EV HGT bias est predict central

- in a system with good EV + GPS it's possible that horizontal vel/pos
fusion continues successfully, but GPS fusion is failing due to mediocre
yaw alignment
 - GPS always check for yaw failure and act on it if there's
corresponding GPS vel or GPS pos fusion timeout
 - add additional protections to prevent multiple yaw resets/alignments
per update (the controllers won't get the proper heading delta if this
happens)

msg/CMakeLists.txt

@@ -74,6 +74,7 @@ set(msg_files
 	EstimatorAidSource2d.msg
 	EstimatorAidSource3d.msg
 	EstimatorBias.msg
+	EstimatorBias3d.msg
 	EstimatorEventFlags.msg
 	EstimatorGpsStatus.msg
 	EstimatorInnovations.msg

msg/EstimatorBias.msg

@@ -9,4 +9,4 @@ float32 innov			# innovation of the last measurement fusion (m)
 float32 innov_var		# innovation variance of the last measurement fusion (m^2)
 float32 innov_test_ratio	# normalized innovation squared test ratio
 
-# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias
+# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias

msg/EstimatorBias3d.msg

@@ -0,0 +1,14 @@
+uint64 timestamp                # time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+
+float32[3] bias                 # estimated barometric altitude bias (m)
+float32[3] bias_var             # estimated barometric altitude bias variance (m^2)
+
+float32[3] innov                # innovation of the last measurement fusion (m)
+float32[3] innov_var            # innovation variance of the last measurement fusion (m^2)
+float32[3] innov_test_ratio     # normalized innovation squared test ratio
+
+# TOPICS estimator_bias3d
+# TOPICS estimator_ev_pos_bias

msg/VehicleOdometry.msg

@@ -28,4 +28,4 @@ uint8 reset_counter
 int8 quality
 
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
-# TOPICS estimator_odometry estimator_visual_odometry_aligned
+# TOPICS estimator_odometry

src/modules/ekf2/CMakeLists.txt

@@ -91,8 +91,11 @@ px4_add_module(
 		EKF/ekf_helper.cpp
 		EKF/EKFGSF_yaw.cpp
 		EKF/estimator_interface.cpp
+		EKF/ev_control.cpp
 		EKF/ev_height_control.cpp
+		EKF/ev_pos_control.cpp
 		EKF/ev_vel_control.cpp
+		EKF/ev_yaw_control.cpp
 		EKF/fake_height_control.cpp
 		EKF/fake_pos_control.cpp
 		EKF/gnss_height_control.cpp

src/modules/ekf2/EKF/CMakeLists.txt

@@ -42,8 +42,11 @@ add_library(ecl_EKF
 	ekf_helper.cpp
 	EKFGSF_yaw.cpp
 	estimator_interface.cpp
+	ev_control.cpp
 	ev_height_control.cpp
+	ev_pos_control.cpp
 	ev_vel_control.cpp
+	ev_yaw_control.cpp
 	fake_height_control.cpp
 	fake_pos_control.cpp
 	gnss_height_control.cpp

src/modules/ekf2/EKF/bias_estimator.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -57,14 +57,16 @@ class BiasEstimator
 {
 public:
 	struct status {
-		float bias;
-		float bias_var;
-		float innov;
-		float innov_var;
-		float innov_test_ratio;
+		float bias{0.f};
+		float bias_var{0.f};
+		float innov{0.f};
+		float innov_var{0.f};
+		float innov_test_ratio{INFINITY};
 	};
 
+	BiasEstimator() {}
 	BiasEstimator(float state_init, float state_var_init): _state{state_init}, _state_var{state_var_init} {};
+
 	virtual ~BiasEstimator() = default;
 
 	void reset()
@@ -107,7 +109,7 @@ private:
 	float _time_since_last_negative_innov{0.f};
 	float _time_since_last_positive_innov{0.f};
 
-	status _status;
+	status _status{};
 
 	void constrainStateVar();
 	float computeKalmanGain(float innov_var) const;

src/modules/ekf2/EKF/common.h

@@ -67,7 +67,7 @@ using math::Utilities::updateYawInRotMat;
 
 // maximum sensor intervals in usec
 #define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
-#define EV_MAX_INTERVAL   (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
+#define EV_MAX_INTERVAL   (uint64_t)1e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
 #define GPS_MAX_INTERVAL  (uint64_t)5e5 ///< Maximum allowable time interval between GPS measurements (uSec)
 #define RNG_MAX_INTERVAL  (uint64_t)2e5 ///< Maximum allowable time interval between range finder  measurements (uSec)
 
@@ -78,6 +78,11 @@ using math::Utilities::updateYawInRotMat;
 // ground effect compensation
 #define GNDEFFECT_TIMEOUT       10E6    ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
 
+enum class PositionFrame : uint8_t {
+	LOCAL_FRAME_NED = 0,
+	LOCAL_FRAME_FRD = 1,
+};
+
 enum class VelocityFrame : uint8_t {
 	LOCAL_FRAME_NED = 0,
 	LOCAL_FRAME_FRD = 1,
@@ -114,6 +119,12 @@ enum HeightSensor : uint8_t {
 	UNKNOWN  = 4
 };
 
+enum class PositionSensor : uint8_t {
+	UNKNOWN = 0,
+	GNSS    = 1,
+	EV      = 2,
+};
+
 enum GnssCtrl : uint8_t {
 	HPOS  = (1<<0),
 	VPOS  = (1<<1),
@@ -139,11 +150,11 @@ enum SensorFusionMask : uint16_t {
 	DEPRECATED_USE_GPS = (1<<0),    ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl)
 	USE_OPT_FLOW     = (1<<1),      ///< set to true to use optical flow data
 	INHIBIT_ACC_BIAS = (1<<2),      ///< set to true to inhibit estimation of accelerometer delta velocity bias
-	USE_EXT_VIS_POS  = (1<<3),      ///< set to true to use external vision position data
-	USE_EXT_VIS_YAW  = (1<<4),      ///< set to true to use external vision quaternion data for yaw
+	DEPRECATED_USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data
+	DEPRECATED_USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw
 	USE_DRAG         = (1<<5),      ///< set to true to use the multi-rotor drag model to estimate wind
-	ROTATE_EXT_VIS   = (1<<6),      ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
-	DEPRECATED_USE_GPS_YAW = (1<<7),///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
+	DEPRECATED_ROTATE_EXT_VIS  = (1<<6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
+	DEPRECATED_USE_GPS_YAW     = (1<<7), ///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
 	DEPRECATED_USE_EXT_VIS_VEL = (1<<8), ///< set to true to use external vision velocity data
 };
 
@@ -234,9 +245,10 @@ struct extVisionSample {
 	Vector3f    pos{};         ///< XYZ position in external vision's local reference frame (m) - Z must be aligned with down axis
 	Vector3f    vel{};         ///< FRD velocity in reference frame defined in vel_frame variable (m/sec) - Z must be aligned with down axis
 	Quatf       quat{};        ///< quaternion defining rotation from body to earth frame
-	Vector3f    posVar{};      ///< XYZ position variances (m**2)
+	Vector3f    position_var{};    ///< XYZ position variances (m**2)
 	Vector3f    velocity_var{};    ///< XYZ velocity variances ((m/sec)**2)
 	Vector3f    orientation_var{}; ///< orientation variance (rad**2)
+	PositionFrame pos_frame = PositionFrame::LOCAL_FRAME_FRD;
 	VelocityFrame vel_frame = VelocityFrame::BODY_FRAME_FRD;
 	uint8_t     reset_counter{};
 	int8_t     quality{};     ///< quality indicator between 0 and 100
@@ -271,6 +283,7 @@ struct parameters {
 	// measurement source control
 	int32_t fusion_mode{};         ///< bitmasked integer that selects some aiding sources
 	int32_t height_sensor_ref{HeightSensor::BARO};
+	int32_t position_sensor_ref{static_cast<int32_t>(PositionSensor::GNSS)};
 	int32_t baro_ctrl{1};
 	int32_t gnss_ctrl{GnssCtrl::HPOS | GnssCtrl::VEL};
 	int32_t rng_ctrl{RngCtrl::CONDITIONAL};
@@ -313,7 +326,7 @@ struct parameters {
 	const float initial_wind_uncertainty{1.0f};     ///< 1-sigma initial uncertainty in wind velocity (m/sec)
 
 	// position and velocity fusion
-	float gps_vel_noise{5.0e-1f};           ///< minimum allowed observation noise for gps velocity fusion (m/sec)
+	float gps_vel_noise{0.5f};           ///< minimum allowed observation noise for gps velocity fusion (m/sec)
 	float gps_pos_noise{0.5f};              ///< minimum allowed observation noise for gps position fusion (m)
 	float gps_hgt_bias_nsd{0.13f};          ///< process noise for gnss height bias estimation (m/s/sqrt(Hz))
 	float pos_noaid_noise{10.0f};           ///< observation noise for non-aiding position fusion (m)
@@ -368,6 +381,7 @@ struct parameters {
 
 	// vision position fusion
 	float ev_vel_noise{0.1f};               ///< minimum allowed observation noise for EV velocity fusion (m/sec)
+	float ev_pos_noise{0.1f};               ///< minimum allowed observation noise for EV position fusion (m)
 	float ev_att_noise{0.1f};               ///< minimum allowed observation noise for EV attitude fusion (rad/sec)
 	int32_t ev_quality_minimum{0};          ///< vision minimum acceptable quality integer
 	float ev_vel_innov_gate{3.0f};          ///< vision velocity fusion innovation consistency gate size (STD)
@@ -408,11 +422,11 @@ struct parameters {
 	float acc_bias_learn_gyr_lim{3.0f};     ///< learning is disabled if the magnitude of the IMU angular rate vector is greater than this (rad/sec)
 	float acc_bias_learn_tc{0.5f};          ///< time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
 
-	const unsigned reset_timeout_max{7000000};      ///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
-	const unsigned no_aid_timeout_max{1000000};     ///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
+	const unsigned reset_timeout_max{7'000'000};      ///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
+	const unsigned no_aid_timeout_max{1'000'000};     ///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
 	const unsigned hgt_fusion_timeout_max{5'000'000}; ///< maximum time we allow height fusion to fail before attempting a reset or stopping the fusion aiding (uSec)
 
-	int32_t valid_timeout_max{5000000};     ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
+	int32_t valid_timeout_max{5'000'000};     ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
 
 	// static barometer pressure position error coefficient along body axes
 	float static_pressure_coef_xp{0.0f};    // (-)

src/modules/ekf2/EKF/control.cpp

@@ -86,10 +86,7 @@ void Ekf::controlFusionModes()
 	}
 
 	if (_gps_buffer) {
-		_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL);
-
 		// check for arrival of new sensor data at the fusion time horizon
-		_time_prev_gps_us = _gps_sample_delayed.time_us;
 		_gps_data_ready = _gps_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed);
 
 		if (_gps_data_ready) {
@@ -103,8 +100,6 @@ void Ekf::controlFusionModes()
 			const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
 			_gps_sample_delayed.pos -= pos_offset_earth.xy();
 			_gps_sample_delayed.hgt += pos_offset_earth(2);
-
-			_gps_sample_delayed.sacc = fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise);
 		}
 	}
 
@@ -161,10 +156,6 @@ void Ekf::controlFusionModes()
 		}
 	}
 
-	if (_ext_vision_buffer) {
-		_ev_data_ready = _ext_vision_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed);
-	}
-
 	if (_airspeed_buffer) {
 		_tas_data_ready = _airspeed_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed);
 	}
@@ -181,7 +172,7 @@ void Ekf::controlFusionModes()
 	controlDragFusion();
 	controlHeightFusion();
 
-	// Additional data odoemtery data from an external estimator can be fused.
+	// Additional data odometry data from an external estimator can be fused.
 	controlExternalVisionFusion();
 
 	// Additional horizontal velocity data from an auxiliary sensor can be fused
@@ -199,210 +190,6 @@ void Ekf::controlFusionModes()
 	updateDeadReckoningStatus();
 }
 
-void Ekf::controlExternalVisionFusion()
-{
-	// Check for new external vision data
-	if (_ev_data_ready) {
-
-		bool reset = false;
-
-		if (_ev_sample_delayed.reset_counter != _ev_sample_delayed_prev.reset_counter) {
-			reset = true;
-		}
-
-		if (_inhibit_ev_yaw_use) {
-			stopEvYawFusion();
-		}
-
-		// if the ev data is not in a NED reference frame, then the transformation between EV and EKF navigation frames
-		// needs to be calculated and the observations rotated into the EKF frame of reference
-		if ((_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS) && ((_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_POS)
-				|| (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) && !_control_status.flags.ev_yaw) {
-
-			// rotate EV measurements into the EKF Navigation frame
-			calcExtVisRotMat();
-		}
-
-		// external vision aiding selection logic
-		if (_control_status.flags.tilt_align && _control_status.flags.yaw_align) {
-
-			// check for a external vision measurement that has fallen behind the fusion time horizon
-			if (isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL)) {
-				// turn on use of external vision measurements for position
-				if (_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_POS && !_control_status.flags.ev_pos) {
-					startEvPosFusion();
-				}
-			}
-		}
-
-		// external vision yaw aiding selection logic
-		if (!_inhibit_ev_yaw_use && (_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_YAW) && !_control_status.flags.ev_yaw
-		    && _control_status.flags.tilt_align) {
-
-			// don't start using EV data unless data is arriving frequently
-			if (isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL)) {
-				if (resetYawToEv()) {
-					_control_status.flags.yaw_align = true;
-					startEvYawFusion();
-				}
-			}
-		}
-
-		// determine if we should use the horizontal position observations
-		if (_control_status.flags.ev_pos) {
-			resetEstimatorAidStatus(_aid_src_ev_pos);
-
-			if (reset && _control_status_prev.flags.ev_pos) {
-				if (!_fuse_hpos_as_odom) {
-					resetHorizontalPositionToVision();
-				}
-			}
-
-			Vector3f ev_pos_obs_var;
-
-			// correct position and height for offset relative to IMU
-			const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
-			const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-			_ev_sample_delayed.pos -= pos_offset_earth;
-
-			// Use an incremental position fusion method for EV position data if GPS is also used
-			if (_params.gnss_ctrl & GnssCtrl::HPOS) {
-				_fuse_hpos_as_odom = true;
-
-			} else {
-				_fuse_hpos_as_odom = false;
-			}
-
-			if (_fuse_hpos_as_odom) {
-				if (!_hpos_prev_available) {
-					// no previous observation available to calculate position change
-					_hpos_prev_available = true;
-
-				} else {
-					// calculate the change in position since the last measurement
-					// rotate measurement into body frame is required when fusing with GPS
-					Vector3f ev_delta_pos = _R_ev_to_ekf * Vector3f(_ev_sample_delayed.pos - _ev_sample_delayed_prev.pos);
-
-					// use the change in position since the last measurement
-					_aid_src_ev_pos.observation[0] = ev_delta_pos(0);
-					_aid_src_ev_pos.observation[1] = ev_delta_pos(1);
-
-					_aid_src_ev_pos.innovation[0] = _state.pos(0) - _hpos_pred_prev(0) - ev_delta_pos(0);
-					_aid_src_ev_pos.innovation[1] = _state.pos(1) - _hpos_pred_prev(1) - ev_delta_pos(1);
-
-					// observation 1-STD error, incremental pos observation is expected to have more uncertainty
-					Matrix3f ev_pos_var = matrix::diag(_ev_sample_delayed.posVar);
-					ev_pos_var = _R_ev_to_ekf * ev_pos_var * _R_ev_to_ekf.transpose();
-					ev_pos_obs_var(0) = fmaxf(ev_pos_var(0, 0), sq(0.5f));
-					ev_pos_obs_var(1) = fmaxf(ev_pos_var(1, 1), sq(0.5f));
-
-					_aid_src_ev_pos.observation_variance[0] = ev_pos_obs_var(0);
-					_aid_src_ev_pos.observation_variance[1] = ev_pos_obs_var(1);
-
-					_aid_src_ev_pos.innovation_variance[0] = P(7, 7) + _aid_src_ev_pos.observation_variance[0];
-					_aid_src_ev_pos.innovation_variance[1] = P(8, 8) + _aid_src_ev_pos.observation_variance[1];
-				}
-			} else {
-				// use the absolute position
-				Vector3f ev_pos_meas = _ev_sample_delayed.pos;
-				Matrix3f ev_pos_var = matrix::diag(_ev_sample_delayed.posVar);
-
-				if (_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS) {
-					ev_pos_meas = _R_ev_to_ekf * ev_pos_meas;
-					ev_pos_var = _R_ev_to_ekf * ev_pos_var * _R_ev_to_ekf.transpose();
-				}
-
-				_aid_src_ev_pos.observation[0] = ev_pos_meas(0);
-				_aid_src_ev_pos.observation[1] = ev_pos_meas(1);
-
-				_aid_src_ev_pos.observation_variance[0] = fmaxf(ev_pos_var(0, 0), sq(0.01f));
-				_aid_src_ev_pos.observation_variance[1] = fmaxf(ev_pos_var(1, 1), sq(0.01f));
-
-				_aid_src_ev_pos.innovation[0] = _state.pos(0) - _aid_src_ev_pos.observation[0];
-				_aid_src_ev_pos.innovation[1] = _state.pos(1) - _aid_src_ev_pos.observation[1];
-
-				_aid_src_ev_pos.innovation_variance[0] = P(7, 7) + _aid_src_ev_pos.observation_variance[0];
-				_aid_src_ev_pos.innovation_variance[1] = P(8, 8) + _aid_src_ev_pos.observation_variance[1];
-
-				// check if we have been deadreckoning too long
-				if (isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)) {
-					resetHorizontalPositionToVision();
-				}
-			}
-
-			// innovation gate size
-			const float ev_pos_innov_gate = fmaxf(_params.ev_pos_innov_gate, 1.0f);
-			setEstimatorAidStatusTestRatio(_aid_src_ev_pos, ev_pos_innov_gate);
-
-			_aid_src_ev_pos.timestamp_sample = _ev_sample_delayed.time_us;
-			_aid_src_ev_pos.fusion_enabled = true;
-
-			fuseHorizontalPosition(_aid_src_ev_pos);
-		}
-
-		// determine if we should use the yaw observation
-		resetEstimatorAidStatus(_aid_src_ev_yaw);
-		const float measured_hdg = getEulerYaw(_ev_sample_delayed.quat);
-		const float ev_yaw_obs_var = fmaxf(_ev_sample_delayed.orientation_var(2), 1.e-4f);
-
-		if (PX4_ISFINITE(measured_hdg)) {
-			_aid_src_ev_yaw.timestamp_sample = _ev_sample_delayed.time_us;
-			_aid_src_ev_yaw.observation = measured_hdg;
-			_aid_src_ev_yaw.observation_variance = ev_yaw_obs_var;
-			_aid_src_ev_yaw.fusion_enabled = _control_status.flags.ev_yaw;
-
-			if (_control_status.flags.ev_yaw) {
-				if (reset && _control_status_prev.flags.ev_yaw) {
-					resetYawToEv();
-				}
-
-				const float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg);
-
-				fuseYaw(innovation, ev_yaw_obs_var, _aid_src_ev_yaw);
-
-			} else {
-				// populate estimator_aid_src_ev_yaw with delta heading innovations for logging
-				// use the change in yaw since the last measurement
-				const float measured_hdg_prev = getEulerYaw(_ev_sample_delayed_prev.quat);
-
-				// calculate the change in yaw since the last measurement
-				const float ev_delta_yaw = wrap_pi(measured_hdg - measured_hdg_prev);
-
-				_aid_src_ev_yaw.innovation = wrap_pi(getEulerYaw(_R_to_earth) - _yaw_pred_prev - ev_delta_yaw);
-			}
-		}
-
-
-		bool ev_reset = (_ev_sample_delayed.reset_counter != _ev_sample_delayed_prev.reset_counter);
-
-		// determine if we should use the horizontal position observations
-		bool quality_sufficient = (_params.ev_quality_minimum <= 0) || (_ev_sample_delayed.quality >= _params.ev_quality_minimum);
-
-		bool starting_conditions_passing = quality_sufficient
-						   && ((_ev_sample_delayed.time_us - _ev_sample_delayed_prev.time_us) < EV_MAX_INTERVAL)
-						   && ((_params.ev_quality_minimum <= 0) || (_ev_sample_delayed_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient
-						   && ((_params.ev_quality_minimum <= 0) || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient
-						   && isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL);
-
-		// EV velocity
-		controlEvVelFusion(_ev_sample_delayed, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel);
-
-
-		// record observation and estimate for use next time
-		_ev_sample_delayed_prev = _ev_sample_delayed;
-		_hpos_pred_prev = _state.pos.xy();
-		_yaw_pred_prev = getEulerYaw(_state.quat_nominal);
-
-	} else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw)
-		   && !isRecent(_ev_sample_delayed.time_us, (uint64_t)_params.reset_timeout_max)) {
-
-		// Turn off EV fusion mode if no data has been received
-		stopEvFusion();
-		_warning_events.flags.vision_data_stopped = true;
-		ECL_WARN("vision data stopped");
-	}
-}
-
 void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing)
 {
 	if (!(_params.gnss_ctrl & GnssCtrl::YAW)
@@ -418,13 +205,14 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
 
 		const bool continuing_conditions_passing = !gps_checks_failing;
 
+		const bool gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL);
 		const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, 2 * GPS_MAX_INTERVAL);
 
 		const bool starting_conditions_passing = continuing_conditions_passing
 				&& _control_status.flags.tilt_align
 				&& gps_checks_passing
 				&& !is_gps_yaw_data_intermittent
-				&& !_gps_intermittent;
+				&& !gps_intermittent;
 
 		if (_control_status.flags.gps_yaw) {
 
@@ -576,16 +364,14 @@ void Ekf::controlBetaFusion()
 void Ekf::controlDragFusion()
 {
 	if ((_params.fusion_mode & SensorFusionMask::USE_DRAG) && _drag_buffer &&
-	    !_control_status.flags.fake_pos && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) {
+	    !_control_status.flags.fake_pos && _control_status.flags.in_air) {
 
 		if (!_control_status.flags.wind) {
 			// reset the wind states and covariances when starting drag accel fusion
 			_control_status.flags.wind = true;
 			resetWind();
-
 		}
 
-
 		dragSample drag_sample;
 
 		if (_drag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &drag_sample)) {

src/modules/ekf2/EKF/ekf.cpp

@@ -204,8 +204,6 @@ bool Ekf::initialiseFilter()
 	_time_last_hgt_fuse = _imu_sample_delayed.time_us;
 	_time_last_hor_pos_fuse = _imu_sample_delayed.time_us;
 	_time_last_hor_vel_fuse = _imu_sample_delayed.time_us;
-	_time_last_hagl_fuse = _imu_sample_delayed.time_us;
-	_time_last_flow_terrain_fuse = _imu_sample_delayed.time_us;
 
 	// reset the output predictor state history to match the EKF initial values
 	alignOutputFilter();

src/modules/ekf2/EKF/ekf.h

@@ -48,6 +48,7 @@
 #include "EKFGSF_yaw.h"
 #include "bias_estimator.hpp"
 #include "height_bias_estimator.hpp"
+#include "position_bias_estimator.hpp"
 
 #include <uORB/topics/estimator_aid_source1d.h>
 #include <uORB/topics/estimator_aid_source2d.h>
@@ -385,9 +386,6 @@ public:
 	// return a bitmask integer that describes which state estimates can be used for flight control
 	void get_ekf_soln_status(uint16_t *status) const;
 
-	// return the quaternion defining the rotation from the External Vision to the EKF reference frame
-	matrix::Quatf getVisionAlignmentQuaternion() const { return Quatf(_R_ev_to_ekf); };
-
 	// use the latest IMU data at the current time horizon.
 	Quatf calculate_quaternion() const;
 
@@ -413,6 +411,8 @@ public:
 	const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }
 	const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); }
 
+	const BiasEstimator::status &getEvPosBiasEstimatorStatus(int i) const { return _ev_pos_b_est.getStatus(i); }
+
 	const auto &aid_src_airspeed() const { return _aid_src_airspeed; }
 	const auto &aid_src_sideslip() const { return _aid_src_sideslip; }
 
@@ -472,23 +472,18 @@ private:
 
 	bool _filter_initialised{false};	///< true when the EKF sttes and covariances been initialised
 
-	// variables used when position data is being fused using a relative position odometry model
-	bool _fuse_hpos_as_odom{false};		///< true when the NE position data is being fused using an odometry assumption
-	Vector2f _hpos_pred_prev{};		///< previous value of NE position state used by odometry fusion (m)
 	float _yaw_pred_prev{};                 ///< previous value of yaw state used by odometry fusion (m)
-	bool _hpos_prev_available{false};	///< true when previous values of the estimate and measurement are available for use
-	Dcmf _R_ev_to_ekf;			///< transformation matrix that rotates observations from the EV to the EKF navigation frame, initialized with Identity
 	bool _inhibit_ev_yaw_use{false};	///< true when the vision yaw data should not be used (e.g.: NE fusion requires true North)
 
 	// booleans true when fresh sensor data is available at the fusion time horizon
 	bool _gps_data_ready{false};	///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
 	bool _rng_data_ready{false};
 	bool _flow_data_ready{false};	///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
-	bool _ev_data_ready{false};	///< true when new external vision system data has fallen behind the fusion time horizon and is available to be fused
 	bool _tas_data_ready{false};	///< true when new true airspeed data has fallen behind the fusion time horizon and is available to be fused
 	bool _flow_for_terrain_data_ready{false}; /// same flag as "_flow_data_ready" but used for separate terrain estimator
 
 	uint64_t _time_prev_gps_us{0};	///< time stamp of previous GPS data retrieved from the buffer (uSec)
+
 	uint64_t _time_last_horizontal_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
 	uint64_t _time_last_v_pos_aiding{0};
 	uint64_t _time_last_v_vel_aiding{0};
@@ -504,7 +499,9 @@ private:
 	uint64_t _time_last_healthy_rng_data{0};
 	uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source
 
+	uint8_t _nb_ev_pos_reset_available{0};
 	uint8_t _nb_ev_vel_reset_available{0};
+	uint8_t _nb_ev_yaw_reset_available{0};
 
 	Vector3f _last_known_pos{};		///< last known local position vector (m)
 
@@ -521,14 +518,10 @@ private:
 	bool _mag_bias_observable{false};	///< true when there is enough rotation to make magnetometer bias errors observable
 	bool _yaw_angle_observable{false};	///< true when there is enough horizontal acceleration to make yaw observable
 	uint64_t _time_yaw_started{0};		///< last system time in usec that a yaw rotation manoeuvre was detected
-	uint64_t _mag_use_not_inhibit_us{0};	///< last system time in usec before magnetometer use was inhibited
 	float _last_static_yaw{NAN};		///< last yaw angle recorded when on ground motion checks were passing (rad)
 
-	bool _mag_inhibit_yaw_reset_req{false};	///< true when magnetometer inhibit has been active for long enough to require a yaw reset when conditions improve.
 	bool _mag_yaw_reset_req{false};		///< true when a reset of the yaw using the magnetometer data has been requested
 	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
-	bool _synthetic_mag_z_active{false};	///< true if we are generating synthetic magnetometer Z measurements
-	bool _is_yaw_fusion_inhibited{false};		///< true when yaw sensor use is being inhibited
 
 	SquareMatrix24f P{};	///< state covariance matrix
 
@@ -597,6 +590,9 @@ private:
 	// Variables used to publish the WGS-84 location of the EKF local NED origin
 	float _gps_alt_ref{NAN};		///< WGS-84 height (m)
 
+	uint64_t _last_ev_fail_us{0};		///< last system time in usec that the EV failed it's checks
+	uint64_t _last_ev_pass_us{0};		///< last system time in usec that the EV passed it's checks
+
 	// Variables used by the initial filter alignment
 	bool _is_first_imu_sample{true};
 	uint32_t _baro_counter{0};		///< number of baro samples read during initialisation
@@ -635,7 +631,6 @@ private:
 
 	// height sensor status
 	bool _baro_hgt_faulty{false};		///< true if baro data have been declared faulty TODO: move to fault flags
-	bool _gps_intermittent{true};           ///< true if data into the buffer is intermittent
 
 	// imu fault status
 	uint64_t _time_bad_vert_accel{0};	///< last time a bad vertical accel was detected (uSec)
@@ -705,7 +700,6 @@ private:
 	void resetHorizontalVelocityToZero();
 
 	void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var);
-	void resetHorizontalPositionToVision();
 	void resetHorizontalPositionToLastKnown();
 
 	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var);
@@ -772,19 +766,12 @@ private:
 	// return true if successful
 	bool resetMagHeading();
 
-	// reset the heading using the external vision measurements
-	// return true if successful
-	bool resetYawToEv();
-
 	// Return the magnetic declination in radians to be used by the alignment and fusion processing
 	float getMagDeclination();
 
 	// modify output filter to match the the EKF state at the fusion time horizon
 	void alignOutputFilter();
 
-	// update the rotation matrix which transforms EV navigation frame measurements into NED
-	void calcExtVisRotMat();
-
 	// matrix vector multiplication for computing K<24,1> * H<1,24> * P<24,24>
 	// that is optimized by exploring the sparsity in H
 	template <size_t ...Idxs>
@@ -869,7 +856,10 @@ private:
 
 	// control fusion of external vision observations
 	void controlExternalVisionFusion();
+	void controlEvHeightFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset, bool quality_sufficient, estimator_aid_source1d_s& aid_src);
+	void controlEvPosFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset, bool quality_sufficient, estimator_aid_source2d_s& aid_src);
 	void controlEvVelFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset, bool quality_sufficient, estimator_aid_source3d_s& aid_src);
+	void controlEvYawFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset, bool quality_sufficient, estimator_aid_source1d_s& aid_src);
 
 	// control fusion of optical flow observations
 	void controlOpticalFlowFusion();
@@ -887,12 +877,12 @@ private:
 	// control fusion of magnetometer observations
 	void controlMagFusion();
 
-	void checkHaglYawResetReq();
+	bool haglYawResetReq() const;
 	float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }
 
-	void runOnGroundYawReset();
 	bool canResetMagHeading() const;
-	void runInAirYawReset();
+	void runYawReset();
+	bool resetMagStates();
 
 	void selectMagAuto();
 	void check3DMagFusionSuitability();
@@ -901,7 +891,6 @@ private:
 	bool canUse3DMagFusion() const;
 
 	void checkMagDeclRequired();
-	void checkMagInhibition();
 	bool shouldInhibitMag() const;
 	bool magFieldStrengthDisturbed(const Vector3f &mag) const;
 	static bool isMeasuredMatchingExpected(float measured, float expected, float gate);
@@ -941,7 +930,6 @@ private:
 	void controlBaroHeightFusion();
 	void controlGnssHeightFusion(const gpsSample &gps_sample);
 	void controlRangeHeightFusion();
-	void controlEvHeightFusion(const extVisionSample &ev_sample);
 
 	bool isConditionalRangeAidSuitable();
 
@@ -1024,16 +1012,10 @@ private:
 	void stopAirspeedFusion();
 
 	void stopGpsFusion();
-	void stopGpsPosFusion();
-	void stopGpsVelFusion();
 
 	void startGpsYawFusion(const gpsSample &gps_sample);
 	void stopGpsYawFusion();
 
-	void startEvPosFusion();
-	void startEvYawFusion();
-
-	void stopEvFusion();
 	void stopEvPosFusion();
 	void stopEvVelFusion();
 	void stopEvYawFusion();
@@ -1058,14 +1040,16 @@ private:
 	EKFGSF_yaw _yawEstimator{};
 
 	uint8_t _height_sensor_ref{HeightSensor::UNKNOWN};
+	uint8_t _position_sensor_ref{static_cast<uint8_t>(PositionSensor::GNSS)};
 
 	HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref};
 	HeightBiasEstimator _gps_hgt_b_est{HeightSensor::GNSS, _height_sensor_ref};
 	HeightBiasEstimator _rng_hgt_b_est{HeightSensor::RANGE, _height_sensor_ref};
 	HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
+	PositionBiasEstimator _ev_pos_b_est{static_cast<uint8_t>(PositionSensor::EV), _position_sensor_ref};
 
 	int64_t _ekfgsf_yaw_reset_time{0};	///< timestamp of last emergency yaw reset (uSec)
-	uint8_t _ekfgsf_yaw_reset_count{0};	// number of times the yaw has been reset to the EKF-GSF estimate
+	uint8_t _ekfgsf_yaw_reset_count{0};	// number of times the yaw has been reset to the EKF-GSF estimate in an emergency
 
 	void runYawEKFGSF();
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -108,22 +108,6 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
 	_time_last_ver_vel_fuse = _imu_sample_delayed.time_us;
 }
 
-void Ekf::resetHorizontalPositionToVision()
-{
-	_information_events.flags.reset_pos_to_vision = true;
-	ECL_INFO("reset position to ev position");
-	Vector3f _ev_pos = _ev_sample_delayed.pos;
-
-	if (_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS) {
-		_ev_pos = _R_ev_to_ekf * _ev_sample_delayed.pos;
-	}
-
-	resetHorizontalPositionTo(Vector2f(_ev_pos), _ev_sample_delayed.posVar.slice<2, 1>(0, 0));
-
-	// let the next odometry update know that the previous value of states cannot be used to calculate the change in position
-	_hpos_prev_available = false;
-}
-
 void Ekf::resetHorizontalPositionToLastKnown()
 {
 	_information_events.flags.reset_pos_to_last_known = true;
@@ -154,6 +138,9 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f
 	_state_reset_status.posNE_change = delta_horz_pos;
 	_state_reset_status.posNE_counter++;
 
+	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change);
+	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
+
 	// Reset the timout timer
 	_time_last_hor_pos_fuse = _imu_sample_delayed.time_us;
 }
@@ -169,7 +156,6 @@ bool Ekf::isHeightResetRequired() const
 	return (continuous_bad_accel_hgt || hgt_fusion_timeout);
 }
 
-
 void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
 {
 	const float old_vert_pos = _state.pos(2);
@@ -242,8 +228,8 @@ void Ekf::alignOutputFilter()
 bool Ekf::resetMagHeading()
 {
 	// prevent a reset being performed more than once on the same frame
-	if (_imu_sample_delayed.time_us == _flt_mag_align_start_time) {
-		return true;
+	if ((_flt_mag_align_start_time == _imu_sample_delayed.time_us) || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align)) {
+		return false;
 	}
 
 	const Vector3f mag_init = _mag_lpf.getState();
@@ -287,17 +273,6 @@ bool Ekf::resetMagHeading()
 	return false;
 }
 
-bool Ekf::resetYawToEv()
-{
-	const float yaw_new = getEulerYaw(_ev_sample_delayed.quat);
-	const float yaw_new_variance = fmaxf(_ev_sample_delayed.orientation_var(2), sq(1.0e-2f));
-
-	resetQuatStateYaw(yaw_new, yaw_new_variance);
-	_R_ev_to_ekf.setIdentity();
-
-	return true;
-}
-
 // Return the magnetic declination in radians to be used by the alignment and fusion processing
 float Ekf::getMagDeclination()
 {
@@ -715,7 +690,7 @@ void Ekf::resetMagBiasAndYaw()
 	_saved_mag_bf_variance.zero();
 
 	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
-		_mag_yaw_reset_req = true;
+		stopMagFusion();
 	}
 
 	_control_status.flags.mag_fault = false;
@@ -743,6 +718,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
 
 	} else if (_control_status.flags.gps_yaw) {
 		mag = sqrtf(_aid_src_gnss_yaw.test_ratio);
+
 	} else {
 		mag = NAN;
 	}
@@ -1077,9 +1053,12 @@ void Ekf::initialiseQuatCovariances(Vector3f &rot_vec_var)
 
 void Ekf::stopMagFusion()
 {
-	stopMag3DFusion();
-	stopMagHdgFusion();
-	clearMagCov();
+	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
+		ECL_INFO("stopping all mag fusion");
+		stopMag3DFusion();
+		stopMagHdgFusion();
+		clearMagCov();
+	}
 }
 
 void Ekf::stopMag3DFusion()
@@ -1149,14 +1128,6 @@ void Ekf::updateGroundEffect()
 	}
 }
 
-// update the rotation matrix which rotates EV measurements into the EKF's navigation frame
-void Ekf::calcExtVisRotMat()
-{
-	// Calculate the quaternion delta that rotates from the EV to the EKF reference frame at the EKF fusion time horizon.
-	const Quatf q_error((_state.quat_nominal * _ev_sample_delayed.quat.inversed()).normalized());
-	_R_ev_to_ekf = Dcmf(q_error);
-}
-
 // Increase the yaw error variance of the quaternions
 // Argument is additional yaw variance in rad**2
 void Ekf::increaseQuatYawErrVariance(float yaw_variance)
@@ -1249,8 +1220,10 @@ void Ekf::stopAirspeedFusion()
 void Ekf::stopGpsFusion()
 {
 	if (_control_status.flags.gps) {
-		stopGpsPosFusion();
-		stopGpsVelFusion();
+		ECL_INFO("stopping GPS position and velocity fusion");
+
+		resetEstimatorAidStatus(_aid_src_gnss_pos);
+		resetEstimatorAidStatus(_aid_src_gnss_vel);
 
 		_control_status.flags.gps = false;
 	}
@@ -1264,23 +1237,6 @@ void Ekf::stopGpsFusion()
 	_inhibit_ev_yaw_use = false;
 }
 
-void Ekf::stopGpsPosFusion()
-{
-	if (_control_status.flags.gps) {
-		ECL_INFO("stopping GPS position fusion");
-		_control_status.flags.gps = false;
-
-		resetEstimatorAidStatus(_aid_src_gnss_pos);
-	}
-}
-
-void Ekf::stopGpsVelFusion()
-{
-	ECL_INFO("stopping GPS velocity fusion");
-
-	resetEstimatorAidStatus(_aid_src_gnss_vel);
-}
-
 void Ekf::startGpsYawFusion(const gpsSample &gps_sample)
 {
 	if (!_control_status.flags.gps_yaw && resetYawToGps(gps_sample.yaw)) {
@@ -1303,51 +1259,6 @@ void Ekf::stopGpsYawFusion()
 	}
 }
 
-void Ekf::startEvPosFusion()
-{
-	_control_status.flags.ev_pos = true;
-	resetHorizontalPositionToVision();
-	_information_events.flags.starting_vision_pos_fusion = true;
-	ECL_INFO("starting vision pos fusion");
-}
-
-void Ekf::startEvYawFusion()
-{
-	// turn on fusion of external vision yaw measurements and disable all magnetometer fusion
-	_control_status.flags.ev_yaw = true;
-	_control_status.flags.mag_dec = false;
-
-	stopMagHdgFusion();
-	stopMag3DFusion();
-
-	_information_events.flags.starting_vision_yaw_fusion = true;
-	ECL_INFO("starting vision yaw fusion");
-}
-
-void Ekf::stopEvFusion()
-{
-	stopEvPosFusion();
-	stopEvVelFusion();
-	stopEvYawFusion();
-}
-
-void Ekf::stopEvPosFusion()
-{
-	if (_control_status.flags.ev_pos) {
-		ECL_INFO("stopping EV pos fusion");
-		_control_status.flags.ev_pos = false;
-		resetEstimatorAidStatus(_aid_src_ev_pos);
-	}
-}
-
-void Ekf::stopEvYawFusion()
-{
-	if (_control_status.flags.ev_yaw) {
-		ECL_INFO("stopping EV yaw fusion");
-		_control_status.flags.ev_yaw = false;
-	}
-}
-
 void Ekf::stopAuxVelFusion()
 {
 	ECL_INFO("stopping aux vel fusion");
@@ -1410,32 +1321,27 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
 // Returns true if the reset was successful
 bool Ekf::resetYawToEKFGSF()
 {
-	if (!isYawEmergencyEstimateAvailable()) {
+	if (!isYawEmergencyEstimateAvailable() || !isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000)) {
 		return false;
 	}
 
-	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
-
-	// record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight
-	_flt_mag_align_start_time = _imu_sample_delayed.time_us;
-	_control_status.flags.yaw_align = true;
-
-	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
-		// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
-		// and cause another navigation failure
-		_control_status.flags.mag_fault = true;
-		_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
-
-	} else if (_control_status.flags.gps_yaw) {
-		_control_status.flags.gps_yaw_fault = true;
-		_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
-
-	} else if (_control_status.flags.ev_yaw) {
-		_inhibit_ev_yaw_use = true;
+	// prevent a reset being performed more than once on the same frame
+	if ((_flt_mag_align_start_time == _imu_sample_delayed.time_us) || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align)) {
+		return false;
 	}
 
+	// otherwise reset yaw
+	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
+
+	_information_events.flags.yaw_aligned_to_imu_gps = true;
+	ECL_INFO("Yaw aligned using IMU and GPS");
+
+	_control_status.flags.yaw_align = true;
+
 	_ekfgsf_yaw_reset_time = _imu_sample_delayed.time_us;
-	_ekfgsf_yaw_reset_count++;
+
+	// reset mag states
+	resetMagStates();
 
 	return true;
 }
@@ -1472,6 +1378,11 @@ void Ekf::runYawEKFGSF()
 
 	const Vector3f imu_gyro_bias = getGyroBias();
 	_yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
+
+	// reset when landed
+	if (!_control_status.flags.in_air) {
+		_ekfgsf_yaw_reset_count = 0;
+	}
 }
 
 void Ekf::resetGpsDriftCheckFilters()

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -496,7 +496,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 		max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
 	}
 
-	if ((_params.fusion_mode & (SensorFusionMask::USE_EXT_VIS_POS | SensorFusionMask::USE_EXT_VIS_YAW)) || (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {
+	if (_params.ev_ctrl > 0) {
 		max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms);
 	}
 

src/modules/ekf2/EKF/estimator_interface.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015-2020 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2015-2022 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -44,9 +44,9 @@
 
 #if defined(MODULE_NAME)
 #include <px4_platform_common/log.h>
-# define ECL_INFO PX4_DEBUG
-# define ECL_WARN PX4_DEBUG
-# define ECL_ERR  PX4_DEBUG
+# define ECL_INFO PX4_INFO // TODO
+# define ECL_WARN PX4_WARN // TODO
+# define ECL_ERR  PX4_ERR // TODO
 # define ECL_DEBUG PX4_DEBUG
 #else
 # define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__)
@@ -256,7 +256,6 @@ public:
 
 	const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
 	const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
-	const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
 
 	const bool &global_origin_valid() const { return _NED_origin_initialised; }
 	const MapProjection &global_origin() const { return _pos_ref; }
@@ -303,8 +302,7 @@ protected:
 	sensor::SensorRangeFinder _range_sensor{};
 	airspeedSample _airspeed_sample_delayed{};
 	flowSample _flow_sample_delayed{};
-	extVisionSample _ev_sample_delayed{};
-	extVisionSample _ev_sample_delayed_prev{};
+	extVisionSample _ev_sample_prev{};
 	dragSample _drag_down_sampled{};	// down sampled drag specific force data (filter prediction rate -> observation rate)
 
 	RangeFinderConsistencyCheck _rng_consistency_check;

src/modules/ekf2/EKF/ev_control.cpp

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ev_control.cpp
+ * Control functions for ekf external vision control
+ */
+
+#include "ekf.h"
+
+void Ekf::controlExternalVisionFusion()
+{
+	_ev_pos_b_est.predict(_dt_ekf_avg);
+	_ev_hgt_b_est.predict(_dt_ekf_avg);
+
+	// Check for new external vision data
+	extVisionSample ev_sample;
+
+	if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &ev_sample)) {
+
+		bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter);
+
+		// determine if we should use the horizontal position observations
+		bool quality_sufficient = (_params.ev_quality_minimum <= 0) || (ev_sample.quality >= _params.ev_quality_minimum);
+
+		if (quality_sufficient) {
+			_last_ev_pass_us = _imu_sample_delayed.time_us;
+
+		} else {
+			_last_ev_fail_us = _imu_sample_delayed.time_us;
+		}
+
+		const bool ev_quality_passing = isTimedOut(_last_ev_fail_us, (uint64_t)1e6);
+		const bool ev_quality_failing = isTimedOut(_last_ev_pass_us, (uint64_t)1e6);
+
+		bool starting_conditions_passing = quality_sufficient
+						   && ev_quality_passing
+						   && !ev_quality_failing
+						   && !ev_reset
+						   && ((ev_sample.time_us - _ev_sample_prev.time_us) < EV_MAX_INTERVAL)
+						   && ((_params.ev_quality_minimum <= 0) || (_ev_sample_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient
+						   && isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL);
+
+		controlEvYawFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw);
+		controlEvVelFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel);
+		controlEvPosFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos);
+		controlEvHeightFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_hgt);
+
+		if (quality_sufficient) {
+			_ev_sample_prev = ev_sample;
+			_yaw_pred_prev = getEulerYaw(_state.quat_nominal);
+		}
+
+	} else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw
+		    || _control_status.flags.ev_hgt)
+		   && isTimedOut(_ev_sample_prev.time_us, 2 * EV_MAX_INTERVAL)) {
+
+		// Turn off EV fusion mode if no data has been received
+		stopEvPosFusion();
+		stopEvVelFusion();
+		stopEvYawFusion();
+		stopEvHgtFusion();
+
+		_warning_events.flags.vision_data_stopped = true;
+		ECL_WARN("vision data stopped");
+	}
+}

src/modules/ekf2/EKF/ev_height_control.cpp

@@ -38,94 +38,80 @@
 
 #include "ekf.h"
 
-void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample)
+void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset,
+				bool quality_sufficient, estimator_aid_source1d_s &aid_src)
 {
-	static constexpr const char *HGT_SRC_NAME = "EV";
+	static constexpr const char *AID_SRC_NAME = "EV height";
 
-	auto &aid_src = _aid_src_ev_hgt;
 	HeightBiasEstimator &bias_est = _ev_hgt_b_est;
+	//bias_est.predict(_dt_ekf_avg); // handled by controlExternalVisionFusion()
 
-	bias_est.predict(_dt_ekf_avg);
+	// correct position for offset relative to IMU
+	const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
+	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
 
-	if (_ev_data_ready) {
+	// rotate measurement into correct earth frame if required
+	Vector3f pos{ev_sample.pos};
+	Matrix3f pos_cov{matrix::diag(ev_sample.position_var)};
 
-		const float measurement = ev_sample.pos(2);
-		const float measurement_var = ev_sample.posVar(2);
+	// rotate EV to the EKF reference frame unless we're operating entirely in vision frame
+	// TODO: only necessary if there's a roll/pitch offset between VIO and EKF
+	if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos)) {
 
-		const float innov_gate = math::max(_params.ev_pos_innov_gate, 1.f);
+		const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
 
-		const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
+		if (q_error.isAllFinite()) {
+			const Dcmf R_ev_to_ekf(q_error);
 
-		updateVerticalPositionAidSrcStatus(ev_sample.time_us,
-						   measurement - bias_est.getBias(),
-						   measurement_var + bias_est.getBiasVar(),
-						   innov_gate,
-						   aid_src);
+			pos = R_ev_to_ekf * ev_sample.pos;
+			pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();
 
-		// update the bias estimator before updating the main filter but after
-		// using its current state to compute the vertical position innovation
-		if (measurement_valid) {
-			bias_est.setMaxStateNoise(sqrtf(measurement_var));
-			bias_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd);
-			bias_est.fuseBias(measurement - _state.pos(2), measurement_var + P(9, 9));
+			// increase minimum variance to include EV orientation variance
+			// TODO: do this properly
+			const float orientation_var_max = math::max(ev_sample.orientation_var(0), ev_sample.orientation_var(1));
+			pos_cov(2, 2) = math::max(pos_cov(2, 2), orientation_var_max);
 		}
+	}
 
-		const bool continuing_conditions_passing = ((_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_POS) || (_params.height_sensor_ref == HeightSensor::EV)) // TODO: (_params.ev_ctrl & EvCtrl::VPOS)
-				&& measurement_valid;
+	const float measurement = pos(2) - pos_offset_earth(2);
+	float measurement_var = math::max(pos_cov(2, 2), sq(_params.ev_pos_noise), sq(0.01f));
 
-		const bool starting_conditions_passing = continuing_conditions_passing
-				&& isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL);
+	// increase minimum variance if GPS active
+	if (_control_status.flags.gps_hgt) {
+		measurement_var = math::max(measurement_var, sq(_params.gps_pos_noise));
+	}
 
-		if (_control_status.flags.ev_hgt) {
-			aid_src.fusion_enabled = true;
+	const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
 
-			if (continuing_conditions_passing) {
+	updateVerticalPositionAidSrcStatus(ev_sample.time_us,
+					   measurement - bias_est.getBias(),
+					   measurement_var + bias_est.getBiasVar(),
+					   math::max(_params.ev_pos_innov_gate, 1.f),
+					   aid_src);
 
-				fuseVerticalPosition(aid_src);
+	// update the bias estimator before updating the main filter but after
+	// using its current state to compute the vertical position innovation
+	if (measurement_valid && quality_sufficient) {
+		bias_est.setMaxStateNoise(sqrtf(measurement_var));
+		bias_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd);
+		bias_est.fuseBias(measurement - _state.pos(2), measurement_var + P(9, 9));
+	}
 
-				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
+	const bool continuing_conditions_passing = ((_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VPOS))
+			|| (_params.height_sensor_ref == HeightSensor::EV))
+			&& measurement_valid;
 
-				if (isHeightResetRequired()) {
-					// All height sources are failing
-					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
+	starting_conditions_passing &= continuing_conditions_passing;
 
-					_information_events.flags.reset_hgt_to_ev = true;
-					resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var);
-					bias_est.setBias(-_state.pos(2) + measurement);
+	if (_control_status.flags.ev_hgt) {
+		aid_src.fusion_enabled = true;
 
-					// reset vertical velocity
-					if (ev_sample.vel.isAllFinite() && (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {
+		if (continuing_conditions_passing) {
 
-						// correct velocity for offset relative to IMU
-						const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
-						const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
-						const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
+			if (ev_reset) {
 
-						switch (ev_sample.vel_frame) {
-						case VelocityFrame::LOCAL_FRAME_NED:
-						case VelocityFrame::LOCAL_FRAME_FRD: {
-								const Vector3f reset_vel = ev_sample.vel - vel_offset_earth;
-								resetVerticalVelocityTo(reset_vel(2), math::max(ev_sample.velocity_var(2), sq(_params.ev_vel_noise)));
-							}
-							break;
-
-						case VelocityFrame::BODY_FRAME_FRD: {
-								const Vector3f reset_vel = _R_to_earth * (ev_sample.vel - vel_offset_body);
-								const Matrix3f reset_vel_cov = _R_to_earth * matrix::diag(ev_sample.velocity_var) * _R_to_earth.transpose();
-								resetVerticalVelocityTo(reset_vel(2), math::max(reset_vel_cov(2, 2), sq(_params.ev_vel_noise)));
-							}
-							break;
-						}
-
-					} else {
-						resetVerticalVelocityToZero();
-					}
-
-					aid_src.time_last_fuse = _imu_sample_delayed.time_us;
-
-				} else if ((_ev_sample_delayed.reset_counter != _ev_sample_delayed_prev.reset_counter) && !aid_src.fused) {
-					// fusion failed and EV sample indicates reset
-					ECL_INFO("%s height reset", HGT_SRC_NAME);
+				if (quality_sufficient) {
+					ECL_INFO("reset to %s", AID_SRC_NAME);
 
 					if (_height_sensor_ref == HeightSensor::EV) {
 						_information_events.flags.reset_hgt_to_ev = true;
@@ -138,43 +124,91 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample)
 
 					aid_src.time_last_fuse = _imu_sample_delayed.time_us;
 
-				} else if (is_fusion_failing) {
-					// Some other height source is still working
-					ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME);
+				} else {
+					// EV has reset, but quality isn't sufficient
+					// we have no choice but to stop EV and try to resume once quality is acceptable
 					stopEvHgtFusion();
+					return;
 				}
 
+			} else if (quality_sufficient) {
+				fuseVerticalPosition(aid_src);
+
 			} else {
-				ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME);
+				aid_src.innovation_rejected = true;
+			}
+
+			const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
+
+			if (isHeightResetRequired() && quality_sufficient) {
+				// All height sources are failing
+				ECL_WARN("%s fusion reset required, all height sources failing", AID_SRC_NAME);
+				_information_events.flags.reset_hgt_to_ev = true;
+				resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var);
+				bias_est.setBias(-_state.pos(2) + measurement);
+
+				// reset vertical velocity
+				if (ev_sample.vel.isAllFinite() && (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {
+
+					// correct velocity for offset relative to IMU
+					const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
+					const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
+
+					switch (ev_sample.vel_frame) {
+					case VelocityFrame::LOCAL_FRAME_NED:
+					case VelocityFrame::LOCAL_FRAME_FRD: {
+							const Vector3f reset_vel = ev_sample.vel - vel_offset_earth;
+							resetVerticalVelocityTo(reset_vel(2), math::max(ev_sample.velocity_var(2), sq(_params.ev_vel_noise)));
+						}
+						break;
+
+					case VelocityFrame::BODY_FRAME_FRD: {
+							const Vector3f reset_vel = _R_to_earth * (ev_sample.vel - vel_offset_body);
+							const Matrix3f reset_vel_cov = _R_to_earth * matrix::diag(ev_sample.velocity_var) * _R_to_earth.transpose();
+							resetVerticalVelocityTo(reset_vel(2), math::max(reset_vel_cov(2, 2), sq(_params.ev_vel_noise)));
+						}
+						break;
+					}
+
+				} else {
+					resetVerticalVelocityToZero();
+				}
+
+				aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+			} else if (is_fusion_failing) {
+				// A reset did not fix the issue but all the starting checks are not passing
+				// This could be a temporary issue, stop the fusion without declaring the sensor faulty
+				ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
 				stopEvHgtFusion();
 			}
 
 		} else {
-			if (starting_conditions_passing) {
-				if (_params.height_sensor_ref == HeightSensor::EV) {
-					ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME);
-					_height_sensor_ref = HeightSensor::EV;
-
-					_information_events.flags.reset_hgt_to_ev = true;
-					resetVerticalPositionTo(measurement, measurement_var);
-					bias_est.reset();
-
-				} else {
-					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
-					bias_est.setBias(-_state.pos(2) + measurement);
-				}
-
-				aid_src.time_last_fuse = _imu_sample_delayed.time_us;
-				bias_est.setFusionActive();
-				_control_status.flags.ev_hgt = true;
-			}
+			// Stop fusion but do not declare it faulty
+			ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME);
+			stopEvHgtFusion();
 		}
 
-	} else if (_control_status.flags.ev_hgt
-		   && !isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL)) {
-		// No data anymore. Stop until it comes back.
-		ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME);
-		stopEvHgtFusion();
+	} else {
+		if (starting_conditions_passing) {
+			// activate fusion, only reset if necessary
+			if (_params.height_sensor_ref == HeightSensor::EV) {
+				ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
+				_information_events.flags.reset_hgt_to_ev = true;
+				resetVerticalPositionTo(measurement, measurement_var);
+
+				_height_sensor_ref = HeightSensor::EV;
+				bias_est.reset();
+
+			} else {
+				ECL_INFO("starting %s fusion", AID_SRC_NAME);
+				bias_est.setBias(-_state.pos(2) + measurement);
+			}
+
+			aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+			bias_est.setFusionActive();
+			_control_status.flags.ev_hgt = true;
+		}
 	}
 }
 

src/modules/ekf2/EKF/ev_pos_control.cpp

@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ev_pos_control.cpp
+ * Control functions for ekf external vision position fusion
+ */
+
+#include "ekf.h"
+
+void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset,
+			     bool quality_sufficient, estimator_aid_source2d_s &aid_src)
+{
+	static constexpr const char *AID_SRC_NAME = "EV position";
+
+	const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw)
+					   || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align);
+
+	// determine if we should use EV position aiding
+	bool continuing_conditions_passing = (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::HPOS))
+					     && _control_status.flags.tilt_align
+					     && PX4_ISFINITE(ev_sample.pos(0))
+					     && PX4_ISFINITE(ev_sample.pos(1));
+
+	// correct position for offset relative to IMU
+	const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
+	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
+
+	const bool bias_fusion_was_active = _ev_pos_b_est.fusionActive();
+
+	// rotate measurement into correct earth frame if required
+	Vector3f pos{NAN, NAN, NAN};
+	Matrix3f pos_cov{};
+
+	switch (ev_sample.pos_frame) {
+	case PositionFrame::LOCAL_FRAME_NED:
+		if (_control_status.flags.yaw_align) {
+			pos = ev_sample.pos - pos_offset_earth;
+			pos_cov = matrix::diag(ev_sample.position_var);
+
+			if (_control_status.flags.gps) {
+				_ev_pos_b_est.setFusionActive();
+
+			} else {
+				_ev_pos_b_est.setFusionInactive();
+			}
+
+		} else {
+			continuing_conditions_passing = false;
+			_ev_pos_b_est.setFusionInactive();
+			_ev_pos_b_est.reset();
+		}
+
+		break;
+
+	case PositionFrame::LOCAL_FRAME_FRD:
+		if (_control_status.flags.ev_yaw) {
+			// using EV frame
+			pos = ev_sample.pos - pos_offset_earth;
+			pos_cov = matrix::diag(ev_sample.position_var);
+
+			_ev_pos_b_est.setFusionInactive();
+			_ev_pos_b_est.reset();
+
+		} else {
+			// rotate EV to the EKF reference frame
+			const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
+			const Dcmf R_ev_to_ekf = Dcmf(q_error);
+
+			pos = R_ev_to_ekf * ev_sample.pos - pos_offset_earth;
+			pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();
+
+			// increase minimum variance to include EV orientation variance
+			// TODO: do this properly
+			const float orientation_var_max = ev_sample.orientation_var.max();
+
+			for (int i = 0; i < 2; i++) {
+				pos_cov(i, i) = math::max(pos_cov(i, i), orientation_var_max);
+			}
+
+			if (_control_status.flags.gps) {
+				_ev_pos_b_est.setFusionActive();
+
+			} else {
+				_ev_pos_b_est.setFusionInactive();
+			}
+		}
+
+		break;
+
+	default:
+		continuing_conditions_passing = false;
+		_ev_pos_b_est.setFusionInactive();
+		_ev_pos_b_est.reset();
+		break;
+	}
+
+	// increase minimum variance if GPS active (position reference)
+	if (_control_status.flags.gps) {
+		for (int i = 0; i < 2; i++) {
+			pos_cov(i, i) = math::max(pos_cov(i, i), sq(_params.gps_pos_noise));
+		}
+	}
+
+	const Vector2f measurement{pos(0), pos(1)};
+
+	const Vector2f measurement_var{
+		math::max(pos_cov(0, 0), sq(_params.ev_pos_noise), sq(0.01f)),
+		math::max(pos_cov(1, 1), sq(_params.ev_pos_noise), sq(0.01f))
+	};
+
+	const bool measurement_valid = measurement.isAllFinite() && measurement_var.isAllFinite();
+
+	// bias fusion activated (GPS activated)
+	if (!bias_fusion_was_active && _ev_pos_b_est.fusionActive()) {
+		if (quality_sufficient) {
+			// reset the bias estimator
+			_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+
+		} else if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.ev_pos)) {
+			// otherwise stop EV position, when quality is good again it will restart with reset bias
+			stopEvPosFusion();
+		}
+	}
+
+	updateHorizontalPositionAidSrcStatus(ev_sample.time_us,
+					     measurement - _ev_pos_b_est.getBias(),        // observation
+					     measurement_var + _ev_pos_b_est.getBiasVar(), // observation variance
+					     math::max(_params.ev_pos_innov_gate, 1.f),    // innovation gate
+					     aid_src);
+
+	// update the bias estimator before updating the main filter but after
+	// using its current state to compute the vertical position innovation
+	if (measurement_valid && quality_sufficient) {
+		_ev_pos_b_est.setMaxStateNoise(Vector2f(sqrtf(measurement_var(0)), sqrtf(measurement_var(1))));
+		_ev_pos_b_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); // TODO
+		_ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()), measurement_var + Vector2f(P(7, 7), P(8, 8)));
+	}
+
+	if (!measurement_valid) {
+		continuing_conditions_passing = false;
+	}
+
+	starting_conditions_passing &= continuing_conditions_passing;
+
+	if (_control_status.flags.ev_pos) {
+		aid_src.fusion_enabled = true;
+
+		if (continuing_conditions_passing) {
+
+			const bool bias_estimator_change = (bias_fusion_was_active != _ev_pos_b_est.fusionActive());
+
+			if (ev_reset || yaw_alignment_changed || bias_estimator_change) {
+
+				if (quality_sufficient) {
+
+					if (!_control_status.flags.gps) {
+						ECL_INFO("reset to %s", AID_SRC_NAME);
+						_information_events.flags.reset_pos_to_vision = true;
+						resetHorizontalPositionTo(measurement, measurement_var);
+						_ev_pos_b_est.reset();
+
+					} else {
+						_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+					}
+
+					aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+				} else {
+					// EV has reset, but quality isn't sufficient
+					// we have no choice but to stop EV and try to resume once quality is acceptable
+					stopEvPosFusion();
+					return;
+				}
+
+			} else if (quality_sufficient) {
+				fuseHorizontalPosition(aid_src);
+
+			} else {
+				aid_src.innovation_rejected = true;
+			}
+
+			const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.no_aid_timeout_max); // 1 second
+
+			if (is_fusion_failing) {
+				bool pos_xy_fusion_failing = isTimedOut(_time_last_hor_pos_fuse, _params.no_aid_timeout_max);
+
+				if ((_nb_ev_pos_reset_available > 0) && quality_sufficient) {
+					// Data seems good, attempt a reset
+					ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
+
+					if (_control_status.flags.gps && !pos_xy_fusion_failing) {
+						// reset EV position bias
+						_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+
+					} else {
+						_information_events.flags.reset_pos_to_vision = true;
+
+						if (_control_status.flags.gps) {
+							resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var + _ev_pos_b_est.getBiasVar());
+							_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+
+						} else {
+							resetHorizontalPositionTo(measurement, measurement_var);
+							_ev_pos_b_est.reset();
+						}
+					}
+
+					aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+					if (_control_status.flags.in_air) {
+						_nb_ev_pos_reset_available--;
+					}
+
+				} else if (starting_conditions_passing) {
+					// Data seems good, but previous reset did not fix the issue
+					// something else must be wrong, declare the sensor faulty and stop the fusion
+					//_control_status.flags.ev_pos_fault = true;
+					ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
+					stopEvPosFusion();
+
+				} else {
+					// A reset did not fix the issue but all the starting checks are not passing
+					// This could be a temporary issue, stop the fusion without declaring the sensor faulty
+					ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
+					stopEvPosFusion();
+				}
+			}
+
+		} else {
+			// Stop fusion but do not declare it faulty
+			ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME);
+			stopEvPosFusion();
+		}
+
+	} else {
+		if (starting_conditions_passing) {
+			// activate fusion
+			// TODO:  (_params.position_sensor_ref == PositionSensor::EV)
+			if (_control_status.flags.gps) {
+				ECL_INFO("starting %s fusion", AID_SRC_NAME);
+				_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+				_ev_pos_b_est.setFusionActive();
+
+			} else {
+				ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
+				//_position_sensor_ref = PositionSensor::EV;
+				_information_events.flags.reset_pos_to_vision = true;
+				resetHorizontalPositionTo(measurement, measurement_var);
+				_ev_pos_b_est.reset();
+			}
+
+			aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+			_nb_ev_pos_reset_available = 3;
+			_information_events.flags.starting_vision_pos_fusion = true;
+			_control_status.flags.ev_pos = true;
+		}
+	}
+}
+
+void Ekf::stopEvPosFusion()
+{
+	if (_control_status.flags.ev_pos) {
+		resetEstimatorAidStatus(_aid_src_ev_pos);
+
+		_control_status.flags.ev_pos = false;
+	}
+}

src/modules/ekf2/EKF/ev_vel_control.cpp

@@ -214,7 +214,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, bool starting_con
 
 			aid_src.time_last_fuse = _imu_sample_delayed.time_us;
 
-			_nb_ev_vel_reset_available = 5;
+			_nb_ev_vel_reset_available = 3;
 			_information_events.flags.starting_vision_vel_fusion = true;
 			_control_status.flags.ev_vel = true;
 		}

src/modules/ekf2/EKF/ev_yaw_control.cpp

@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ev_yaw_control.cpp
+ * Control functions for ekf external vision yaw fusion
+ */
+
+#include "ekf.h"
+
+void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset,
+			     bool quality_sufficient, estimator_aid_source1d_s &aid_src)
+{
+	static constexpr const char *AID_SRC_NAME = "EV yaw";
+
+	resetEstimatorAidStatus(aid_src);
+	aid_src.timestamp_sample = ev_sample.time_us;
+	aid_src.observation = getEulerYaw(ev_sample.quat);
+	aid_src.observation_variance = math::max(ev_sample.orientation_var(2), _params.ev_att_noise, sq(0.01f));
+	aid_src.innovation = wrap_pi(getEulerYaw(_R_to_earth) - aid_src.observation);
+
+	// determine if we should use EV yaw aiding
+	bool continuing_conditions_passing = (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::YAW))
+					     && _control_status.flags.tilt_align
+					     && !_inhibit_ev_yaw_use
+					     && PX4_ISFINITE(aid_src.observation)
+					     && PX4_ISFINITE(aid_src.observation_variance);
+
+	// if GPS enabled only allow EV yaw if EV is NED
+	if (_control_status.flags.gps && _control_status.flags.yaw_align
+	    && (ev_sample.pos_frame != PositionFrame::LOCAL_FRAME_NED)
+	   ) {
+		continuing_conditions_passing = false;
+
+		// use delta yaw for innovation logging
+		aid_src.innovation = wrap_pi(wrap_pi(getEulerYaw(_R_to_earth) - _yaw_pred_prev)
+					- wrap_pi(getEulerYaw(ev_sample.quat) - getEulerYaw(_ev_sample_prev.quat)));
+	}
+
+	starting_conditions_passing &= continuing_conditions_passing
+				       && isTimedOut(aid_src.time_last_fuse, (uint32_t)1e6);
+
+	if (_control_status.flags.ev_yaw) {
+		aid_src.fusion_enabled = true;
+
+		if (continuing_conditions_passing) {
+
+			if (ev_reset) {
+
+				if (quality_sufficient) {
+					ECL_INFO("reset to %s", AID_SRC_NAME);
+					//_information_events.flags.reset_yaw_to_vision = true; // TODO
+					resetQuatStateYaw(aid_src.observation, aid_src.observation_variance);
+					aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+				} else {
+					// EV has reset, but quality isn't sufficient
+					// we have no choice but to stop EV and try to resume once quality is acceptable
+					stopEvYawFusion();
+					return;
+				}
+
+			} else if (quality_sufficient) {
+				fuseYaw(aid_src.innovation, aid_src.observation_variance, aid_src);
+
+			} else {
+				aid_src.innovation_rejected = true;
+			}
+
+			const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.no_aid_timeout_max);
+
+			if (is_fusion_failing) {
+				if ((_nb_ev_yaw_reset_available > 0) && quality_sufficient) {
+					// Data seems good, attempt a reset
+					//_information_events.flags.reset_yaw_to_vision = true; // TODO
+					ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
+					resetQuatStateYaw(aid_src.innovation, aid_src.observation_variance);
+					aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+					if (_control_status.flags.in_air) {
+						_nb_ev_yaw_reset_available--;
+					}
+
+				} else if (starting_conditions_passing) {
+					// Data seems good, but previous reset did not fix the issue
+					// something else must be wrong, declare the sensor faulty and stop the fusion
+					//_control_status.flags.ev_yaw_fault = true;
+					ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
+					stopEvYawFusion();
+
+				} else {
+					// A reset did not fix the issue but all the starting checks are not passing
+					// This could be a temporary issue, stop the fusion without declaring the sensor faulty
+					ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
+					stopEvYawFusion();
+				}
+			}
+
+		} else {
+			// Stop fusion but do not declare it faulty
+			ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME);
+			stopEvYawFusion();
+		}
+
+	} else {
+		if (starting_conditions_passing) {
+			// activate fusion
+			if (ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_NED) {
+
+				if (_control_status.flags.yaw_align) {
+					ECL_INFO("starting %s fusion", AID_SRC_NAME);
+
+				} else {
+					// reset yaw to EV and set yaw_align
+					ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
+					resetQuatStateYaw(aid_src.observation, aid_src.observation_variance);
+					_control_status.flags.yaw_align = true;
+				}
+
+				aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+				_information_events.flags.starting_vision_yaw_fusion = true;
+				_control_status.flags.ev_yaw = true;
+
+			} else if (ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_FRD) {
+				// turn on fusion of external vision yaw measurements and disable all other heading fusion
+				stopMagFusion();
+				stopGpsYawFusion();
+				stopGpsFusion();
+
+				ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
+
+				// reset yaw to EV
+				resetQuatStateYaw(aid_src.observation, aid_src.observation_variance);
+				aid_src.time_last_fuse = _imu_sample_delayed.time_us;
+
+				_information_events.flags.starting_vision_yaw_fusion = true;
+				_control_status.flags.yaw_align = false;
+				_control_status.flags.ev_yaw = true;
+			}
+
+			if (_control_status.flags.ev_yaw) {
+				_nb_ev_yaw_reset_available = 3;
+			}
+		}
+	}
+}
+
+void Ekf::stopEvYawFusion()
+{
+	if (_control_status.flags.ev_yaw) {
+		resetEstimatorAidStatus(_aid_src_ev_yaw);
+
+		_control_status.flags.ev_yaw = false;
+	}
+}

src/modules/ekf2/EKF/fake_pos_control.cpp

@@ -95,7 +95,6 @@ void Ekf::controlFakePosFusion()
 			if (starting_conditions_passing) {
 				ECL_INFO("start fake position fusion");
 				_control_status.flags.fake_pos = true;
-				_fuse_hpos_as_odom = false; // TODO: needed?
 				resetFakePosFusion();
 
 				if (_control_status.flags.tilt_align) {

src/modules/ekf2/EKF/gnss_height_control.cpp

@@ -117,7 +117,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
 					// reset vertical velocity
 					if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & GnssCtrl::VEL)) {
 						// use 1.5 as a typical ratio of vacc/hacc
-						resetVerticalVelocityTo(gps_sample.vel(2), sq(1.5f * gps_sample.sacc));
+						resetVerticalVelocityTo(gps_sample.vel(2), sq(1.5f * math::max(gps_sample.sacc, _params.gps_vel_noise)));
 
 					} else {
 						resetVerticalVelocityToZero();

src/modules/ekf2/EKF/gps_control.cpp

@@ -41,11 +41,6 @@
 
 void Ekf::controlGpsFusion()
 {
-	if (!((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))) {
-		stopGpsFusion();
-		return;
-	}
-
 	// Check for new GPS data that has fallen behind the fusion time horizon
 	if (_gps_data_ready) {
 
@@ -59,16 +54,19 @@ void Ekf::controlGpsFusion()
 		controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing);
 
 		// GNSS velocity
-		const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
+		const Vector3f velocity{gps_sample.vel};
+		const float vel_noise = math::max(gps_sample.sacc, _params.gps_vel_noise);
+		const float vel_var = sq(vel_noise);
 		const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
 		updateVelocityAidSrcStatus(gps_sample.time_us,
-					   gps_sample.vel,                                             // observation
+					   velocity,                                                   // observation
 					   vel_obs_var,                                                // observation variance
 					   math::max(_params.gps_vel_innov_gate, 1.f),                 // innovation gate
 					   _aid_src_gnss_vel);
 		_aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL);
 
 		// GNSS position
+		const Vector2f position{gps_sample.pos};
 		// relax the upper observation noise limit which prevents bad GPS perturbing the position estimate
 		float pos_noise = math::max(gps_sample.hacc, _params.gps_pos_noise);
 
@@ -83,17 +81,49 @@ void Ekf::controlGpsFusion()
 		const float pos_var = sq(pos_noise);
 		const Vector2f pos_obs_var(pos_var, pos_var);
 		updateHorizontalPositionAidSrcStatus(gps_sample.time_us,
-						     gps_sample.pos,                             // observation
+						     position,                                   // observation
 						     pos_obs_var,                                // observation variance
 						     math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate
 						     _aid_src_gnss_pos);
 		_aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS);
 
 		// update GSF yaw estimator velocity (basic sanity check on GNSS velocity data)
-		if (gps_checks_passing && !gps_checks_failing) {
-			_yawEstimator.setVelocity(gps_sample.vel.xy(), gps_sample.sacc);
+		if (_gps_speed_valid && velocity.isAllFinite()
+		    && (gps_sample.sacc > FLT_EPSILON) && (gps_sample.sacc <= _params.req_sacc)) {
+
+			_yawEstimator.setVelocity(velocity.xy(), vel_noise);
 		}
 
+		// allow GPS to perform yaw align or in flight mag alignment
+		if (_control_status.flags.tilt_align && _NED_origin_initialised
+		    && gps_checks_passing && !gps_checks_failing) {
+
+			if (!_control_status.flags.yaw_align
+			    || (_control_status.flags.mag_hdg && !_control_status.flags.mag_aligned_in_flight)
+			   ) {
+				if (resetYawToEKFGSF()) {
+					// Yaw aligned using IMU and GPS
+
+				} else if (resetYawToGps(gps_sample.yaw)) {
+					ECL_INFO("Yaw aligned using GPS yaw");
+
+				} else if (_control_status.flags.ev_yaw && !_control_status.flags.yaw_align && !_control_status.flags.in_air) {
+
+					// give mag a chance to start and yaw align if currently blocked by EV yaw
+					const bool mag_enabled = (_params.mag_fusion_type <= MagFuseType::MAG_3D);
+					const bool mag_available = (_mag_counter != 0);
+
+					if (mag_enabled && mag_available
+					    && !_control_status.flags.mag_field_disturbed
+					    && !_control_status.flags.mag_fault) {
+
+						stopEvYawFusion();
+					}
+				}
+			}
+		}
+
+
 		// Determine if we should use GPS aiding for velocity and horizontal position
 		// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
 		const bool mandatory_conditions_passing = ((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))
@@ -102,7 +132,12 @@ void Ekf::controlGpsFusion()
 				&& _NED_origin_initialised;
 
 		const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing;
-		const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing;
+
+		const bool starting_conditions_passing = continuing_conditions_passing
+				&& isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL)
+				&& _gps_checks_passed
+				&& gps_checks_passing
+				&& !gps_checks_failing;
 
 		if (_control_status.flags.gps) {
 			if (mandatory_conditions_passing) {
@@ -112,42 +147,72 @@ void Ekf::controlGpsFusion()
 					fuseVelocity(_aid_src_gnss_vel);
 					fuseHorizontalPosition(_aid_src_gnss_pos);
 
-					if (shouldResetGpsFusion()) {
-						const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000);
+					const bool is_vel_fusion_failing = isTimedOut(_aid_src_gnss_vel.time_last_fuse, _params.reset_timeout_max);
+					const bool is_pos_fusion_failing = isTimedOut(_aid_src_gnss_pos.time_last_fuse, _params.reset_timeout_max);
 
-						/* A reset is not performed when getting GPS back after a significant period of no data
-						 * because the timeout could have been caused by bad GPS.
-						 * The total number of resets allowed per boot cycle is limited.
-						 */
-						if (isYawFailure()
-						    && _control_status.flags.in_air
-						    && !was_gps_signal_lost
-						    && _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit
-						    && isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000)) {
+					// A reset is not performed when getting GPS back after a significant period of no data because the timeout could have been caused by bad GPS.
+					// The total number of resets allowed per boot cycle is limited.
+					const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000);
+
+					const bool yaw_failure = isYawFailure() && !was_gps_signal_lost
+								 && (_ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit)
+								 && isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000);
+
+					const bool should_reset_gps_fusion = shouldResetGpsFusion();
+
+					if (should_reset_gps_fusion || (yaw_failure && (is_vel_fusion_failing || is_pos_fusion_failing))) {
+
+						bool yaw_reset = false;
+
+						if (yaw_failure) {
 							// The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
 							// to improve its estimate if the previous reset was not successful.
 							if (resetYawToEKFGSF()) {
 								ECL_WARN("GPS emergency yaw reset");
+								_ekfgsf_yaw_reset_count++;
+								yaw_reset = true;
+
+								if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
+									// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
+									// and cause another navigation failure
+									if (_ekfgsf_yaw_reset_count > 1) {
+										_control_status.flags.mag_fault = true;
+										_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
+									}
+								}
+
+								if (_control_status.flags.gps_yaw) {
+									_control_status.flags.gps_yaw_fault = true;
+									_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
+								}
+
+								if (_control_status.flags.ev_yaw) {
+									// Stop the vision for yaw fusion and do not allow it to start again
+									stopEvYawFusion();
+									_inhibit_ev_yaw_use = true;
+								}
 							}
 						}
 
-						ECL_WARN("GPS fusion timeout, resetting velocity and position");
-						_information_events.flags.reset_vel_to_gps = true;
-						_information_events.flags.reset_pos_to_gps = true;
-						resetVelocityTo(gps_sample.vel, vel_obs_var);
-						resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
+						if (should_reset_gps_fusion || is_vel_fusion_failing || yaw_reset) {
+							// reset velocity
+							_information_events.flags.reset_vel_to_gps = true;
+							resetVelocityTo(velocity, vel_obs_var);
+							_aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us;
+						}
+
+						if (should_reset_gps_fusion || is_pos_fusion_failing || yaw_reset) {
+							// reset position
+							_information_events.flags.reset_pos_to_gps = true;
+							resetHorizontalPositionTo(position, pos_obs_var);
+							_aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us;
+						}
 					}
 
 				} else {
 					stopGpsFusion();
 					_warning_events.flags.gps_quality_poor = true;
 					ECL_WARN("GPS quality poor - stopping use");
-
-					// TODO: move this to EV control logic
-					// Reset position state to external vision if we are going to use absolute values
-					if (_control_status.flags.ev_pos && !(_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS)) {
-						resetHorizontalPositionToVision();
-					}
 				}
 
 			} else { // mandatory conditions are not passing
@@ -158,54 +223,42 @@ void Ekf::controlGpsFusion()
 			if (starting_conditions_passing) {
 				// Do not use external vision for yaw if using GPS because yaw needs to be
 				// defined relative to an NED reference frame
-				if (_control_status.flags.ev_yaw
-				    || _mag_inhibit_yaw_reset_req
-				    || _mag_yaw_reset_req) {
-
-					_mag_yaw_reset_req = true;
-
+				if (_control_status.flags.ev_yaw) {
 					// Stop the vision for yaw fusion and do not allow it to start again
 					stopEvYawFusion();
 					_inhibit_ev_yaw_use = true;
-
-				} else {
-					ECL_INFO("starting GPS fusion");
-					_information_events.flags.starting_gps_fusion = true;
-
-					// reset position
-					_information_events.flags.reset_pos_to_gps = true;
-					resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
-
-					// when already using another velocity source velocity reset is not necessary
-					if (!isHorizontalAidingActive()) {
-						_information_events.flags.reset_vel_to_gps = true;
-						resetVelocityTo(gps_sample.vel, vel_obs_var);
-					}
-
-					_control_status.flags.gps = true;
 				}
 
-			} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
-				// If no mag is used, align using the yaw estimator (if available)
-				if (resetYawToEKFGSF()) {
-					_information_events.flags.yaw_aligned_to_imu_gps = true;
-					ECL_INFO("Yaw aligned using IMU and GPS");
+				// reset position
+				_information_events.flags.reset_pos_to_gps = true;
+				resetHorizontalPositionTo(position, pos_obs_var);
+				_aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us;
 
-					ECL_INFO("reset velocity and position to GPS");
+				// when already using another velocity source velocity reset is not necessary
+				if (!isHorizontalAidingActive()
+				    || isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
+				    || !_control_status_prev.flags.yaw_align
+				   ) {
+					// reset velocity
 					_information_events.flags.reset_vel_to_gps = true;
-					_information_events.flags.reset_pos_to_gps = true;
-					resetVelocityTo(gps_sample.vel, vel_obs_var);
-					resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
+					resetVelocityTo(velocity, vel_obs_var);
+					_aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us;
 				}
+
+				_information_events.flags.starting_gps_fusion = true;
+				ECL_INFO("starting GPS fusion");
+				_control_status.flags.gps = true;
 			}
 		}
 
-	} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) {
+		_time_prev_gps_us = _gps_sample_delayed.time_us;
+
+	} else if (_control_status.flags.gps && isTimedOut(_time_prev_gps_us, (uint64_t)10e6)) {
 		stopGpsFusion();
 		_warning_events.flags.gps_data_stopped = true;
 		ECL_WARN("GPS data stopped");
 
-	}  else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6)
+	}  else if (_control_status.flags.gps && isTimedOut(_time_prev_gps_us, 2 * GPS_MAX_INTERVAL)
 		    && isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
 
 		// Handle the case where we are fusing another position source along GPS,

src/modules/ekf2/EKF/gps_yaw_fusion.cpp

@@ -203,23 +203,36 @@ void Ekf::fuseGpsYaw(const gpsSample& gps_sample)
 
 bool Ekf::resetYawToGps(const float gnss_yaw)
 {
-	// define the predicted antenna array vector and rotate into earth frame
-	const Vector3f ant_vec_bf = {cosf(_gps_yaw_offset), sinf(_gps_yaw_offset), 0.0f};
-	const Vector3f ant_vec_ef = _R_to_earth * ant_vec_bf;
-
-	// check if antenna array vector is within 30 degrees of vertical and therefore unable to provide a reliable heading
-	if (fabsf(ant_vec_ef(2)) > cosf(math::radians(30.0f)))  {
+	// prevent a reset being performed more than once on the same frame
+	if ((_flt_mag_align_start_time == _imu_sample_delayed.time_us) || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align)) {
 		return false;
 	}
 
-	// GPS yaw measurement is alreday compensated for antenna offset in the driver
-	const float measured_yaw = gnss_yaw;
+	if (PX4_ISFINITE(gnss_yaw) && !_control_status.flags.gps_yaw_fault) {
+		// define the predicted antenna array vector and rotate into earth frame
+		const Vector3f ant_vec_bf = {cosf(_gps_yaw_offset), sinf(_gps_yaw_offset), 0.0f};
+		const Vector3f ant_vec_ef = _R_to_earth * ant_vec_bf;
 
-	const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f));
-	resetQuatStateYaw(measured_yaw, yaw_variance);
+		// check if antenna array vector is within 30 degrees of vertical and therefore unable to provide a reliable heading
+		if (fabsf(ant_vec_ef(2)) > cosf(math::radians(30.0f)))  {
+			return false;
+		}
 
-	_aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us;
-	_gnss_yaw_signed_test_ratio_lpf.reset(0.f);
+		// GPS yaw measurement is alreday compensated for antenna offset in the driver
+		const float measured_yaw = gnss_yaw;
 
-	return true;
+		const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f));
+		resetQuatStateYaw(measured_yaw, yaw_variance);
+
+		_control_status.flags.yaw_align = true;
+
+		_aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us;
+		_gnss_yaw_signed_test_ratio_lpf.reset(0.f);
+
+		resetMagStates();
+
+		return true;
+	}
+
+	return false;
 }

src/modules/ekf2/EKF/height_control.cpp

@@ -46,7 +46,6 @@ void Ekf::controlHeightFusion()
 	controlBaroHeightFusion();
 	controlGnssHeightFusion(_gps_sample_delayed);
 	controlRangeHeightFusion();
-	controlEvHeightFusion(_ev_sample_delayed);
 
 	checkHeightSensorRefFallback();
 }
@@ -62,6 +61,7 @@ void Ekf::checkHeightSensorRefFallback()
 
 	switch (_params.height_sensor_ref) {
 	default:
+
 	/* FALLTHROUGH */
 	case HeightSensor::UNKNOWN:
 		fallback_list[0] = HeightSensor::GNSS;
@@ -150,12 +150,18 @@ void Ekf::checkVerticalAccelerationHealth()
 
 	// declare a bad vertical acceleration measurement and make the declaration persist
 	// for a minimum of BADACC_PROBATION seconds
+	const bool bad_acc_vertical = _fault_status.flags.bad_acc_vertical;
+
 	if (_fault_status.flags.bad_acc_vertical) {
 		_fault_status.flags.bad_acc_vertical = isRecent(_time_bad_vert_accel, BADACC_PROBATION);
 
 	} else {
 		_fault_status.flags.bad_acc_vertical = bad_vert_accel;
 	}
+
+	if (!bad_acc_vertical && _fault_status.flags.bad_acc_vertical) {
+		ECL_WARN("bad vertical acceleration");
+	}
 }
 
 Likelihood Ekf::estimateInertialNavFallingLikelihood() const
@@ -172,6 +178,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 		bool failed_min;
 		bool failed_lim;
 	} checks[6] {};
+	static constexpr size_t NUM_CHECKS = sizeof(checks) / sizeof(checks[0]);
 
 	if (_control_status.flags.baro_hgt) {
 		checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance};
@@ -198,7 +205,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 	}
 
 	// Compute the check based on innovation ratio for all the sources
-	for (unsigned i = 0; i < 6; i++) {
+	for (unsigned i = 0; i < NUM_CHECKS; i++) {
 		if (checks[i].innov_var < FLT_EPSILON) {
 			continue;
 		}
@@ -209,13 +216,13 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 	}
 
 	// Check all the sources agains each other
-	for (unsigned i = 0; i < 6; i++) {
+	for (unsigned i = 0; i < NUM_CHECKS; i++) {
 		if (checks[i].failed_lim) {
 			// There is a chance that the inertial nav is falling if one source is failing the test
 			likelihood_medium = true;
 		}
 
-		for (unsigned j = 0; j < 6; j++) {
+		for (unsigned j = 0; j < NUM_CHECKS; j++) {
 
 			if ((checks[i].ref_type != checks[j].ref_type) && checks[i].failed_lim && checks[j].failed_min) {
 				// There is a high chance that the inertial nav is failing if two sources are failing the test

src/modules/ekf2/EKF/mag_control.cpp

@@ -75,7 +75,7 @@ void Ekf::controlMagFusion()
 
 			resetEstimatorAidStatus(_aid_src_mag_heading);
 			_aid_src_mag_heading.timestamp_sample = mag_sample.time_us;
-			_aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();;
+			_aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
 			_aid_src_mag_heading.innovation = wrap_pi(getEulerYaw(_R_to_earth) - _aid_src_mag_heading.observation);
 
 			// compute magnetometer innovations (for estimator_aid_src_mag logging)
@@ -104,17 +104,13 @@ void Ekf::controlMagFusion()
 		return;
 	}
 
-	_mag_yaw_reset_req |= !_control_status.flags.yaw_align;
-	_mag_yaw_reset_req |= _mag_inhibit_yaw_reset_req;
-
 	if (mag_data_ready && !_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw) {
 
-		const bool mag_enabled_previously = _control_status_prev.flags.mag_hdg || _control_status_prev.flags.mag_3D;
-
 		// Determine if we should use simple magnetic heading fusion which works better when
 		// there are large external disturbances or the more accurate 3-axis fusion
 		switch (_params.mag_fusion_type) {
 		default:
+
 		// FALLTHROUGH
 		case MagFuseType::AUTO:
 			selectMagAuto();
@@ -132,18 +128,10 @@ void Ekf::controlMagFusion()
 			break;
 		}
 
-		const bool mag_enabled = _control_status.flags.mag_hdg || _control_status.flags.mag_3D;
-
-		if (!mag_enabled_previously && mag_enabled) {
-			_mag_yaw_reset_req = true;
-		}
-
-		if (_control_status.flags.in_air) {
-			checkHaglYawResetReq();
-			runInAirYawReset();
-
-		} else {
-			runOnGroundYawReset();
+		if ((_control_status.flags.mag_hdg || _control_status.flags.mag_3D)
+		    && (!_control_status.flags.yaw_align || _mag_yaw_reset_req || haglYawResetReq())
+		   ) {
+			runYawReset();
 		}
 
 		if (!_control_status.flags.yaw_align) {
@@ -152,43 +140,24 @@ void Ekf::controlMagFusion()
 		}
 
 		checkMagDeclRequired();
-		checkMagInhibition();
 
 		runMagAndMagDeclFusions(mag_sample.mag);
 	}
 }
 
-void Ekf::checkHaglYawResetReq()
+bool Ekf::haglYawResetReq() const
 {
 	// We need to reset the yaw angle after climbing away from the ground to enable
 	// recovery from ground level magnetic interference.
-	if (!_control_status.flags.mag_aligned_in_flight) {
+	if (_control_status.flags.in_air && !_control_status.flags.mag_aligned_in_flight && isTerrainEstimateValid()) {
 		// Check if height has increased sufficiently to be away from ground magnetic anomalies
 		// and request a yaw reset if not already requested.
 		static constexpr float mag_anomalies_max_hagl = 1.5f;
 		const bool above_mag_anomalies = (getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl;
-		_mag_yaw_reset_req = _mag_yaw_reset_req || above_mag_anomalies;
+		return above_mag_anomalies;
 	}
-}
 
-void Ekf::runOnGroundYawReset()
-{
-	if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
-		const bool has_realigned_yaw = canResetMagHeading() ? resetMagHeading() : false;
-
-		if (has_realigned_yaw) {
-			_mag_yaw_reset_req = false;
-			_control_status.flags.yaw_align = true;
-
-			// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
-			// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
-			if (_mag_inhibit_yaw_reset_req) {
-				_mag_inhibit_yaw_reset_req = false;
-				// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
-				P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
-			}
-		}
-	}
+	return false;
 }
 
 bool Ekf::canResetMagHeading() const
@@ -196,66 +165,48 @@ bool Ekf::canResetMagHeading() const
 	return !_control_status.flags.mag_field_disturbed && (_params.mag_fusion_type != MagFuseType::NONE);
 }
 
-void Ekf::runInAirYawReset()
+void Ekf::runYawReset()
 {
-	if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
-		bool has_realigned_yaw = false;
+	// prevent a reset being performed more than once on the same frame
+	if ((_flt_mag_align_start_time == _imu_sample_delayed.time_us)
+	    || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align)) {
+		return;
+	}
 
-		// use yaw estimator if available
-		if (_control_status.flags.gps && isYawEmergencyEstimateAvailable() &&
-		(_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000) // mag LPF available
-		) {
+	bool has_realigned_yaw = false;
 
-			resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
-
-			_information_events.flags.yaw_aligned_to_imu_gps = true;
-			_ekfgsf_yaw_reset_time = _imu_sample_delayed.time_us;
-
-			// if world magnetic model (inclination, declination, strength) available then use it to reset mag states
-			if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) {
-				// use predicted earth field to reset states
-				const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0);
-				_state.mag_I = mag_earth_pred;
-
-				const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
-				_state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred);
-
-			} else {
-				// Use the last magnetometer measurements to reset the field states
-				// calculate initial earth magnetic field states
-				_state.mag_I = _R_to_earth * _mag_lpf.getState();
-				_state.mag_B.zero();
-			}
-
-			ECL_DEBUG("resetting mag I: [%.3f, %.3f, %.3f], B: [%.3f, %.3f, %.3f]",
-				(double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
-				(double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2)
-				);
-
-			resetMagCov();
+	// use yaw estimator if available
+	if (isYawEmergencyEstimateAvailable()) {
+		if (resetYawToEKFGSF()) {
+			has_realigned_yaw = true;
 		}
+	}
 
-		if (!has_realigned_yaw && canResetMagHeading()) {
-			has_realigned_yaw = resetMagHeading();
-		}
+	if (!has_realigned_yaw && canResetMagHeading()) {
+		has_realigned_yaw = resetMagHeading();
+	}
 
-		if (has_realigned_yaw) {
-			_mag_yaw_reset_req = false;
-			_control_status.flags.yaw_align = true;
+	if (has_realigned_yaw) {
+		_mag_yaw_reset_req = false;
+		_control_status.flags.yaw_align = true;
+
+
+		if (_control_status.flags.in_air) {
 			_control_status.flags.mag_aligned_in_flight = true;
-
 			// record the time for the magnetic field alignment event
 			_flt_mag_align_start_time = _imu_sample_delayed.time_us;
-
-			// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
-			// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
-			if (_mag_inhibit_yaw_reset_req) {
-				_mag_inhibit_yaw_reset_req = false;
-				// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
-				P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
-			}
 		}
 
+		// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
+		// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
+		if (isTimedOut(_aid_src_mag_heading.time_last_fuse, (uint32_t)5e6)
+		    && isTimedOut(_aid_src_mag.time_last_fuse, (uint32_t)5e6)
+		    && isTimedOut(_aid_src_gnss_yaw.time_last_fuse, (uint32_t)5e6)
+		    && isTimedOut(_aid_src_ev_yaw.time_last_fuse, (uint32_t)5e6)
+		   ) {
+			// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
+			P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
+		}
 	}
 }
 
@@ -284,7 +235,7 @@ void Ekf::checkYawAngleObservability()
 				: _accel_lpf_NE.norm() > 2.0f * _params.mag_acc_gate;
 
 	_yaw_angle_observable = _yaw_angle_observable
-				&& (_control_status.flags.gps || _control_status.flags.ev_pos); // Do we have to add ev_vel here?
+				&& (_control_status.flags.gps || (_control_status.flags.ev_pos && _control_status.flags.yaw_align));
 }
 
 void Ekf::checkMagBiasObservability()
@@ -324,20 +275,6 @@ void Ekf::checkMagDeclRequired()
 	_control_status.flags.mag_dec = (_control_status.flags.mag_3D && (not_using_ne_aiding || user_selected));
 }
 
-void Ekf::checkMagInhibition()
-{
-	_is_yaw_fusion_inhibited = shouldInhibitMag();
-
-	if (!_is_yaw_fusion_inhibited) {
-		_mag_use_not_inhibit_us = _imu_sample_delayed.time_us;
-	}
-
-	// If magnetometer use has been inhibited continuously then a yaw reset is required for a valid heading
-	if (uint32_t(_imu_sample_delayed.time_us - _mag_use_not_inhibit_us) > (uint32_t)5e6) {
-		_mag_inhibit_yaw_reset_req = true;
-	}
-}
-
 bool Ekf::shouldInhibitMag() const
 {
 	// If the user has selected auto protection against indoor magnetic field errors, only use the magnetometer
@@ -347,9 +284,7 @@ bool Ekf::shouldInhibitMag() const
 	// has explicitly stopped magnetometer use.
 	const bool user_selected = (_params.mag_fusion_type == MagFuseType::INDOOR);
 
-	const bool heading_not_required_for_navigation = !_control_status.flags.gps
-			&& !_control_status.flags.ev_pos
-			&& !_control_status.flags.ev_vel;
+	const bool heading_not_required_for_navigation = !_control_status.flags.gps;
 
 	return (user_selected && heading_not_required_for_navigation) || _control_status.flags.mag_field_disturbed;
 }
@@ -384,7 +319,7 @@ void Ekf::runMagAndMagDeclFusions(const Vector3f &mag)
 	if (_control_status.flags.mag_3D) {
 		run3DMagAndDeclFusions(mag);
 
-	} else if (_control_status.flags.mag_hdg && !_is_yaw_fusion_inhibited) {
+	} else if (_control_status.flags.mag_hdg && !shouldInhibitMag()) {
 		// Rotate the measurements into earth frame using the zero yaw angle
 		Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth);
 
@@ -408,7 +343,7 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
 	// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
 	// before they are used to constrain heading drift
 	const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6)
-			&& !_control_status.flags.mag_fault && !_control_status.flags.mag_field_disturbed;
+				       && !_control_status.flags.mag_fault && !_control_status.flags.mag_field_disturbed;
 
 	if (!_mag_decl_cov_reset) {
 		// After any magnetic field covariance reset event the earth field state
@@ -430,3 +365,69 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
 		}
 	}
 }
+
+bool Ekf::resetMagStates()
+{
+	bool reset = false;
+
+	// reinit mag states
+	const bool mag_available = (_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000);
+
+	// if world magnetic model (inclination, declination, strength) available then use it to reset mag states
+	if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) {
+		// use predicted earth field to reset states
+		const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps,
+						     _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0);
+		_state.mag_I = mag_earth_pred;
+
+		// TODO: ECL_DEBUG
+		ECL_INFO("resetting mag I to [%.3f, %.3f, %.3f]",
+			 (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2));
+
+		if (mag_available) {
+			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
+			_state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred);
+
+			// TODO: ECL_DEBUG
+			ECL_INFO("resetting mag B to [%.3f, %.3f, %.3f]",
+				 (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2));
+
+		} else {
+			_state.mag_B.zero();
+		}
+
+		reset = true;
+
+	} else if (mag_available) {
+		// Use the last magnetometer measurements to reset the field states
+
+		// calculate initial earth magnetic field states
+		_state.mag_I = _R_to_earth * _mag_lpf.getState();
+		_state.mag_B.zero();
+
+		// TODO: ECL_DEBUG
+		ECL_INFO("resetting mag I to [%.3f, %.3f, %.3f]",
+			 (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2));
+
+		reset = true;
+	}
+
+	if (reset) {
+		resetMagCov();
+
+		if (mag_available) {
+			if (_control_status.flags.in_air) {
+				// record the start time for the magnetic field alignment
+				_flt_mag_align_start_time = _imu_sample_delayed.time_us;
+				_control_status.flags.mag_aligned_in_flight = true;
+			}
+
+			// clear any pending resets
+			_mag_yaw_reset_req = false;
+		}
+
+		return true;
+	}
+
+	return false;
+}

src/modules/ekf2/EKF/optical_flow_control.cpp

@@ -50,6 +50,7 @@ void Ekf::controlOpticalFlowFusion()
 
 	// Accumulate autopilot gyro data across the same time interval as the flow sensor
 	const Vector3f delta_angle(_imu_sample_delayed.delta_ang - (getGyroBias() * _imu_sample_delayed.delta_ang_dt));
+
 	if (_delta_time_of < 0.1f) {
 		_imu_del_ang_of += delta_angle;
 		_delta_time_of += _imu_sample_delayed.delta_ang_dt;
@@ -142,10 +143,14 @@ void Ekf::controlOpticalFlowFusion()
 		const bool preflight_motion_not_ok = !_control_status.flags.in_air
 						     && ((_imu_sample_delayed.time_us > (_time_good_motion_us + (uint64_t)1E5))
 								     || (_imu_sample_delayed.time_us < (_time_bad_motion_us + (uint64_t)5E6)));
+
 		const bool flight_condition_not_ok = _control_status.flags.in_air && !isTerrainEstimateValid();
 
+		const bool starting_conditions_passing = (_flow_sample_delayed.quality >= _params.flow_qual_min)
+				&& isTerrainEstimateValid();
+
 		const bool inhibit_flow_use = ((preflight_motion_not_ok || flight_condition_not_ok) && !is_flow_required)
-				    || !_control_status.flags.tilt_align;
+					      || !_control_status.flags.tilt_align;
 
 		// Handle cases where we are using optical flow but we should not use it anymore
 		if (_control_status.flags.opt_flow) {
@@ -160,7 +165,8 @@ void Ekf::controlOpticalFlowFusion()
 		// optical flow fusion mode selection logic
 		if ((_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW) // optical flow has been selected by the user
 		    && !_control_status.flags.opt_flow // we are not yet using flow data
-		    && !inhibit_flow_use) {
+		    && !inhibit_flow_use
+		    && starting_conditions_passing) {
 
 			// set the flag and reset the fusion timeout
 			ECL_INFO("starting optical flow fusion");
@@ -195,7 +201,7 @@ void Ekf::controlOpticalFlowFusion()
 			if (_imu_sample_delayed.time_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) {
 				// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
 				// but use a relaxed time criteria to enable it to coast through bad range finder data
-				if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
+				if (isRecent(_time_last_hagl_fuse, (uint64_t)5e6)) {
 					fuseOptFlow();
 					_last_known_pos.xy() = _state.pos.xy();
 				}
@@ -204,8 +210,10 @@ void Ekf::controlOpticalFlowFusion()
 			}
 
 			// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
-			if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)
-			    && !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
+			if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)
+			    && !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)
+			    && isRecent(_time_last_hagl_fuse, (uint64_t)5e6)
+			   ) {
 
 				ECL_INFO("reset velocity to flow");
 				_information_events.flags.reset_vel_to_flow = true;

src/modules/ekf2/EKF/position_bias_estimator.hpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file position_bias_estimator.hpp
+ */
+
+#pragma once
+
+#include "bias_estimator.hpp"
+
+class PositionBiasEstimator
+{
+public:
+	PositionBiasEstimator(uint8_t sensor, const uint8_t &sensor_ref):
+		_sensor(sensor),
+		_sensor_ref(sensor_ref)
+	{}
+	virtual ~PositionBiasEstimator() = default;
+
+	bool fusionActive() const { return _is_sensor_fusion_active; }
+
+	void setFusionActive() { _is_sensor_fusion_active = true; }
+	void setFusionInactive() { _is_sensor_fusion_active = false; }
+
+	void predict(float dt)
+	{
+		if ((_sensor_ref != _sensor) && _is_sensor_fusion_active) {
+			_bias[0].predict(dt);
+			_bias[1].predict(dt);
+		}
+	}
+
+	void fuseBias(Vector2f bias, Vector2f bias_var)
+	{
+		if ((_sensor_ref != _sensor) && _is_sensor_fusion_active) {
+			_bias[0].fuseBias(bias(0), bias_var(0));
+			_bias[1].fuseBias(bias(1), bias_var(1));
+		}
+	}
+
+	void setBias(const Vector2f &bias)
+	{
+		_bias[0].setBias(bias(0));
+		_bias[1].setBias(bias(1));
+	}
+
+	void setProcessNoiseSpectralDensity(float nsd)
+	{
+		_bias[0].setProcessNoiseSpectralDensity(nsd);
+		_bias[1].setProcessNoiseSpectralDensity(nsd);
+	}
+	// void setBiasStdDev(float state_noise) { _state_var = state_noise * state_noise; }
+	// void setInnovGate(float gate_size) { _gate_size = gate_size; }
+
+	void setMaxStateNoise(const Vector2f &max_noise)
+	{
+		_bias[0].setMaxStateNoise(max_noise(0));
+		_bias[1].setMaxStateNoise(max_noise(1));
+	}
+
+	Vector2f getBias() const { return Vector2f(_bias[0].getBias(), _bias[1].getBias()); }
+	float getBias(int index) const { return _bias[index].getBias(); }
+
+	Vector2f getBiasVar() const { return Vector2f(_bias[0].getBiasVar(), _bias[1].getBiasVar()); }
+	float getBiasVar(int index) const { return _bias[index].getBiasVar(); }
+
+	const BiasEstimator::status &getStatus(int index) const { return _bias[index].getStatus(); }
+
+	void reset()
+	{
+		_bias[0].reset();
+		_bias[1].reset();
+	}
+
+private:
+	BiasEstimator _bias[2] {};
+
+	const uint8_t _sensor;
+	const uint8_t &_sensor_ref;
+
+	bool _is_sensor_fusion_active{false}; // TODO: replace by const ref and remove setter when migrating _control_status.flags from union to bool
+};

src/modules/ekf2/EKF/range_height_control.cpp

@@ -163,7 +163,7 @@ bool Ekf::isConditionalRangeAidSuitable()
 		float range_hagl_max = _params.max_hagl_for_range_aid;
 		float max_vel_xy = _params.max_vel_for_range_aid;
 
-		const float hagl_test_ratio = (_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var));
+		const float hagl_test_ratio = (sq(_hagl_innov) / (sq(_params.range_aid_innov_gate) * _hagl_innov_var));
 
 		bool is_hagl_stable = (hagl_test_ratio < 1.f);
 
@@ -174,7 +174,6 @@ bool Ekf::isConditionalRangeAidSuitable()
 		}
 
 		const float range_hagl = _terrain_vpos - _state.pos(2);
-
 		const bool is_in_range = (range_hagl < range_hagl_max);
 
 		bool is_below_max_speed = true;

src/modules/ekf2/EKF2.cpp

@@ -125,6 +125,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
 	_param_ekf2_ev_ctrl(_params->ev_ctrl),
 	_param_ekf2_ev_qmin(_params->ev_quality_minimum),
+	_param_ekf2_evp_noise(_params->ev_pos_noise),
 	_param_ekf2_evv_noise(_params->ev_vel_noise),
 	_param_ekf2_eva_noise(_params->ev_att_noise),
 	_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
@@ -206,23 +207,67 @@ bool EKF2::multi_init(int imu, int mag)
 {
 	// advertise all topics to ensure consistent uORB instance numbering
 	_ekf2_timestamps_pub.advertise();
-	_estimator_baro_bias_pub.advertise();
-	_estimator_ev_hgt_bias_pub.advertise();
 	_estimator_event_flags_pub.advertise();
-	_estimator_gnss_hgt_bias_pub.advertise();
-	_estimator_gps_status_pub.advertise();
 	_estimator_innovation_test_ratios_pub.advertise();
 	_estimator_innovation_variances_pub.advertise();
 	_estimator_innovations_pub.advertise();
 	_estimator_optical_flow_vel_pub.advertise();
-	_estimator_rng_hgt_bias_pub.advertise();
 	_estimator_sensor_bias_pub.advertise();
 	_estimator_states_pub.advertise();
 	_estimator_status_flags_pub.advertise();
 	_estimator_status_pub.advertise();
-	_estimator_visual_odometry_aligned_pub.advertise();
 	_yaw_est_pub.advertise();
 
+	// baro advertise
+	if (_param_ekf2_baro_ctrl.get()) {
+		_estimator_aid_src_baro_hgt_pub.advertise();
+		_estimator_baro_bias_pub.advertise();
+	}
+
+	// EV advertise
+	if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VPOS)) {
+		_estimator_aid_src_ev_hgt_pub.advertise();
+		_estimator_ev_pos_bias_pub.advertise();
+	}
+
+	if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::HPOS)) {
+		_estimator_aid_src_ev_pos_pub.advertise();
+		_estimator_ev_pos_bias_pub.advertise();
+	}
+
+	if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VEL)) {
+		_estimator_aid_src_ev_vel_pub.advertise();
+	}
+
+	if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::YAW)) {
+		_estimator_aid_src_ev_yaw_pub.advertise();
+	}
+
+	// GNSS advertise
+	if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VPOS)) {
+		_estimator_aid_src_gnss_hgt_pub.advertise();
+		_estimator_gnss_hgt_bias_pub.advertise();
+	}
+
+	if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::HPOS)) {
+		_estimator_aid_src_gnss_pos_pub.advertise();
+		_estimator_gps_status_pub.advertise();
+	}
+
+	if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VEL)) {
+		_estimator_aid_src_gnss_vel_pub.advertise();
+	}
+
+	if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::YAW)) {
+		_estimator_aid_src_gnss_yaw_pub.advertise();
+	}
+
+	// RNG advertise
+	if (_param_ekf2_rng_ctrl.get()) {
+		_estimator_aid_src_rng_hgt_pub.advertise();
+		_estimator_rng_hgt_bias_pub.advertise();
+	}
+
 	_attitude_pub.advertise();
 	_local_position_pub.advertise();
 	_global_position_pub.advertise();
@@ -591,14 +636,12 @@ void EKF2::Run()
 		UpdateAirspeedSample(ekf2_timestamps);
 		UpdateAuxVelSample(ekf2_timestamps);
 		UpdateBaroSample(ekf2_timestamps);
+		UpdateExtVisionSample(ekf2_timestamps);
 		UpdateFlowSample(ekf2_timestamps);
 		UpdateGpsSample(ekf2_timestamps);
 		UpdateMagSample(ekf2_timestamps);
 		UpdateRangeSample(ekf2_timestamps);
 
-		vehicle_odometry_s ev_odom;
-		const bool new_ev_odom = UpdateExtVisionSample(ekf2_timestamps, ev_odom);
-
 		// run the EKF update and output
 		const hrt_abstime ekf_update_start = hrt_absolute_time();
 
@@ -614,7 +657,7 @@ void EKF2::Run()
 			PublishBaroBias(now);
 			PublishGnssHgtBias(now);
 			PublishRngHgtBias(now);
-			PublishEvHgtBias(now);
+			PublishEvPosBias(now);
 			PublishEventFlags(now);
 			PublishGpsStatus(now);
 			PublishInnovations(now);
@@ -638,11 +681,6 @@ void EKF2::Run()
 			perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start));
 		}
 
-		// publish external visual odometry after fixed frame alignment if new odometry is received
-		if (new_ev_odom) {
-			PublishOdometryAligned(now, ev_odom);
-		}
-
 		// publish ekf2_timestamps
 		_ekf2_timestamps_pub.publish(ekf2_timestamps);
 	}
@@ -711,12 +749,32 @@ void EKF2::VerifyParams()
 	}
 
 	// EV EKF2_AID_MASK -> EKF2_EV_CTRL
-	if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)) {
+	if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)
+	    || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)
+	    || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)
+	   ) {
 
-		_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VEL));
-		_param_ekf2_ev_ctrl.commit();
+		// EKF2_EV_CTRL set VEL bit
+		if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)) {
+			_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VEL));
+		}
+
+		// EKF2_EV_CTRL set HPOS/VPOS bits
+		if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)) {
+			_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get()
+						| static_cast<int32_t>(EvCtrl::HPOS) | static_cast<int32_t>(EvCtrl::VPOS));
+		}
+
+		// EKF2_EV_CTRL set YAW bit
+		if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)) {
+			_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::YAW));
+		}
 
 		_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL));
+		_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS));
+		_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW));
+
+		_param_ekf2_ev_ctrl.commit();
 		_param_ekf2_aid_mask.commit();
 
 		mavlink_log_critical(&_mavlink_log_pub, "EKF2 EV use EKF2_EV_CTRL instead of EKF2_AID_MASK\n");
@@ -832,15 +890,35 @@ void EKF2::PublishRngHgtBias(const hrt_abstime &timestamp)
 	}
 }
 
-void EKF2::PublishEvHgtBias(const hrt_abstime &timestamp)
+void EKF2::PublishEvPosBias(const hrt_abstime &timestamp)
 {
-	if (_ekf.get_ev_sample_delayed().time_us != 0) {
-		const BiasEstimator::status &status = _ekf.getEvHgtBiasEstimatorStatus();
+	if (_ekf.aid_src_ev_hgt().timestamp_sample) {
 
-		if (fabsf(status.bias - _last_ev_hgt_bias_published) > 0.001f) {
-			_estimator_ev_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_ev_sample_delayed().time_us, timestamp));
+		estimator_bias3d_s bias{};
 
-			_last_ev_hgt_bias_published = status.bias;
+		// height
+		BiasEstimator::status bias_est_status[3];
+		bias_est_status[0] = _ekf.getEvPosBiasEstimatorStatus(0);
+		bias_est_status[1] = _ekf.getEvPosBiasEstimatorStatus(1);
+		bias_est_status[2] = _ekf.getEvHgtBiasEstimatorStatus();
+
+		for (int i = 0; i < 3; i++) {
+			bias.bias[i] = bias_est_status[i].bias;
+			bias.bias_var[i] = bias_est_status[i].bias_var;
+
+			bias.innov[i] = bias_est_status[i].innov;
+			bias.innov_var[i] = bias_est_status[i].innov_var;
+			bias.innov_test_ratio[i] = bias_est_status[i].innov_test_ratio;
+		}
+
+		const Vector3f bias_vec{bias.bias};
+
+		if ((bias_vec - _last_ev_bias_published).longerThan(0.01f)) {
+			bias.timestamp_sample = _ekf.aid_src_ev_hgt().timestamp_sample;
+			bias.timestamp = hrt_absolute_time();
+			_estimator_ev_pos_bias_pub.publish(bias);
+
+			_last_ev_bias_published = Vector3f(bias.bias);
 		}
 	}
 }
@@ -1248,43 +1326,6 @@ void EKF2::PublishOdometry(const hrt_abstime &timestamp)
 	_odometry_pub.publish(odom);
 }
 
-void EKF2::PublishOdometryAligned(const hrt_abstime &timestamp, const vehicle_odometry_s &ev_odom)
-{
-	const Quatf quat_ev2ekf = _ekf.getVisionAlignmentQuaternion(); // rotates from EV to EKF navigation frame
-	const Dcmf ev_rot_mat(quat_ev2ekf);
-
-	vehicle_odometry_s aligned_ev_odom{ev_odom};
-
-	// Rotate external position and velocity into EKF navigation frame
-	const Vector3f aligned_pos = ev_rot_mat * Vector3f(ev_odom.position);
-	aligned_pos.copyTo(aligned_ev_odom.position);
-
-	switch (ev_odom.velocity_frame) {
-	case vehicle_odometry_s::VELOCITY_FRAME_BODY_FRD: {
-			const Vector3f aligned_vel = Dcmf(_ekf.getQuaternion()) * Vector3f(ev_odom.velocity);
-			aligned_vel.copyTo(aligned_ev_odom.velocity);
-			break;
-		}
-
-	case vehicle_odometry_s::VELOCITY_FRAME_FRD: {
-			const Vector3f aligned_vel = ev_rot_mat * Vector3f(ev_odom.velocity);
-			aligned_vel.copyTo(aligned_ev_odom.velocity);
-			break;
-		}
-	}
-
-	aligned_ev_odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED;
-
-	// Compute orientation in EKF navigation frame
-	Quatf ev_quat_aligned = quat_ev2ekf * Quatf(ev_odom.q);
-	ev_quat_aligned.normalize();
-
-	ev_quat_aligned.copyTo(aligned_ev_odom.q);
-
-	aligned_ev_odom.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
-	_estimator_visual_odometry_aligned_pub.publish(aligned_ev_odom);
-}
-
 void EKF2::PublishSensorBias(const hrt_abstime &timestamp)
 {
 	// estimator_sensor_bias
@@ -1738,12 +1779,14 @@ void EKF2::UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps)
 	}
 }
 
-bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odometry_s &ev_odom)
+bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps)
 {
 	// EKF external vision sample
 	bool new_ev_odom = false;
 	const unsigned last_generation = _ev_odom_sub.get_last_generation();
 
+	vehicle_odometry_s ev_odom;
+
 	if (_ev_odom_sub.update(&ev_odom)) {
 		if (_msg_missed_odometry_perf == nullptr) {
 			_msg_missed_odometry_perf = perf_alloc(PC_COUNT, MODULE_NAME": vehicle_visual_odometry messages missed");
@@ -1802,38 +1845,38 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
 		}
 
 		// check for valid position data
-		if (Vector3f(ev_odom.position).isAllFinite()) {
-			bool position_valid = true;
+		const Vector3f ev_odom_pos(ev_odom.position);
+		const Vector3f ev_odom_pos_var(ev_odom.position_variance);
 
-			// switch (ev_odom.pose_frame) {
-			// case vehicle_odometry_s::POSE_FRAME_NED:
-			// 	ev_data.pos_frame = PositionFrame::LOCAL_FRAME_NED;
-			// 	break;
+		if (ev_odom_pos.isAllFinite()) {
+			bool position_frame_valid = false;
 
-			// case vehicle_odometry_s::POSE_FRAME_FRD:
-			// 	ev_data.pos_frame = PositionFrame::LOCAL_FRAME_FRD;
-			// 	break;
+			switch (ev_odom.pose_frame) {
+			case vehicle_odometry_s::POSE_FRAME_NED:
+				ev_data.pos_frame = PositionFrame::LOCAL_FRAME_NED;
+				position_frame_valid = true;
+				break;
 
-			// default:
-			// 	position_valid = false;
-			// 	break;
-			// }
+			case vehicle_odometry_s::POSE_FRAME_FRD:
+				ev_data.pos_frame = PositionFrame::LOCAL_FRAME_FRD;
+				position_frame_valid = true;
+				break;
+			}
 
-			if (position_valid) {
-				ev_data.pos(0) = ev_odom.position[0];
-				ev_data.pos(1) = ev_odom.position[1];
-				ev_data.pos(2) = ev_odom.position[2];
+			if (position_frame_valid) {
+				ev_data.pos = ev_odom_pos;
 
 				const float evp_noise_var = sq(_param_ekf2_evp_noise.get());
 
 				// position measurement error from ev_data or parameters
-				if (!_param_ekf2_ev_noise_md.get() && Vector3f(ev_odom.position_variance).isAllFinite()) {
-					ev_data.posVar(0) = fmaxf(evp_noise_var, ev_odom.position_variance[0]);
-					ev_data.posVar(1) = fmaxf(evp_noise_var, ev_odom.position_variance[1]);
-					ev_data.posVar(2) = fmaxf(evp_noise_var, ev_odom.position_variance[2]);
+				if ((_param_ekf2_ev_noise_md.get() == 0) && ev_odom_pos_var.isAllFinite()) {
+
+					ev_data.position_var(0) = fmaxf(evp_noise_var, ev_odom_pos_var(0));
+					ev_data.position_var(1) = fmaxf(evp_noise_var, ev_odom_pos_var(1));
+					ev_data.position_var(2) = fmaxf(evp_noise_var, ev_odom_pos_var(2));
 
 				} else {
-					ev_data.posVar.setAll(evp_noise_var);
+					ev_data.position_var.setAll(evp_noise_var);
 				}
 
 				new_ev_odom = true;

src/modules/ekf2/EKF2.hpp

@@ -69,6 +69,7 @@
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/ekf2_timestamps.h>
 #include <uORB/topics/estimator_bias.h>
+#include <uORB/topics/estimator_bias3d.h>
 #include <uORB/topics/estimator_event_flags.h>
 #include <uORB/topics/estimator_gps_status.h>
 #include <uORB/topics/estimator_innovations.h>
@@ -142,7 +143,7 @@ private:
 	void PublishBaroBias(const hrt_abstime &timestamp);
 	void PublishGnssHgtBias(const hrt_abstime &timestamp);
 	void PublishRngHgtBias(const hrt_abstime &timestamp);
-	void PublishEvHgtBias(const hrt_abstime &timestamp);
+	void PublishEvPosBias(const hrt_abstime &timestamp);
 	estimator_bias_s fillEstimatorBiasMsg(const BiasEstimator::status &status, uint64_t timestamp_sample_us,
 					      uint64_t timestamp, uint32_t device_id = 0);
 	void PublishEventFlags(const hrt_abstime &timestamp);
@@ -165,7 +166,7 @@ private:
 	void UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps);
 	void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps);
 	void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
-	bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odometry_s &ev_odom);
+	bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps);
 	bool UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps);
 	void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
 	void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps);
@@ -290,7 +291,7 @@ private:
 	float _last_baro_bias_published{};
 	float _last_gnss_hgt_bias_published{};
 	float _last_rng_hgt_bias_published{};
-	float _last_ev_hgt_bias_published{};
+	matrix::Vector3f _last_ev_bias_published{};
 
 	float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
 	hrt_abstime _airspeed_validated_timestamp_last{0};
@@ -339,7 +340,7 @@ private:
 	uORB::PublicationMulti<estimator_bias_s>             _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
 	uORB::PublicationMulti<estimator_bias_s>             _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)};
 	uORB::PublicationMulti<estimator_bias_s>             _estimator_rng_hgt_bias_pub{ORB_ID(estimator_rng_hgt_bias)};
-	uORB::PublicationMulti<estimator_bias_s>             _estimator_ev_hgt_bias_pub{ORB_ID(estimator_ev_hgt_bias)};
+	uORB::PublicationMulti<estimator_bias3d_s>           _estimator_ev_pos_bias_pub{ORB_ID(estimator_ev_pos_bias)};
 	uORB::PublicationMultiData<estimator_event_flags_s>  _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
 	uORB::PublicationMulti<estimator_gps_status_s>       _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
@@ -349,7 +350,6 @@ private:
 	uORB::PublicationMulti<estimator_states_s>           _estimator_states_pub{ORB_ID(estimator_states)};
 	uORB::PublicationMulti<estimator_status_flags_s>     _estimator_status_flags_pub{ORB_ID(estimator_status_flags)};
 	uORB::PublicationMulti<estimator_status_s>           _estimator_status_pub{ORB_ID(estimator_status)};
-	uORB::PublicationMulti<vehicle_odometry_s>           _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
 	uORB::PublicationMulti<vehicle_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
 
@@ -524,7 +524,7 @@ private:
 		(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
 		_param_ekf2_ev_noise_md,	///< determine source of vision observation noise
 		(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
-		(ParamFloat<px4::params::EKF2_EVP_NOISE>)
+		(ParamExtFloat<px4::params::EKF2_EVP_NOISE>)
 		_param_ekf2_evp_noise,	///< default position observation noise for exernal vision measurements (m)
 		(ParamExtFloat<px4::params::EKF2_EVV_NOISE>)
 		_param_ekf2_evv_noise,	///< default velocity observation noise for exernal vision measurements (m/s)

src/modules/ekf2/Utility/PreFlightChecker.cpp

@@ -73,20 +73,35 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
 {
 	bool has_failed = false;
 
-	if (_is_using_gps_aiding || _is_using_ev_vel_aiding) {
-		const Vector2f vel_ne_innov = Vector2f(fmaxf(fabsf(innov.gps_hvel[0]), fabsf(innov.ev_hvel[0])),
-						       fmaxf(fabsf(innov.gps_hvel[1]), fabsf(innov.ev_hvel[1])));
-		Vector2f vel_ne_innov_lpf;
-		vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim);
-		vel_ne_innov_lpf(1) = _filter_vel_n_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
+	if (_is_using_gps_aiding) {
+		const Vector2f vel_ne_innov{fabsf(innov.gps_hvel[0]), fabsf(innov.gps_hvel[1])};
+
+		const Vector2f vel_ne_innov_lpf {
+			_filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim),
+			_filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim)
+		};
+
+		has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
+	}
+
+	if (_is_using_ev_vel_aiding) {
+		const Vector2f vel_ne_innov{fabsf(innov.ev_hvel[0]), fabsf(innov.ev_hvel[1])};
+
+		const Vector2f vel_ne_innov_lpf {
+			_filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim),
+			_filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim)
+		};
+
 		has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
 	}
 
 	if (_is_using_flow_aiding) {
-		const Vector2f flow_innov = Vector2f(innov.flow);
-		Vector2f flow_innov_lpf;
-		flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
-		flow_innov_lpf(1) = _filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
+		const Vector2f flow_innov(innov.flow);
+		const Vector2f flow_innov_lpf{
+			_filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim),
+			_filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim)
+		};
+
 		has_failed |= checkInnov2DFailed(flow_innov_lpf, flow_innov, _flow_innov_test_lim, 5.f * _flow_innov_spike_lim);
 	}
 
@@ -95,9 +110,21 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
 
 bool PreFlightChecker::preFlightCheckVertVelFailed(const estimator_innovations_s &innov, const float alpha)
 {
-	const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel));     // only temporary solution
-	const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
-	return checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
+	bool has_failed = false;
+
+	if (_is_using_gps_aiding) {
+		const float vel_d_innov = fabsf(innov.gps_vvel);
+		const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
+		has_failed |= checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
+	}
+
+	if (_is_using_ev_vel_aiding) {
+		const float vel_d_innov = fabsf(innov.ev_vvel);
+		const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
+		has_failed |= checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
+	}
+
+	return has_failed;
 }
 
 bool PreFlightChecker::preFlightCheckHeightFailed(const estimator_innovations_s &innov, const float alpha)

src/modules/ekf2/ekf2_params.c

@@ -603,10 +603,10 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
  * 0 : Deprecated, use EKF2_GPS_CTRL instead
  * 1 : Set to true to use optical flow data if available
  * 2 : Set to true to inhibit IMU delta velocity bias estimation
- * 3 : Set to true to enable vision position fusion
- * 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true.
+ * 3 : Deprecated, use EKF2_EV_CTRL instead
+ * 4 : Deprecated, use EKF2_EV_CTRL instead
  * 5 : Set to true to enable multi-rotor drag specific force fusion
- * 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used
+ * 6 : Deprecated, use EKF2_EV_CTRL instead
  * 7 : Deprecated, use EKF2_GPS_CTRL instead
  * 3 : Deprecated, use EKF2_EV_CTRL instead
  *
@@ -616,10 +616,10 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
  * @bit 0 unused
  * @bit 1 use optical flow
  * @bit 2 inhibit IMU bias estimation
- * @bit 3 vision position fusion
- * @bit 4 vision yaw fusion
+ * @bit 3 unused
+ * @bit 4 unused
  * @bit 5 multi-rotor drag fusion
- * @bit 6 rotate external vision
+ * @bit 6 unused
  * @bit 7 unused
  * @bit 8 unused
  * @reboot_required true
@@ -841,7 +841,7 @@ PARAM_DEFINE_FLOAT(EKF2_EVV_NOISE, 0.1f);
  * @unit rad
  * @decimal 2
  */
-PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.05f);
+PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.1f);
 
 /**
  * Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
@@ -1146,10 +1146,10 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
  *
  * @group EKF2
  * @min 0.1
- * @max 2
+ * @max 3
  * @unit m/s
  */
-PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f);
+PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 2.0f);
 
 /**
  * Maximum absolute altitude (height above ground level) allowed for conditional range aid mode.

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -63,329 +63,329 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 6090000,1,-0.0095,-0.011,-0.022,0.0053,0.0052,-0.011,0.0021,0.00027,-3.7e+02,-1.6e-05,-5.6e-05,4.3e-07,0,0,1.4e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1.5e-07,0.00038,0.00038,0.00016,0.23,0.23,7,0.1,0.1,0.33,1.8e-08,1.8e-08,5.3e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
 6190000,1,-0.0095,-0.011,-0.022,0.0056,0.0072,-0.005,0.0027,0.00092,-3.7e+02,-1.6e-05,-5.6e-05,4.3e-07,0,0,-1.1e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1.6e-07,0.00041,0.00041,0.00016,0.27,0.27,4.9,0.13,0.13,0.32,1.8e-08,1.8e-08,5e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
 6290000,1,-0.0095,-0.011,-0.022,0.0071,0.0075,-0.012,0.0033,0.0016,-3.7e+02,-1.6e-05,-5.6e-05,4.3e-07,0,0,-1.9e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1.6e-07,0.00043,0.00043,0.00016,0.31,0.31,3.2,0.17,0.17,0.3,1.8e-08,1.8e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6390000,0.71,0.0014,-0.014,0.71,0.0048,0.0076,-0.05,0.0025,0.0017,-3.7e+02,-1.6e-05,-5.6e-05,4.3e-07,0,0,4e-07,0.21,0.0021,0.44,0,0,0,0,0,0.00076,0.00034,0.00034,0.00085,0.22,0.22,2.3,0.13,0.13,0.29,1.4e-08,1.5e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6490000,0.71,0.0014,-0.014,0.71,0.0043,0.0083,-0.052,0.0029,0.0025,-3.7e+02,-1.6e-05,-5.6e-05,4.1e-07,0,0,-8.7e-08,0.21,0.0021,0.44,0,0,0,0,0,0.00051,0.00034,0.00034,0.00056,0.22,0.22,1.5,0.16,0.16,0.26,1.4e-08,1.5e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6590000,0.71,0.0015,-0.014,0.71,0.0036,0.0085,-0.099,0.0034,0.0033,-3.7e+02,-1.6e-05,-5.6e-05,3.6e-07,0,0,1.7e-06,0.21,0.0021,0.44,0,0,0,0,0,0.00039,0.00034,0.00034,0.00043,0.23,0.23,1.1,0.19,0.19,0.23,1.4e-08,1.4e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6690000,0.7,0.0015,-0.014,0.71,0.0037,0.0095,-0.076,0.0037,0.0042,-3.7e+02,-1.6e-05,-5.6e-05,3e-07,0,0,-1.5e-06,0.21,0.0021,0.44,0,0,0,0,0,0.00031,0.00034,0.00034,0.00035,0.24,0.24,0.78,0.23,0.23,0.21,1.4e-08,1.4e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6790000,0.71,0.0015,-0.014,0.71,0.0021,0.0095,-0.11,0.004,0.0052,-3.7e+02,-1.6e-05,-5.6e-05,3.3e-07,0,0,8.5e-07,0.21,0.0021,0.44,0,0,0,0,0,0.00027,0.00034,0.00034,0.0003,0.25,0.25,0.6,0.28,0.28,0.2,1.4e-08,1.4e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6890000,0.71,0.0015,-0.014,0.71,-0.00021,0.01,-0.12,0.0041,0.0062,-3.7e+02,-1.6e-05,-5.6e-05,3.4e-07,0,0,3.4e-07,0.21,0.0021,0.44,0,0,0,0,0,0.00024,0.00035,0.00035,0.00026,0.26,0.26,0.46,0.33,0.33,0.18,1.4e-08,1.4e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-6990000,0.7,0.0016,-0.014,0.71,-0.00055,0.011,-0.12,0.004,0.0072,-3.7e+02,-1.6e-05,-5.6e-05,1.6e-07,0,0,-2.7e-06,0.21,0.0021,0.44,0,0,0,0,0,0.00021,0.00035,0.00035,0.00023,0.28,0.28,0.36,0.38,0.38,0.16,1.4e-08,1.4e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
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src/modules/ekf2/test/change_indication/iris_gps.csv

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src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -77,6 +77,7 @@ void EkfWrapper::setExternalVisionHeightRef()
 
 void EkfWrapper::enableExternalVisionHeightFusion()
 {
+	_ekf_params->ev_ctrl |= static_cast<int32_t>(EvCtrl::VPOS);
 	setExternalVisionHeightRef(); // TODO: replace by EV control parameter
 }
 
@@ -137,12 +138,12 @@ void EkfWrapper::setFlowOffset(const Vector3f &offset)
 
 void EkfWrapper::enableExternalVisionPositionFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_POS;
+	_ekf_params->ev_ctrl |= static_cast<int32_t>(EvCtrl::HPOS);
 }
 
 void EkfWrapper::disableExternalVisionPositionFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_POS;
+	_ekf_params->ev_ctrl &= ~static_cast<int32_t>(EvCtrl::HPOS);
 }
 
 bool EkfWrapper::isIntendingExternalVisionPositionFusion() const
@@ -167,12 +168,12 @@ bool EkfWrapper::isIntendingExternalVisionVelocityFusion() const
 
 void EkfWrapper::enableExternalVisionHeadingFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_YAW;
+	_ekf_params->ev_ctrl |= static_cast<int32_t>(EvCtrl::YAW);
 }
 
 void EkfWrapper::disableExternalVisionHeadingFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_YAW;
+	_ekf_params->ev_ctrl &= ~static_cast<int32_t>(EvCtrl::YAW);
 }
 
 bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
@@ -180,16 +181,6 @@ bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
 	return _ekf->control_status_flags().ev_yaw;
 }
 
-void EkfWrapper::enableExternalVisionAlignment()
-{
-	_ekf_params->fusion_mode |= SensorFusionMask::ROTATE_EXT_VIS;
-}
-
-void EkfWrapper::disableExternalVisionAlignment()
-{
-	_ekf_params->fusion_mode &= ~SensorFusionMask::ROTATE_EXT_VIS;
-}
-
 bool EkfWrapper::isIntendingMagHeadingFusion() const
 {
 	return _ekf->control_status_flags().mag_hdg;

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -98,9 +98,6 @@ public:
 	bool isIntendingMag3DFusion() const;
 	void setMagFuseTypeNone();
 
-	void enableExternalVisionAlignment();
-	void disableExternalVisionAlignment();
-
 	bool isWindVelocityEstimated() const;
 
 	void enableTerrainRngFusion();

src/modules/ekf2/test/sensor_simulator/vio.cpp

@@ -8,6 +8,7 @@ namespace sensor
 Vio::Vio(std::shared_ptr<Ekf> ekf): Sensor(ekf)
 {
 	_vio_data.vel_frame = VelocityFrame::LOCAL_FRAME_FRD;
+	_vio_data.pos_frame = PositionFrame::LOCAL_FRAME_FRD;
 }
 
 Vio::~Vio()
@@ -32,7 +33,7 @@ void Vio::setVelocityVariance(const Vector3f &velVar)
 
 void Vio::setPositionVariance(const Vector3f &posVar)
 {
-	_vio_data.posVar = posVar;
+	_vio_data.position_var = posVar;
 }
 
 void Vio::setAngularVariance(float angVar)
@@ -70,16 +71,27 @@ void Vio::setVelocityFrameToLocalNED()
 	_vio_data.vel_frame = VelocityFrame::LOCAL_FRAME_NED;
 }
 
+void Vio::setPositionFrameToLocalNED()
+{
+	_vio_data.pos_frame = PositionFrame::LOCAL_FRAME_NED;
+}
+
+void Vio::setPositionFrameToLocalFRD()
+{
+	_vio_data.pos_frame = PositionFrame::LOCAL_FRAME_FRD;
+}
+
 extVisionSample Vio::dataAtRest()
 {
 	extVisionSample vio_data;
-	vio_data.pos = Vector3f{0.0f, 0.0f, 0.0f};;
-	vio_data.vel = Vector3f{0.0f, 0.0f, 0.0f};;
+	vio_data.pos = Vector3f{0.0f, 0.0f, 0.0f};
+	vio_data.vel = Vector3f{0.0f, 0.0f, 0.0f};
 	vio_data.quat = Quatf{1.0f, 0.0f, 0.0f, 0.0f};
-	vio_data.posVar = Vector3f{0.1f, 0.1f, 0.1f};
+	vio_data.position_var = Vector3f{0.1f, 0.1f, 0.1f};
 	vio_data.velocity_var = Vector3f{0.1f, 0.1f, 0.1f};
 	vio_data.orientation_var(2) = 0.05f;
 	vio_data.vel_frame = VelocityFrame::LOCAL_FRAME_FRD;
+	vio_data.pos_frame = PositionFrame::LOCAL_FRAME_FRD;
 	return vio_data;
 }
 

src/modules/ekf2/test/sensor_simulator/vio.h

@@ -63,6 +63,9 @@ public:
 	void setVelocityFrameToLocalFRD();
 	void setVelocityFrameToBody();
 
+	void setPositionFrameToLocalNED();
+	void setPositionFrameToLocalFRD();
+
 	extVisionSample dataAtRest();
 
 private:

src/modules/ekf2/test/test_EKF_externalVision.cpp

@@ -78,6 +78,7 @@ TEST_F(EkfExternalVisionTest, checkVisionFusionLogic)
 {
 	_sensor_simulator.runSeconds(_tilt_align_time); // Let the tilt align
 	_ekf_wrapper.enableExternalVisionPositionFusion();
+	_sensor_simulator._vio.setPositionFrameToLocalNED();
 	_sensor_simulator.startExternalVision();
 	_sensor_simulator.runSeconds(2);
 
@@ -147,7 +148,6 @@ TEST_F(EkfExternalVisionTest, visionVelocityResetWithAlignment)
 	// WHEN: Vision frame is rotate +90°. The reported heading is -90°
 	Quatf vision_to_ekf(Eulerf(0.0f, 0.0f, math::radians(-90.0f)));
 	_sensor_simulator._vio.setOrientation(vision_to_ekf.inversed());
-	_ekf_wrapper.enableExternalVisionAlignment();
 
 	const Vector3f simulated_velocity_in_vision_frame(0.3f, -1.0f, 0.4f);
 	const Vector3f simulated_velocity_in_ekf_frame =
@@ -179,6 +179,7 @@ TEST_F(EkfExternalVisionTest, visionHorizontalPositionReset)
 	const Vector3f simulated_position(8.3f, -1.0f, 0.0f);
 
 	_sensor_simulator._vio.setPosition(simulated_position);
+	_sensor_simulator._vio.setPositionFrameToLocalNED();
 	_ekf_wrapper.enableExternalVisionPositionFusion();
 	_sensor_simulator.startExternalVision();
 	_sensor_simulator.runMicroseconds(2e5);
@@ -197,7 +198,6 @@ TEST_F(EkfExternalVisionTest, visionHorizontalPositionResetWithAlignment)
 	// WHEN: Vision frame is rotate +90°. The reported heading is -90°
 	Quatf vision_to_ekf(Eulerf(0.0f, 0.0f, math::radians(-90.0f)));
 	_sensor_simulator._vio.setOrientation(vision_to_ekf.inversed());
-	_ekf_wrapper.enableExternalVisionAlignment();
 
 	const Vector3f simulated_position_in_vision_frame(8.3f, -1.0f, 0.0f);
 	const Vector3f simulated_position_in_ekf_frame =
@@ -236,7 +236,6 @@ TEST_F(EkfExternalVisionTest, visionAlignment)
 	// WHEN: Vision frame is rotate +90°. The reported heading is -90°
 	Quatf externalVisionFrameOffset(Eulerf(0.0f, 0.0f, math::radians(90.0f)));
 	_sensor_simulator._vio.setOrientation(externalVisionFrameOffset.inversed());
-	_ekf_wrapper.enableExternalVisionAlignment();
 
 	// Simulate high uncertainty on vision x axis which is in this case
 	// the y EKF frame axis
@@ -254,9 +253,9 @@ TEST_F(EkfExternalVisionTest, visionAlignment)
 	EXPECT_TRUE(velVar_new(1) > velVar_new(0));
 
 	// THEN: the frame offset should be estimated correctly
-	Quatf estimatedExternalVisionFrameOffset = _ekf->getVisionAlignmentQuaternion();
-	EXPECT_TRUE(matrix::isEqual(externalVisionFrameOffset.canonical(),
-				    estimatedExternalVisionFrameOffset.canonical()));
+	// Quatf estimatedExternalVisionFrameOffset = _ekf->getVisionAlignmentQuaternion();
+	// EXPECT_TRUE(matrix::isEqual(externalVisionFrameOffset.canonical(),
+	// 			    estimatedExternalVisionFrameOffset.canonical()));
 }
 
 TEST_F(EkfExternalVisionTest, velocityFrameBody)
@@ -340,7 +339,6 @@ TEST_F(EkfExternalVisionTest, positionFrameLocal)
 	// WHEN: using EV yaw fusion and rotate EV is set
 	Quatf vision_to_ekf(Eulerf(0.0f, 0.0f, 0.f));
 	_sensor_simulator._vio.setOrientation(vision_to_ekf.inversed());
-	_ekf_wrapper.enableExternalVisionAlignment(); // ROTATE_EV
 	_ekf_wrapper.enableExternalVisionHeadingFusion(); // EV_YAW
 
 	// AND WHEN: using EV position aiding

src/modules/ekf2/test/test_EKF_yaw_estimator.cpp

@@ -106,10 +106,10 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
 	EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
 	EXPECT_LT(yaw_est_var, tolerance_rad);
 
-	// 2 resets: 1 after IMU+GNSS yaw alignment and 1 when starting GNSS aiding
+	// 1 reset when starting GNSS aiding
 	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(2));
-	EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(2));
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
 
 	EXPECT_TRUE(_ekf->local_position_is_valid());
 	EXPECT_TRUE(_ekf->global_position_is_valid());

src/modules/logger/logged_topics.cpp

@@ -144,27 +144,26 @@ void LoggedTopics::add_default_topics()
 #endif
 
 	// always add the first instance
-	add_topic("estimator_baro_bias", 500);
-	add_topic("estimator_gnss_hgt_bias", 500);
-	add_topic("estimator_rng_hgt_bias", 500);
-	add_topic("estimator_ev_hgt_bias", 500);
+	add_topic("estimator_baro_bias", 0);
+	add_topic("estimator_gnss_hgt_bias", 0);
+	add_topic("estimator_rng_hgt_bias", 0);
+	add_topic("estimator_ev_pos_bias", 0);
 	add_topic("estimator_event_flags", 0);
 	add_topic("estimator_gps_status", 1000);
-	add_topic("estimator_innovation_test_ratios", 500);
-	add_topic("estimator_innovation_variances", 500);
+	add_topic("estimator_innovation_test_ratios", 50);
+	add_topic("estimator_innovation_variances", 50);
 	add_topic("estimator_innovations", 500);
-	add_topic("estimator_optical_flow_vel", 200);
+	add_topic("estimator_optical_flow_vel", 0);
 	add_topic("estimator_sensor_bias", 0);
-	add_topic("estimator_states", 1000);
-	add_topic("estimator_status", 200);
+	add_topic("estimator_states", 10);
+	add_topic("estimator_status", 10);
 	add_topic("estimator_status_flags", 0);
-	add_topic("estimator_visual_odometry_aligned", 200);
-	add_topic("yaw_estimator_status", 1000);
+	add_topic("yaw_estimator_status", 100);
 
 	add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
-	add_optional_topic_multi("estimator_ev_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
@@ -175,7 +174,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
-	add_optional_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
 
 	// add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
@@ -194,6 +192,26 @@ void LoggedTopics::add_default_topics()
 	// add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
 	// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
 
+	// TODO: temporary
+	add_topic_multi("estimator_aid_src_airspeed", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_aux_vel", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_baro_hgt", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_ev_hgt", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_ev_pos", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_ev_vel", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_fake_hgt", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_fake_pos", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_gnss_hgt", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_gnss_pos", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_gnss_vel", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_gnss_yaw", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_mag", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_mag_heading", 10, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_rng_hgt", 0, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_aid_src_sideslip", 10, MAX_ESTIMATOR_INSTANCES);
+
 	// log all raw sensors at minimal rate (at least 1 Hz)
 	add_topic_multi("battery_status", 200, 2);
 	add_topic_multi("differential_pressure", 1000, 2);
@@ -204,13 +222,13 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("sensor_gnss_relative", 1000, 1);
 	add_optional_topic_multi("sensor_gyro", 1000, 4);
 	add_topic_multi("sensor_mag", 1000, 4);
-	add_topic_multi("sensor_optical_flow", 1000, 2);
+	add_topic_multi("sensor_optical_flow", 10, 2);
 
 	add_topic_multi("vehicle_imu", 500, 4);
 	add_topic_multi("vehicle_imu_status", 1000, 4);
 	add_optional_topic_multi("vehicle_magnetometer", 500, 4);
-	add_topic("vehicle_optical_flow", 500);
-	//add_optional_topic("vehicle_optical_flow_vel", 100);
+	add_topic("vehicle_optical_flow", 10);
+	add_optional_topic("vehicle_optical_flow_vel", 10);
 	add_optional_topic("pps_capture");
 
 	// additional control allocation logging
@@ -248,7 +266,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("estimator_baro_bias");
 	add_topic("estimator_gnss_hgt_bias");
 	add_topic("estimator_rng_hgt_bias");
-	add_topic("estimator_ev_hgt_bias");
+	add_topic("estimator_ev_pos_bias");
 	add_topic("estimator_event_flags");
 	add_topic("estimator_gps_status");
 	add_topic("estimator_innovation_test_ratios");
@@ -259,7 +277,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("estimator_states");
 	add_topic("estimator_status");
 	add_topic("estimator_status_flags");
-	add_topic("estimator_visual_odometry_aligned");
 	add_topic("vehicle_attitude");
 	add_topic("vehicle_global_position");
 	add_topic("vehicle_local_position");
@@ -281,7 +298,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
-	add_optional_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
 
@@ -324,13 +340,13 @@ void LoggedTopics::add_estimator_replay_topics()
 
 	// current EKF2 subscriptions
 	add_topic("airspeed");
-	add_topic("optical_flow");
 	add_topic("sensor_combined");
 	add_topic("sensor_selection");
 	add_topic("vehicle_air_data");
 	add_topic("vehicle_gps_position");
 	add_topic("vehicle_land_detected");
 	add_topic("vehicle_magnetometer");
+	add_topic("vehicle_optical_flow");
 	add_topic("vehicle_status");
 	add_topic("vehicle_visual_odometry");
 	add_topic_multi("distance_sensor");
@@ -358,7 +374,7 @@ void LoggedTopics::add_vision_and_avoidance_topics()
 	add_topic("vehicle_mocap_odometry", 30);
 	add_topic("vehicle_trajectory_waypoint", 200);
 	add_topic("vehicle_trajectory_waypoint_desired", 200);
-	add_topic("vehicle_visual_odometry", 30);
+	add_topic("vehicle_visual_odometry", 0);
 }
 
 void LoggedTopics::add_raw_imu_gyro_fifo()

src/modules/mavlink/mavlink_main.h

@@ -502,7 +502,6 @@ public:
 
 	bool hash_check_enabled() const { return _param_mav_hash_chk_en.get(); }
 	bool forward_heartbeats_enabled() const { return _param_mav_hb_forw_en.get(); }
-	bool odometry_loopback_enabled() const { return _param_mav_odom_lp.get(); }
 
 	bool failure_injection_enabled() const { return _param_sys_failure_injection_enabled.get(); }
 
@@ -675,7 +674,6 @@ private:
 		(ParamBool<px4::params::MAV_FWDEXTSP>) _param_mav_fwdextsp,
 		(ParamBool<px4::params::MAV_HASH_CHK_EN>) _param_mav_hash_chk_en,
 		(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
-		(ParamBool<px4::params::MAV_ODOM_LP>) _param_mav_odom_lp,
 		(ParamInt<px4::params::MAV_RADIO_TOUT>)      _param_mav_radio_timeout,
 		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
 		(ParamBool<px4::params::SYS_FAILURE_EN>) _param_sys_failure_injection_enabled

src/modules/mavlink/mavlink_params.c

@@ -142,17 +142,6 @@ PARAM_DEFINE_INT32(MAV_HASH_CHK_EN, 1);
  */
 PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1);
 
-/**
- * Activate ODOMETRY loopback.
- *
- * If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry'
- * serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.
- *
- * @boolean
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_ODOM_LP, 0);
-
 /**
  * Timeout in seconds for the RADIO_STATUS reports coming in
  *

src/modules/mavlink/streams/ODOMETRY.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -49,42 +49,20 @@ public:
 
 	unsigned get_size() override
 	{
-		if (_mavlink->odometry_loopback_enabled()) {
-			return _vodom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-
-		} else {
-			return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-		}
+		return _vehicle_odometry_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
 	}
 
 private:
 	explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
-	uORB::Subscription _odom_sub{ORB_ID(vehicle_odometry)};
-	uORB::Subscription _vodom_sub{ORB_ID(vehicle_visual_odometry)};
+	uORB::Subscription _vehicle_odometry_sub{ORB_ID(vehicle_odometry)};
 
 	bool send() override
 	{
 		vehicle_odometry_s odom;
-		// check if it is to send visual odometry loopback or not
-		bool odom_updated = false;
 
-		mavlink_odometry_t msg{};
-
-		if (_mavlink->odometry_loopback_enabled()) {
-			odom_updated = _vodom_sub.update(&odom);
-
-			// source: external vision system
-			msg.estimator_type = MAV_ESTIMATOR_TYPE_VISION;
-
-		} else {
-			odom_updated = _odom_sub.update(&odom);
-
-			// source: PX4 estimator
-			msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT;
-		}
-
-		if (odom_updated) {
+		if (_vehicle_odometry_sub.update(&odom)) {
+			mavlink_odometry_t msg{};
 			msg.time_usec = odom.timestamp_sample;
 
 			// set the frame_id according to the local frame of the data