgt-ref
* always calibrate baro with gnss if new param SENS_BAR_AUTOCAL is set accordingly
* always do baro-gnss calibration when AUTOCALIB is set, but ensure epv is small enough and gnss data is consistent with baro
* avoid update and reset in the same step
* minor change of constexpr usage
* add optical flow arming check
* removed deprecated mavlink_log_critical
* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.
* restructure if/else blocks
* remove temp field from airspeed.msg, adjust temp selection
* temp-sensor hirarchy: airspeed, ext. baro, default value
* directly use diff-press or baro temp in true-airspeed calc
* improve clarity
* add enum for temperature source in VehicleAirData.msg
* fix max-hagl restriction to position/altitude control
* max hagl vel restriction in ManAcc position mode
* use interpolate func, change naming
* simplyfied vertical vel limitation
* move velocity-constraint adjustment to StickAccelXY
* estimator gps check fail flag for spoofing
* warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion
* dont introduce more GPS namings, GNSS instead
* flash: exclude mantis for cuav_x7pro
* reset position by fusion
* handle local_pos_valid for fixed wing in gnss denied
* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding
* global origin, also reset vertical pos without gps as ref
* fix wo gnss, that bitcraze ci passes
* revert some changes as requested
* remove duplicate reset messages
* undo unrelated whitespace changes, I'll fix it everywhere in a followup
* [SQUASH] ekf2: add vehicle_command_ack
* resetGlobalPosToExternalObservation consolidate logic
* remove gnss check from local_pos validation check
* reset when 0<accuracy<1, otherwise fuse
* replace gps param with flag
* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected
* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash
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Co-authored-by: Daniel Agar <daniel@agar.ca>
Marco Hauswirth