Add boiler plate for mode register

ModeRegister

WIP do register mode

Mode registration

Add mode register

Mode reigster

Add exit

Internal mode

Tools/ecl_ekf/plotting/pdf_report.py

@@ -223,7 +223,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
-        # plot innovation_check_flags summary
+        # plot innovation flags summary
         data_plot = CheckFlagsPlot(
             status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                                'reject_hagl'],

boards/cuav/nora/default.px4board

@@ -39,7 +39,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -58,7 +57,6 @@ CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -70,7 +68,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -98,4 +95,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y

boards/px4/fmu-v5x/test.px4board

@@ -6,6 +6,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_PAYLOAD_DELIVERER=n

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -154,7 +154,6 @@
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
-*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
 *(.text._ZN12PX4Gyroscope9set_scaleEf)
 *(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
 *(.text._ZN18MavlinkStreamDebug4sendEv)

boards/px4/sitl/default.px4board

@@ -40,6 +40,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MODE_REGISTER=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y

msg/EstimatorStatus.msg

@@ -69,27 +69,14 @@ uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 
 float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
 float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
-uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
-# 0 - true if velocity observations have been rejected
-# 1 - true if horizontal position observations have been rejected
-# 2 - true if true if vertical position observations have been rejected
-# 3 - true if the X magnetometer observation has been rejected
-# 4 - true if the Y magnetometer observation has been rejected
-# 5 - true if the Z magnetometer observation has been rejected
-# 6 - true if the yaw observation has been rejected
-# 7 - true if the airspeed observation has been rejected
-# 8 - true if the synthetic sideslip observation has been rejected
-# 9 - true if the height above ground observation has been rejected
-# 10 - true if the X optical flow observation has been rejected
-# 11 - true if the Y optical flow observation has been rejected
 
-float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
-float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
-float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
-float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
-float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
-float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
-float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
+float32 mag_test_ratio # low-pass filtered ratio of the largest magnetometer innovation component to the innovation test limit
+float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
+float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
+float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit
+float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit
+float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit
+float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit
 
 uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
 # 0 - True if the attitude estimate is good

platforms/common/Serial.cpp

@@ -74,9 +74,9 @@ ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
 	return _impl.read(buffer, buffer_size);
 }
 
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
+ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
 {
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
+	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_ms);
 }
 
 ssize_t Serial::write(const void *buffer, size_t buffer_size)

platforms/common/include/px4_platform_common/Serial.hpp

@@ -62,7 +62,7 @@ public:
 	bool close();
 
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
+	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_ms = 0);
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -251,7 +251,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -264,6 +264,7 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
+	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -244,7 +244,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -257,6 +257,7 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
+	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {

platforms/qurt/src/px4/SerialImpl.cpp

@@ -173,7 +173,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret_read;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -186,6 +186,7 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
+	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while (total_bytes_read < (int) character_count) {

src/lib/mathlib/math/Functions.hpp

@@ -290,6 +290,11 @@ inline bool isFinite(const float &value)
 	return PX4_ISFINITE(value);
 }
 
+inline bool isFinite(const matrix::Vector2f &value)
+{
+	return value.isAllFinite();
+}
+
 inline bool isFinite(const matrix::Vector3f &value)
 {
 	return value.isAllFinite();

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp

@@ -151,6 +151,8 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 #if defined(MODULE_NAME)
 		aid_src.timestamp = hrt_absolute_time();
 		_estimator_aid_src_aux_global_position_pub.publish(aid_src);
+
+		_test_ratio_filtered = math::max(fabsf(aid_src.test_ratio_filtered[0]), fabsf(aid_src.test_ratio_filtered[1]));
 #endif // MODULE_NAME
 
 	} else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp

@@ -74,6 +74,8 @@ public:
 		updateParams();
 	}
 
+	float test_ratio_filtered() const { return _test_ratio_filtered; }
+
 private:
 	bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t time_delayed_us, uint64_t timeout_period) const
 	{
@@ -106,6 +108,8 @@ private:
 
 	State _state{State::stopped};
 
+	float _test_ratio_filtered{INFINITY};
+
 #if defined(MODULE_NAME)
 	struct reset_counters_s {
 		uint8_t lat_lon{};

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -245,6 +245,7 @@ void Ekf::controlMagFusion()
 
 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
+						resetAidSourceStatusZeroInnovation(aid_src);
 					}
 
 					_control_status.flags.mag = true;

src/modules/ekf2/EKF/ekf.h

@@ -383,13 +383,17 @@ public:
 		*counter = _state_reset_status.reset_count.quat;
 	}
 
-	// get EKF innovation consistency check status information comprising of:
-	// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
-	// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
-	// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
-	// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
-	void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
-					float &hagl, float &beta) const;
+	float getHeadingInnovationTestRatio() const;
+
+	float getVelocityInnovationTestRatio() const;
+
+	float getHorizontalPositionInnovationTestRatio() const;
+	float getVerticalPositionInnovationTestRatio() const;
+
+	float getAirspeedInnovationTestRatio() const;
+	float getSyntheticSideslipInnovationTestRatio() const;
+
+	float getHeightAboveGroundInnovationTestRatio() const;
 
 	// return a bitmask integer that describes which state estimates are valid
 	void get_ekf_soln_status(uint16_t *status) const;

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -301,131 +301,196 @@ void Ekf::resetAccelBias()
 	resetAccelBiasCov();
 }
 
-void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
-				     float &hagl, float &beta) const
+float Ekf::getHeadingInnovationTestRatio() const
 {
-	// return the integer bitmask containing the consistency check pass/fail status
-	status = _innov_check_fail_status.value;
-
-	// return the largest magnetometer innovation test ratio
-	mag = 0.f;
+	// return the largest heading innovation test ratio
+	float test_ratio = 0.f;
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	if (_control_status.flags.mag_hdg ||_control_status.flags.mag_3D) {
-		mag = math::max(mag, sqrtf(Vector3f(_aid_src_mag.test_ratio).max()));
+		for (auto &test_ratio_filtered : _aid_src_mag.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 	if (_control_status.flags.gps_yaw) {
-		mag = math::max(mag, sqrtf(_aid_src_gnss_yaw.test_ratio));
+		test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_yaw.test_ratio_filtered));
 	}
 #endif // CONFIG_EKF2_GNSS_YAW
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_yaw) {
-		mag = math::max(mag, sqrtf(_aid_src_ev_yaw.test_ratio));
+		test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_yaw.test_ratio_filtered));
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
-	// return the largest velocity and position innovation test ratio
-	vel = NAN;
-	pos = NAN;
+	return sqrtf(test_ratio);
+}
+
+float Ekf::getVelocityInnovationTestRatio() const
+{
+	// return the largest velocity innovation test ratio
+	float test_ratio = -1.f;
 
 #if defined(CONFIG_EKF2_GNSS)
 	if (_control_status.flags.gps) {
-		float gps_vel = sqrtf(Vector3f(_aid_src_gnss_vel.test_ratio).max());
-		vel = math::max(gps_vel, FLT_MIN);
-
-		float gps_pos = sqrtf(Vector2f(_aid_src_gnss_pos.test_ratio).max());
-		pos = math::max(gps_pos, FLT_MIN);
+		for (int i = 0; i < 3; i++) {
+			test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_vel.test_ratio_filtered[i]));
+		}
 	}
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_vel) {
-		float ev_vel = sqrtf(Vector3f(_aid_src_ev_vel.test_ratio).max());
-		vel = math::max(vel, ev_vel, FLT_MIN);
-	}
-
-	if (_control_status.flags.ev_pos) {
-		float ev_pos = sqrtf(Vector2f(_aid_src_ev_pos.test_ratio).max());
-		pos = math::max(pos, ev_pos, FLT_MIN);
+		for (int i = 0; i < 3; i++) {
+			test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_vel.test_ratio_filtered[i]));
+		}
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	if (isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)) {
-		float of_vel = sqrtf(Vector2f(_aid_src_optical_flow.test_ratio).max());
-		vel = math::max(of_vel, FLT_MIN);
+		for (auto &test_ratio_filtered : _aid_src_optical_flow.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
 	}
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
+	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
+		return sqrtf(test_ratio);
+	}
+
+	return NAN;
+}
+
+float Ekf::getHorizontalPositionInnovationTestRatio() const
+{
+	// return the largest position innovation test ratio
+	float test_ratio = -1.f;
+
+#if defined(CONFIG_EKF2_GNSS)
+	if (_control_status.flags.gps) {
+		for (auto &test_ratio_filtered : _aid_src_gnss_pos.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
+	}
+#endif // CONFIG_EKF2_GNSS
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	if (_control_status.flags.ev_pos) {
+		for (auto &test_ratio_filtered : _aid_src_ev_pos.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
+	}
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+
+#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
+	if (_control_status.flags.aux_gpos) {
+		test_ratio = math::max(test_ratio, fabsf(_aux_global_position.test_ratio_filtered()));
+	}
+#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
+
+	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
+		return sqrtf(test_ratio);
+	}
+
+	return NAN;
+}
+
+float Ekf::getVerticalPositionInnovationTestRatio() const
+{
 	// return the combined vertical position innovation test ratio
 	float hgt_sum = 0.f;
 	int n_hgt_sources = 0;
 
 #if defined(CONFIG_EKF2_BAROMETER)
 	if (_control_status.flags.baro_hgt) {
-		hgt_sum += sqrtf(_aid_src_baro_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_baro_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_GNSS)
 	if (_control_status.flags.gps_hgt) {
-		hgt_sum += sqrtf(_aid_src_gnss_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_gnss_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_control_status.flags.rng_hgt) {
-		hgt_sum += sqrtf(_aid_src_rng_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_rng_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_hgt) {
-		hgt_sum += sqrtf(_aid_src_ev_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_ev_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 	if (n_hgt_sources > 0) {
-		hgt = math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
-
-	} else {
-		hgt = NAN;
+		return math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
 	}
 
+	return NAN;
+}
+
+float Ekf::getAirspeedInnovationTestRatio() const
+{
 #if defined(CONFIG_EKF2_AIRSPEED)
-	// return the airspeed fusion innovation test ratio
-	tas = sqrtf(_aid_src_airspeed.test_ratio);
+	if (_control_status.flags.fuse_aspd) {
+		// return the airspeed fusion innovation test ratio
+		return sqrtf(fabsf(_aid_src_airspeed.test_ratio_filtered));
+	}
 #endif // CONFIG_EKF2_AIRSPEED
 
-	hagl = NAN;
+	return NAN;
+}
+
+float Ekf::getSyntheticSideslipInnovationTestRatio() const
+{
+#if defined(CONFIG_EKF2_SIDESLIP)
+	if (_control_status.flags.fuse_beta) {
+		// return the synthetic sideslip innovation test ratio
+		return sqrtf(fabsf(_aid_src_sideslip.test_ratio_filtered));
+	}
+#endif // CONFIG_EKF2_SIDESLIP
+
+	return NAN;
+}
+
+float Ekf::getHeightAboveGroundInnovationTestRatio() const
+{
+	float test_ratio = -1.f;
+
 #if defined(CONFIG_EKF2_TERRAIN)
 # if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_hagl_sensor_status.flags.range_finder) {
 		// return the terrain height innovation test ratio
-		hagl = sqrtf(_aid_src_terrain_range_finder.test_ratio);
+		test_ratio = math::max(test_ratio, fabsf(_aid_src_terrain_range_finder.test_ratio_filtered));
 	}
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 # if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	if (_hagl_sensor_status.flags.flow) {
 		// return the terrain height innovation test ratio
-		hagl = sqrtf(math::max(_aid_src_terrain_optical_flow.test_ratio[0], _aid_src_terrain_optical_flow.test_ratio[1]));
+		for (auto &test_ratio_filtered : _aid_src_terrain_optical_flow.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
 	}
 # endif // CONFIG_EKF2_OPTICAL_FLOW
 #endif // CONFIG_EKF2_TERRAIN
 
-#if defined(CONFIG_EKF2_SIDESLIP)
-	// return the synthetic sideslip innovation test ratio
-	beta = sqrtf(_aid_src_sideslip.test_ratio);
-#endif // CONFIG_EKF2_SIDESLIP
+	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
+		return sqrtf(test_ratio);
+	}
+
+	return NAN;
 }
 
 void Ekf::get_ekf_soln_status(uint16_t *status) const

src/modules/ekf2/EKF2.cpp

@@ -1802,15 +1802,13 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.control_mode_flags = _ekf.control_status().value;
 	status.filter_fault_flags = _ekf.fault_status().value;
 
-	uint16_t innov_check_flags_temp = 0;
-	_ekf.get_innovation_test_status(innov_check_flags_temp, status.mag_test_ratio,
-					status.vel_test_ratio, status.pos_test_ratio,
-					status.hgt_test_ratio, status.tas_test_ratio,
-					status.hagl_test_ratio, status.beta_test_ratio);
-
-	// Bit mismatch between ecl and Firmware, combine the 2 first bits to preserve msg definition
-	// TODO: legacy use only, those flags are also in estimator_status_flags
-	status.innovation_check_flags = (innov_check_flags_temp >> 1) | (innov_check_flags_temp & 0x1);
+	status.mag_test_ratio = _ekf.getHeadingInnovationTestRatio();
+	status.vel_test_ratio = _ekf.getVelocityInnovationTestRatio();
+	status.pos_test_ratio = _ekf.getHorizontalPositionInnovationTestRatio();
+	status.hgt_test_ratio = _ekf.getVerticalPositionInnovationTestRatio();
+	status.tas_test_ratio = _ekf.getAirspeedInnovationTestRatio();
+	status.hagl_test_ratio = _ekf.getHeightAboveGroundInnovationTestRatio();
+	status.beta_test_ratio = _ekf.getSyntheticSideslipInnovationTestRatio();
 
 	_ekf.get_ekf_lpos_accuracy(&status.pos_horiz_accuracy, &status.pos_vert_accuracy);
 	_ekf.get_ekf_soln_status(&status.solution_status_flags);

src/modules/gimbal/input_mavlink.cpp

@@ -518,7 +518,7 @@ InputMavlinkGimbalV2::update(unsigned int timeout_ms, ControlData &control_data,
 	// We can't return early instead because we need to copy all topics that triggered poll.
 
 	bool exit_loop = false;
-	UpdateResult update_result = already_active ? UpdateResult::UpdatedActive : UpdateResult::NoUpdate;
+	UpdateResult update_result = UpdateResult::NoUpdate;
 
 	while (!exit_loop && poll_timeout >= 0) {
 

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -309,8 +309,7 @@ private:
 
 		if (_estimator_status_sub.update(&estimator_status)) {
 			if (estimator_status.gps_check_fail_flags > 0 ||
-			    estimator_status.filter_fault_flags > 0 ||
-			    estimator_status.innovation_check_flags > 0) {
+			    estimator_status.filter_fault_flags > 0) {
 
 				msg->failure_flags |= HL_FAILURE_FLAG_ESTIMATOR;
 			}

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -42,14 +42,11 @@
 using namespace matrix;
 
 MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
-	SuperBlock(nullptr, "MPC"),
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
-	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
-	_vel_x_deriv(this, "VELD"),
-	_vel_y_deriv(this, "VELD"),
-	_vel_z_deriv(this, "VELD")
+	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint))
 {
+	_sample_interval_s.update(0.01f); // 100 Hz default
 	parameters_update(true);
 	_tilt_limit_slew_rate.setSlewRate(.2f);
 	_takeoff_status_pub.advertise();
@@ -83,7 +80,42 @@ void MulticopterPositionControl::parameters_update(bool force)
 
 		// update parameters from storage
 		ModuleParams::updateParams();
-		SuperBlock::updateParams();
+
+		float sample_freq_hz = 1.f / _sample_interval_s.mean();
+
+		// velocity notch filter
+		if ((_param_mpc_vel_nf_frq.get() > 0.f) && (_param_mpc_vel_nf_bw.get() > 0.f)) {
+			_vel_xy_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get());
+			_vel_z_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get());
+
+		} else {
+			_vel_xy_notch_filter.disable();
+			_vel_z_notch_filter.disable();
+		}
+
+		// velocity xy/z low pass filter
+		if (_param_mpc_vel_lp.get() > 0.f) {
+			_vel_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
+			_vel_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
+
+		} else {
+			// disable filtering
+			_vel_xy_lp_filter.setAlpha(1.f);
+			_vel_z_lp_filter.setAlpha(1.f);
+		}
+
+		// velocity derivative xy/z low pass filter
+		if (_param_mpc_veld_lp.get() > 0.f) {
+			_vel_deriv_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
+			_vel_deriv_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
+
+		} else {
+			// disable filtering
+			_vel_deriv_xy_lp_filter.setAlpha(1.f);
+			_vel_deriv_z_lp_filter.setAlpha(1.f);
+		}
+
+
 
 		int num_changed = 0;
 
@@ -276,7 +308,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 }
 
 PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehicle_local_position_s
-		&vehicle_local_position)
+		&vehicle_local_position, const float dt_s)
 {
 	PositionControlStates states;
 
@@ -300,29 +332,42 @@ PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehic
 	const Vector2f velocity_xy(vehicle_local_position.vx, vehicle_local_position.vy);
 
 	if (vehicle_local_position.v_xy_valid && velocity_xy.isAllFinite()) {
-		states.velocity.xy() = velocity_xy;
-		states.acceleration(0) = _vel_x_deriv.update(velocity_xy(0));
-		states.acceleration(1) = _vel_y_deriv.update(velocity_xy(1));
+		const Vector2f vel_xy_prev = _vel_xy_lp_filter.getState();
+
+		// vel xy notch filter, then low pass filter
+		states.velocity.xy() = _vel_xy_lp_filter.update(_vel_xy_notch_filter.apply(velocity_xy));
+
+		// vel xy derivative low pass filter
+		states.acceleration.xy() = _vel_deriv_xy_lp_filter.update((_vel_xy_lp_filter.getState() - vel_xy_prev) / dt_s);
 
 	} else {
 		states.velocity(0) = states.velocity(1) = NAN;
 		states.acceleration(0) = states.acceleration(1) = NAN;
 
-		// reset derivatives to prevent acceleration spikes when regaining velocity
-		_vel_x_deriv.reset();
-		_vel_y_deriv.reset();
+		// reset filters to prevent acceleration spikes when regaining velocity
+		_vel_xy_lp_filter.reset({});
+		_vel_xy_notch_filter.reset();
+		_vel_deriv_xy_lp_filter.reset({});
 	}
 
 	if (PX4_ISFINITE(vehicle_local_position.vz) && vehicle_local_position.v_z_valid) {
-		states.velocity(2) = vehicle_local_position.vz;
-		states.acceleration(2) = _vel_z_deriv.update(states.velocity(2));
+
+		const float vel_z_prev = _vel_z_lp_filter.getState();
+
+		// vel z notch filter, then low pass filter
+		states.velocity(2) = _vel_z_lp_filter.update(_vel_z_notch_filter.apply(vehicle_local_position.vz));
+
+		// vel z derivative low pass filter
+		states.acceleration(2) = _vel_deriv_z_lp_filter.update((_vel_z_lp_filter.getState() - vel_z_prev) / dt_s);
 
 	} else {
 		states.velocity(2) = NAN;
 		states.acceleration(2) = NAN;
 
-		// reset derivative to prevent acceleration spikes when regaining velocity
-		_vel_z_deriv.reset();
+		// reset filters to prevent acceleration spikes when regaining velocity
+		_vel_z_lp_filter.reset({});
+		_vel_z_notch_filter.reset();
+		_vel_deriv_z_lp_filter.reset({});
 	}
 
 	states.yaw = vehicle_local_position.heading;
@@ -351,8 +396,7 @@ void MulticopterPositionControl::Run()
 			math::constrain(((vehicle_local_position.timestamp_sample - _time_stamp_last_loop) * 1e-6f), 0.002f, 0.04f);
 		_time_stamp_last_loop = vehicle_local_position.timestamp_sample;
 
-		// set _dt in controllib Block for BlockDerivative
-		setDt(dt);
+		_sample_interval_s.update(dt);
 
 		if (_vehicle_control_mode_sub.updated()) {
 			const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
@@ -380,7 +424,7 @@ void MulticopterPositionControl::Run()
 			}
 		}
 
-		PositionControlStates states{set_vehicle_states(vehicle_local_position)};
+		PositionControlStates states{set_vehicle_states(vehicle_local_position, dt)};
 
 		// if a goto setpoint available this publishes a trajectory setpoint to go there
 		if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample,
@@ -638,12 +682,13 @@ void MulticopterPositionControl::adjustSetpointForEKFResets(const vehicle_local_
 	}
 
 	if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) {
-		_vel_x_deriv.reset();
-		_vel_y_deriv.reset();
+		_vel_xy_lp_filter.reset(_vel_xy_lp_filter.getState() + Vector2f(vehicle_local_position.delta_vxy));
+		_vel_xy_notch_filter.reset();
 	}
 
 	if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) {
-		_vel_z_deriv.reset();
+		_vel_z_lp_filter.reset(_vel_z_lp_filter.getState() + vehicle_local_position.delta_vz);
+		_vel_z_notch_filter.reset();
 	}
 
 	// save latest reset counters

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -42,7 +42,9 @@
 #include "GotoControl/GotoControl.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/controllib/blocks.hpp>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/NotchFilter.hpp>
+#include <lib/mathlib/math/WelfordMean.hpp>
 #include <lib/perf/perf_counter.h>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <lib/systemlib/mavlink_log.h>
@@ -68,8 +70,8 @@
 
 using namespace time_literals;
 
-class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public control::SuperBlock,
-	public ModuleParams, public px4::ScheduledWorkItem
+class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public ModuleParams,
+	public px4::ScheduledWorkItem
 {
 public:
 	MulticopterPositionControl(bool vtol = false);
@@ -148,6 +150,11 @@ private:
 		(ParamBool<px4::params::MPC_USE_HTE>)       _param_mpc_use_hte,
 		(ParamBool<px4::params::MPC_ACC_DECOUPLE>)  _param_mpc_acc_decouple,
 
+		(ParamFloat<px4::params::MPC_VEL_LP>)       _param_mpc_vel_lp,
+		(ParamFloat<px4::params::MPC_VEL_NF_FRQ>)   _param_mpc_vel_nf_frq,
+		(ParamFloat<px4::params::MPC_VEL_NF_BW>)    _param_mpc_vel_nf_bw,
+		(ParamFloat<px4::params::MPC_VELD_LP>)      _param_mpc_veld_lp,
+
 		// Takeoff / Land
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
 		(ParamBool<px4::params::COM_THROW_EN>)      _param_com_throw_en, /**< throw launch enabled  */
@@ -185,9 +192,16 @@ private:
 		(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc
 	);
 
-	control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
-	control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */
-	control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */
+	math::WelfordMean<float> _sample_interval_s{};
+
+	AlphaFilter<matrix::Vector2f> _vel_xy_lp_filter{};
+	AlphaFilter<float> _vel_z_lp_filter{};
+
+	math::NotchFilter<matrix::Vector2f> _vel_xy_notch_filter{};
+	math::NotchFilter<float> _vel_z_notch_filter{};
+
+	AlphaFilter<matrix::Vector2f> _vel_deriv_xy_lp_filter{};
+	AlphaFilter<float> _vel_deriv_z_lp_filter{};
 
 	GotoControl _goto_control; ///< class for handling smooth goto position setpoints
 	PositionControl _control; ///< class for core PID position control
@@ -224,7 +238,7 @@ private:
 	/**
 	 * Check for validity of positon/velocity states.
 	 */
-	PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos);
+	PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos, const float dt_s);
 
 	/**
 	 * Generate setpoint to bridge no executable setpoint being available.

src/modules/mc_pos_control/multicopter_position_control_params.c

@@ -75,11 +75,56 @@ PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
 PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
 
 /**
- * Numerical velocity derivative low pass cutoff frequency
+ * Velocity low pass cutoff frequency
+ *
+ * A value of 0 disables the filter.
  *
  * @unit Hz
  * @min 0
- * @max 10
+ * @max 50
+ * @decimal 1
+ * @increment 0.5
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VEL_LP, 0.0f);
+
+/**
+ * Velocity notch filter frequency
+ *
+ * The center frequency for the 2nd order notch filter on the velocity.
+ * A value of 0 disables the filter.
+ *
+ * @unit Hz
+ * @min 0
+ * @max 50
+ * @decimal 1
+ * @increment 0.5
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VEL_NF_FRQ, 0.0f);
+
+/**
+ * Velocity notch filter bandwidth
+ *
+ * A value of 0 disables the filter.
+ *
+ * @unit Hz
+ * @min 0
+ * @max 50
+ * @decimal 1
+ * @increment 0.5
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VEL_NF_BW, 5.0f);
+
+/**
+ * Velocity derivative low pass cutoff frequency
+ *
+ * A value of 0 disables the filter.
+ *
+ * @unit Hz
+ * @min 0
+ * @max 50
  * @decimal 1
  * @increment 0.5
  * @group Multicopter Position Control

src/modules/mode_register/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE modules__mode_register
+	MAIN mode_register
+	SRCS
+		ModeRegister.cpp
+		ModeRegister.hpp
+	DEPENDS
+	)

src/modules/mode_register/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_MODE_REGISTER
+	bool "mode_register"
+	default n
+	---help---
+		Enable support for internal mode reigstration

src/modules/mode_register/ModeRegister.cpp

@@ -0,0 +1,180 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ModeRegister.hpp"
+
+#include <px4_platform_common/log.h>
+
+ModeRegister::ModeRegister() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
+	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
+{
+	// PX4_INFO("Hello Mode Register");
+	doRegister();
+}
+
+ModeRegister::~ModeRegister()
+{
+	perf_free(_loop_perf);
+}
+
+bool
+ModeRegister::init()
+{
+	if (!_register_ext_component_reply_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+bool ModeRegister::doRegister()
+{
+//   assert(!_registration->registered());
+
+//   if (!_skip_message_compatibility_check &&
+//     !messageCompatibilityCheck(node(), {ALL_PX4_ROS2_MESSAGES}, topicNamespacePrefix()))
+//   {
+//     return false;
+//   }
+
+//   onAboutToRegister();
+	register_ext_component_request_s request;
+	strcpy(request.name, "Internal Mode");
+	request.register_arming_check = true;
+	request.register_mode = true;
+	request.register_mode_executor = true;
+	request.enable_replace_internal_mode = true;
+	request.replace_internal_mode = true;
+	request.activate_mode_immediately = false;
+	request.px4_ros2_api_version = 1;
+	request.request_id = 123;
+	_register_ext_component_request_pub.publish(request);
+
+//   _health_and_arming_checks.overrideRegistration(_registration);
+//   const RegistrationSettings settings = getRegistrationSettings();
+	bool ret = true;
+//    = _registration->doRegister(settings);
+
+//   if (ret) {
+//     if (!onRegistered()) {
+//       ret = false;
+//     }
+//   }
+
+	return ret;
+}
+
+void
+ModeRegister::Run()
+{
+	if (should_exit()) {
+		_register_ext_component_reply_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+	PX4_INFO("Fuuuuuuuuuck");
+
+	if (!_requested) {
+		PX4_INFO("Do Register");
+		doRegister();
+		_requested = true;
+	}
+
+	register_ext_component_reply_s reply;
+
+	if (_register_ext_component_reply_sub.update(&reply)) {
+		PX4_INFO("Replied!");
+		PX4_INFO("  - success: %f", double(reply.success));
+	}
+
+	perf_end(_loop_perf);
+}
+
+int ModeRegister::task_spawn(int argc, char *argv[])
+{
+
+	ModeRegister *instance = new ModeRegister();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int ModeRegister::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int ModeRegister::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This implements an internal mode registration.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("mode_register", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int mode_register_main(int argc, char *argv[])
+{
+	return ModeRegister::main(argc, argv);
+}

src/modules/mode_register/ModeRegister.hpp

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/register_ext_component_reply.h>
+#include <uORB/topics/register_ext_component_request.h>
+#include <uORB/topics/unregister_ext_component.h>
+
+class ModeRegister : public ModuleBase<ModeRegister>, public ModuleParams, public px4::WorkItem
+{
+public:
+	ModeRegister();
+	~ModeRegister() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool doRegister();
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _register_ext_component_reply_sub{this, ORB_ID(register_ext_component_reply)};
+
+	uORB::Publication<register_ext_component_request_s>	_register_ext_component_request_pub{ORB_ID(register_ext_component_request)};
+	uORB::Publication<unregister_ext_component_s>	_unregister_ext_component_pub{ORB_ID(unregister_ext_component)};
+
+	bool _requested{false};
+	perf_counter_t	_loop_perf;			/**< loop duration performance counter */
+
+};