cmake: move FindPythonInterp->FindPython

- cmake CMP0148 FindPythonInterp deprecated

.ci/Jenkinsfile-compile

@@ -1,233 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def build_nodes = [:]
-          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
-            arm64: "px4io/px4-dev-aarch64:2022-08-12",
-            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
-            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
-          ]
-
-          def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
-            image: docker_images.armhf,
-            archive: false
-          ]
-
-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
-          def base_builds = [
-            target: ["px4_sitl_default"],
-            image: docker_images.base,
-            archive: false
-          ]
-
-          def nuttx_builds_archive = [
-            target: [
-                     "3dr_ctrl-zero-h7-oem-revg_default",
-                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
-                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
-                     "ark_fmu-v6x_bootloader",
-                     "ark_fmu-v6x_default",
-                     "ark_fpv_bootloader",
-                     "ark_fpv_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
-                     "atl_mantis-edu_default",
-                     "av_x-v1_default",
-                     "bitcraze_crazyflie21_default",
-                     "bitcraze_crazyflie_default",
-                     "cuav_7-nano_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
-                     "cuav_nora_default",
-                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
-                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
-                     "holybro_durandal-v1_default",
-                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7mini_default",
-                     "holybro_kakuteh7v2_default",
-                     "holybro_pix32v5_default",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
-                     "micoair_h743_default",
-                     "micoair_h743-aio_default",
-                     "modalai_fc-v1_default",
-                     "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_pixracerpro_default",
-                     "mro_x21-777_default",
-                     "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_socketcan",
-                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_mr-canhubk3_default",
-                     "nxp_mr-canhubk3_fmu",
-                     "nxp_ucans32k146_canbootloader",
-                     "nxp_ucans32k146_default",
-                     "nxp_tropic-community_default",
-                     "omnibus_f4sd_default",
-                     "px4_fmu-v2_default",
-                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
-                     "px4_fmu-v2_multicopter",
-                     "px4_fmu-v2_rover",
-                     "px4_fmu-v3_default",
-                     "px4_fmu-v4_default",
-                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
-                     "px4_fmu-v5_debug",
-                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rover",
-                     "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5x_default",
-                     "px4_fmu-v5x_rover",
-                     "px4_fmu-v6c_default",
-                     "px4_fmu-v6c_rover",
-                     "px4_fmu-v6u_default",
-                     "px4_fmu-v6u_rover",
-                     "px4_fmu-v6x_default",
-                     "px4_fmu-v6x_rover",
-                     "px4_fmu-v6xrt_bootloader",
-                     "px4_fmu-v6xrt_default",
-                     "px4_fmu-v6xrt_rover",
-                     "px4_io-v2_default",
-                     "raspberrypi_pico_default",
-                     "siyi_n7_default",
-                     "sky-drones_smartap-airlink_default",
-                     "spracing_h7extreme_default",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
-                     "uvify_core_default",
-                     "x-mav_ap-h743v2_default",
-                     "zeroone_x6_bootloader",
-                     "zeroone_x6_default",
-            ],
-            image: docker_images.nuttx,
-            archive: true
-          ]
-
-          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
-          ]
-
-          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
-            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
-              build_nodes.put(docker_builds[build_type].target[build_target],
-                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
-                )
-            }
-          }
-
-        parallel build_nodes
-
-        } // script
-      } // steps
-    } // stage Build
-
-    // TODO: actually upload artifacts to S3
-    // stage('S3 Upload') {
-    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
-    //   }
-    //   options {
-    //         skipDefaultCheckout()
-    //   }
-    //   when {
-    //     anyOf {
-    //       branch 'master'
-    //       branch 'beta'
-    //       branch 'stable'
-    //       branch 'pr-jenkins' // for testing
-    //     }
-    //   }
-    //   steps {
-    //     sh 'echo "uploading to S3"'
-    //   }
-    // }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
-  }
-}
-
-def createBuildNode(Boolean archive, String docker_image, String target) {
-  return {
-
-    bypass_entrypoint = ''
-
-    node {
-      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
-          stage(target) {
-            try {
-              sh('export')
-              checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
-              sh('git fetch --tags')
-              sh('ccache -s')
-              sh('make ' + target)
-              sh('ccache -s')
-              sh('make sizes')
-              if (archive) {
-                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
-              }
-              sh('make ' + target + ' package')
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
-            }
-            catch (exc) {
-              throw (exc)
-            }
-            finally {
-              sh('make distclean; git clean -ff -x -d .')
-            }
-          }
-        }
-      }
-    }
-  }
-}

.ci/Jenkinsfile-hardware

@@ -1,904 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-    stage('Hardware Test') {
-
-      parallel {
-
-        stage("cubepilot_cubeorange_test") {
-          stages {
-            stage("build cubepilot_cubeorange_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make cubepilot_cubeorange_bootloader'
-                sh 'make cubepilot_cubeorange_test'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'cubepilot_cubeorange'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    runTests()
-
-                    // load all airframes
-                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("cuav_x7pro_test") {
-          stages {
-            stage("build cuav_x7pro_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make cuav_x7pro_bootloader'
-                sh 'make cuav_x7pro_test'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'cuav_x7pro'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v4_test") {
-          stages {
-            stage("build px4_fmu-v4_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v4_test'
-                sh 'make px4_fmu-v4_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v4'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v4pro_test") {
-          stages {
-            stage("build px4_fmu-v4pro_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v4pro_test'
-                sh 'make px4_fmu-v4pro_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v4pro'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_debug") {
-          stages {
-            stage("build px4_fmu-v5_debug") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_debug'
-                sh 'make px4_fmu-v5_debug bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_debug'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-                    checkStatus()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_stackcheck") {
-          stages {
-            stage("build px4_fmu-v5_stackcheck") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_stackcheck'
-                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_stackcheck'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-                    checkStatus()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_test") {
-          stages {
-            stage("build px4_fmu-v5_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_test'
-                sh 'make px4_fmu-v5_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("nxp_fmuk66-v3_test") {
-          stages {
-            stage("build nxp_fmuk66-v3_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make nxp_fmuk66-v3_test'
-                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'nxp_fmuk66-v3'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
-                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-      } // parallel
-    } // stage Hardware Test
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CCACHE_NOHASHDIR = 1
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 180, unit: 'MINUTES')
-    skipDefaultCheckout()
-  }
-}
-
-void checkoutSCM() {
-  retry(3) {
-    checkout scm
-    sh 'export'
-    sh 'make distclean; git clean -ff -x -d .'
-    sh 'git fetch --tags'
-    sh 'ccache -z'
-  }
-}
-
-void quickCalibrate() {
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-}
-
-void checkStatus() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-
-  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-}
-
-void resetParameters() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
-}
-
-void runTests() {
-
-  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
-
-  resetParameters()
-
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-  // tests (stop modules first)
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
-  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
-
-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
-}
-
-void printTopics() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
-
-  // these are for casually inspecting the system, output failure doesn't matter
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
-}
-
-void resetBoard() {
-  resetParameters()
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-}

.github/workflows/build_all_targets.yml

@@ -6,11 +6,6 @@
 name: Build all targets
 
 on:
-  workflow_dispatch:
-    inputs:
-      tag:
-        required: true
-        description: release version
   push:
     tags:
       - 'v*'
@@ -51,26 +46,15 @@ jobs:
       - id: set-timestamp
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
-      # This job is also triggered with versioned tags
-      #   Creating a and pushing a tag starting with "v" just as "v1.0.0"
-      #   will trigger this workflow and when all builds are done create a Github Release
-      #   then it will upload all binaries built as assets
-      # Additionally, we can also trigger this step manually
-      #   From the Github Actions tab for this repository:
-      #   https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
-      #   You can now click a "Run Workflow" button that will prompt you for a tag name
-      #   This tag name has to match an existing tag otherwise the new release will be detached
-      #   Note: Only developers with "write" permission to the repository can use this feature
-      - id: set-tag
-        if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
-        run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
-
       - id: set-branch
         run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
 
       - name: Debug Matrix Output
         if: runner.debug == '1'
-        run: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
+        run: |
+          echo "${{ steps.set-timestamp.outputs.timestamp }}"
+          echo "${{ steps.set-branch.outputs.branchname }}"
+          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
     name: Build Group [${{ matrix.group }}]
@@ -159,20 +143,16 @@ jobs:
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
+    if: startsWith(github.ref, 'refs/tags/v')
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
-
-      - name: Arrange Binaries
-        run: |
-          mkdir artifacts
-          cp **/**/*.px4 artifacts/
+        with:
+          path: artifacts/
+          merge-multiple: true
 
       - name: Upload Binaries to Release
         uses: softprops/action-gh-release@v2
         with:
-          name: ${{ needs.group_targets.outputs.tagname }}
-          tag_name: ${{ needs.group_targets.outputs.tagname }}
           draft: true
           files: artifacts/*.px4

.github/workflows/dev_container.yml

@@ -25,6 +25,12 @@ jobs:
           submodules: false
           fetch-depth: 0
 
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -38,6 +44,16 @@ jobs:
         with:
           images: |
             ghcr.io/PX4/px4-dev
+            px4io/px4-dev
+          tags: |
+            type=schedule
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
+            type=ref,event=branch,suffix=,priority=500
+            type=ref,event=pr
+            type=sha
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
@@ -81,6 +97,6 @@ jobs:
           platforms: |
             linux/amd64
           provenance: mode=max
-          push: ${{ github.event_name == 'push' }}
+          push: true
           cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
           cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/flash_analysis.yml

@@ -10,8 +10,8 @@ on:
 
 jobs:
   analyze_flash:
-    name: FLASH usage analysis
-    runs-on: ubuntu-latest
+    name: Analyzing ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-nuttx-focal
     strategy:
@@ -29,7 +29,7 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      - name: Build
+      - name: Build Target
         run: make ${{ matrix.target }}
 
       - name: Store the ELF with the change
@@ -73,36 +73,46 @@ jobs:
           echo "$EOF" >> $GITHUB_OUTPUT
 
   post_pr_comment:
-    name: Post PR comment
-    runs-on: ubuntu-latest
+    name: Publish Results
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [analyze_flash]
+    if: ${{ github.event.pull_request }}
     steps:
-      - name: If it's a PR add a comment with the bloaty output
-        if: ${{ github.event.pull_request }}
-        uses: actions/github-script@v6
+      - name: Find Comment
+        uses: peter-evans/find-comment@v3
+        id: fc
         with:
-          script: |
-            const comment = [
-               '## FLASH Analysis',
-               '<details>',
-               '<summary>px4_fmu-v5x</summary>',
-               '',
-               '```',
-               `${{ needs.analyze_flash.outputs.px4_fmu-v5x }}`,
-               '```',
-               '</details>',
-               '',
-               '<details>',
-               '<summary>px4_fmu-v6x</summary>',
-               '',
-               '```',
-               `${{ needs.analyze_flash.outputs.px4_fmu-v6x }}`,
-               '```',
-               '</details>'
-            ]
-            github.rest.issues.createComment({
-              issue_number: context.issue.number,
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              body: comment.join('\n')
-            })
+          issue-number: ${{ github.event.pull_request.number }}
+          comment-author: 'github-actions[bot]'
+          body-includes: FLASH Analysis
+
+      - name: Set Build Time
+        id: bt
+        run: |
+          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+
+      - name: Create or update comment
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            ## FLASH Analysis
+            <details>
+              <summary>px4_fmu-v5x</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
+              ```
+            </details>
+
+            <details>
+              <summary>px4_fmu-v6x</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
+              ```
+            </details>
+
+            **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          edit-mode: replace

CMakeLists.txt

@@ -173,9 +173,10 @@ set(config_module_list)
 set(config_kernel_list)
 
 # Find Python
-find_package(PythonInterp 3)
+find_package(Python COMPONENTS Interpreter)
+
 # We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
+if(NOT Python_FOUND)
 	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
 		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
 		"    macOS: brew install python")
@@ -184,7 +185,7 @@ endif()
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
+	set(Python_EXECUTABLE coverage run -p)
 endif()
 
 include(px4_config)
@@ -481,7 +482,7 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -502,7 +503,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Makefile

@@ -169,7 +169,7 @@ endif
 
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
 # Functions

ROMFS/CMakeLists.txt

@@ -124,15 +124,15 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
 		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
@@ -330,7 +330,7 @@ add_custom_target(romfs_gen_files_target
 
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -75,7 +75,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
 param set-default CP_GO_NO_DATA 1
 
 # Navigator Parameters

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -67,7 +67,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
 param set-default CP_GO_NO_DATA 1
 
 # Navigator Parameters

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -68,7 +68,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
 param set-default CP_GO_NO_DATA 1
 
 # Navigator Parameters

Tools/setup/ubuntu.sh

@@ -64,6 +64,7 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
+	ccache \
 	cmake \
 	cppcheck \
 	file \

boards/micoair/h743-aio/default.px4board

@@ -20,10 +20,10 @@ CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TAP_ESC=y
+CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_COMMON_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y

boards/nxp/tropic-community/cmake/upload.cmake

@@ -35,7 +35,7 @@
 set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)
 
 add_custom_target(upload_teensy
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
 	DEPENDS ${PX4_FW_NAME}
 	COMMENT "uploading px4"
 	VERBATIM

cmake/kconfig.cmake

@@ -1,20 +1,20 @@
 set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
 set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)
 
-execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
+execute_process(COMMAND ${Python_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
 if(ret EQUAL "1")
 	message(FATAL_ERROR "kconfiglib is not installed or not in PATH\n"
 				"please install using \"pip3 install kconfiglib\"\n")
 endif()
 
-set(MENUCONFIG_PATH ${PYTHON_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
-set(GUICONFIG_PATH ${PYTHON_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
-set(DEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
-set(SAVEDEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
-set(GENCONFIG_PATH ${PYTHON_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
+set(MENUCONFIG_PATH ${Python_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
+set(GUICONFIG_PATH ${Python_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
+set(DEFCONFIG_PATH ${Python_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
+set(SAVEDEFCONFIG_PATH ${Python_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
+set(GENCONFIG_PATH ${Python_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
 
 set(COMMON_KCONFIG_ENV_SETTINGS
-	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	Python_EXECUTABLE=${Python_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_CONFIG}
 	# Set environment variables so that Kconfig can prune Kconfig source
 	# files for other architectures
@@ -47,7 +47,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		# Generate boardconfig from default.px4board and {label}.px4board
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 			OUTPUT_VARIABLE DUMMY_RESULTS
 		)
@@ -57,7 +57,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production")
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	endif()
@@ -452,7 +452,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -463,7 +463,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardguiconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${GUICONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -473,7 +473,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 
 	add_custom_target(px4_savedefconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}

cmake/metadata.cmake

@@ -35,10 +35,10 @@
 
 add_custom_target(metadata_airframes
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
 	COMMENT "Generating full airframe metadata (markdown and xml)"
@@ -58,28 +58,28 @@ add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--all-ports --ethernet --params-file ${generated_params_dir}/serial_params.c --config-files ${yaml_config_files}
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_params_dir}/module_params.c
 		--timer-config ${PX4_SOURCE_DIR}/boards/px4/fmu-v5/src/timer_config.cpp # select a typical board
 		--board-with-io
 		--ethernet
 		--config-files ${yaml_config_files} #--verbose
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
@@ -90,7 +90,7 @@ add_custom_target(metadata_parameters
 
 add_custom_target(metadata_module_documentation
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
 		--markdown ${PX4_BINARY_DIR}/docs/modules
 	COMMENT "Generating module documentation"
 	USES_TERMINAL
@@ -99,17 +99,17 @@ add_custom_target(metadata_module_documentation
 set(events_src_path "${PX4_SOURCE_DIR}/src/lib/events")
 add_custom_target(metadata_extract_events
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/events
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--src-path ${PX4_SOURCE_DIR}/src
 		--json ${PX4_BINARY_DIR}/events/px4_full.json #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
 		${PX4_BINARY_DIR}/events/px4_full.json
 		${events_src_path}/libevents/events/common.json
 		${events_src_path}/enums.json
 		--output ${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
 	COMMENT "Extracting events from full source"
 	USES_TERMINAL

cmake/px4_metadata.cmake

@@ -67,7 +67,7 @@ function(px4_generate_airframes_xml)
 		ARGN ${ARGN})
 
 	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			--airframes-path ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${PX4_BOARD}
 			--xml ${PX4_BINARY_DIR}/airframes.xml

msg/CMakeLists.txt

@@ -312,7 +312,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_headers}
 		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -333,7 +333,7 @@ add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 add_custom_command(
 	OUTPUT
 		${uorb_json_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -356,7 +356,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_message_fields_cpp_file}
 		${uorb_message_fields_header_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
 		-f ${uorb_json_files}
 		--source-output-file ${uorb_message_fields_cpp_file}
 		--header-output-file ${uorb_message_fields_header_file}
@@ -371,7 +371,7 @@ add_custom_command(
 # Generate microcdr headers
 add_custom_command(
 	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -393,7 +393,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_sources}
 		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -459,7 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		OUTPUT ${uorb_cdr_idl}
 		COMMAND ${CMAKE_COMMAND}
 		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
 			${uorb_cdr_msg}
 		DEPENDS
 			${uorb_cdr_msg}
@@ -489,7 +489,7 @@ if(CONFIG_LIB_CDRSTREAM)
 
 	add_custom_target(
 		uorb_idl_header
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
 			-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -513,7 +513,7 @@ endif()
 
 if(CONFIG_MODULES_ZENOH)
 	# Update kconfig file for topics
-	execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+	execute_process(COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-config
 			-f ${msg_files}
 			-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
@@ -522,7 +522,7 @@ if(CONFIG_MODULES_ZENOH)
 	add_custom_command(
 		OUTPUT
 			${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-pub-sub
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/

msg/EstimatorAidSource2d.msg

@@ -7,7 +7,7 @@ uint32 device_id
 
 uint64 time_last_fuse
 
-float32[2] observation
+float64[2] observation
 float32[2] observation_variance
 
 float32[2] innovation

platforms/common/spi.cpp

@@ -87,7 +87,12 @@ const px4_spi_bus_t *px4_spi_buses{nullptr};
 
 int px4_find_spi_bus(uint32_t devid)
 {
+// px4_spi_buses is only NULL on certain targets depending on defines
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Waddress"
+
 	for (int i = 0; ((px4_spi_bus_t *) px4_spi_buses) != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+#pragma GCC diagnostic pop
 		const px4_spi_bus_t &bus_data = px4_spi_buses[i];
 
 		if (bus_data.bus == -1) {

platforms/nuttx/CMakeLists.txt

@@ -328,7 +328,7 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 	add_custom_command(
 		OUTPUT ${fw_package}
 		COMMAND
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
 				--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
 				--git_identity ${PX4_SOURCE_DIR}
 				--parameter_xml ${PX4_BINARY_DIR}/parameters.xml

platforms/nuttx/NuttX/tools/kconfig-conf

@@ -6,13 +6,13 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 export APPSDIR="`pwd`/../apps"
 
 if [ "command -v python3" ]; then
-	PYTHON_EXECUTABLE=python3
+	Python_EXECUTABLE=python3
 else
-	PYTHON_EXECUTABLE=python
+	Python_EXECUTABLE=python
 fi
 
 if [ "${1}" = "--olddefconfig" ]; then
-	PYTHONPATH=${DIR} ${PYTHON_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
+	PYTHONPATH=${DIR} ${Python_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
 else
 	echo "ERROR: ${@} unsupported"
 	exit 1

platforms/nuttx/cmake/upload.cmake

@@ -81,7 +81,7 @@ endif()
 string(REPLACE ";" "," serial_ports "${serial_ports}")
 
 add_custom_target(upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4"
 	VERBATIM
@@ -90,7 +90,7 @@ add_custom_target(upload
 	)
 
 add_custom_target(force-upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4 with --force"
 	VERBATIM

src/drivers/bootloaders/CMakeLists.txt

@@ -71,7 +71,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 			${PX4_BINARY_DIR}/${uavcan_bl_image_name}
 			${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
 		COMMAND
-			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
+			${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND

src/drivers/uavcan/CMakeLists.txt

@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp

src/drivers/uavcan/libdronecan/libuavcan/CMakeLists.txt

@@ -42,7 +42,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
     set(DSDLC_INPUT_FILES ${DSDLC_INPUT_FILES} ${DSDLC_NEW_INPUT_FILES})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
-                   COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+                   COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
                    COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
                    DEPENDS ${DSDLC_INPUT_FILES}
                    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}

src/drivers/uavcannode/CMakeLists.txt

@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp

src/lib/collision_prevention/CollisionPrevention.cpp

@@ -41,51 +41,19 @@
 #include <px4_platform_common/events.h>
 
 using namespace matrix;
-using namespace time_literals;
-
-namespace
-{
-static constexpr int INTERNAL_MAP_INCREMENT_DEG = 10; //cannot be lower than 5 degrees, should divide 360 evenly
-static constexpr int INTERNAL_MAP_USED_BINS = 360 / INTERNAL_MAP_INCREMENT_DEG;
-
-static float wrap_360(float f)
-{
-	return wrap(f, 0.f, 360.f);
-}
-
-static int wrap_bin(int i)
-{
-	i = i % INTERNAL_MAP_USED_BINS;
-
-	while (i < 0) {
-		i += INTERNAL_MAP_USED_BINS;
-	}
-
-	return i;
-}
-
-} // namespace
 
 CollisionPrevention::CollisionPrevention(ModuleParams *parent) :
 	ModuleParams(parent)
 {
-	static_assert(INTERNAL_MAP_INCREMENT_DEG >= 5, "INTERNAL_MAP_INCREMENT_DEG needs to be at least 5");
-	static_assert(360 % INTERNAL_MAP_INCREMENT_DEG == 0, "INTERNAL_MAP_INCREMENT_DEG should divide 360 evenly");
+	static_assert(BIN_SIZE >= 5, "BIN_SIZE must be at least 5");
+	static_assert(360 % BIN_SIZE == 0, "BIN_SIZE must divide 360 evenly");
 
 	// initialize internal obstacle map
-	_obstacle_map_body_frame.timestamp = getTime();
 	_obstacle_map_body_frame.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD;
-	_obstacle_map_body_frame.increment = INTERNAL_MAP_INCREMENT_DEG;
+	_obstacle_map_body_frame.increment = BIN_SIZE;
 	_obstacle_map_body_frame.min_distance = UINT16_MAX;
-	_obstacle_map_body_frame.max_distance = 0;
-	_obstacle_map_body_frame.angle_offset = 0.f;
-	uint32_t internal_bins = sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0]);
-	uint64_t current_time = getTime();
 
-	for (uint32_t i = 0 ; i < internal_bins; i++) {
-		_data_timestamps[i] = current_time;
-		_data_maxranges[i] = 0;
-		_data_fov[i] = 0;
+	for (uint32_t i = 0 ; i < BIN_COUNT; i++) {
 		_obstacle_map_body_frame.distances[i] = UINT16_MAX;
 	}
 }
@@ -112,48 +80,234 @@ bool CollisionPrevention::is_active()
 	return activated;
 }
 
-void
-CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obstacle, const matrix::Quatf &vehicle_attitude)
+void CollisionPrevention::modifySetpoint(Vector2f &setpoint_accel, const Vector2f &setpoint_vel)
 {
-	int msg_index = 0;
-	float vehicle_orientation_deg = math::degrees(Eulerf(vehicle_attitude).psi());
-	float increment_factor = 1.f / obstacle.increment;
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude;
+
+		if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
+			_vehicle_attitude = Quatf(vehicle_attitude.q);
+			_vehicle_yaw = Eulerf(_vehicle_attitude).psi();
+		}
+	}
+
+	//calculate movement constraints based on range data
+	const Vector2f original_setpoint = setpoint_accel;
+	_updateObstacleMap();
+	_updateObstacleData();
+	_calculateConstrainedSetpoint(setpoint_accel, setpoint_vel);
+
+	// publish constraints
+	collision_constraints_s	constraints{};
+	original_setpoint.copyTo(constraints.original_setpoint);
+	setpoint_accel.copyTo(constraints.adapted_setpoint);
+	constraints.timestamp = getTime();
+	_constraints_pub.publish(constraints);
+}
+
+void CollisionPrevention::_updateObstacleMap()
+{
+	// add distance sensor data
+	for (auto &dist_sens_sub : _distance_sensor_subs) {
+		distance_sensor_s distance_sensor;
+
+		if (dist_sens_sub.update(&distance_sensor)) {
+			// consider only instances with valid data and orientations useful for collision prevention
+			if ((getElapsedTime(&distance_sensor.timestamp) < RANGE_STREAM_TIMEOUT_US) &&
+			    (distance_sensor.orientation != distance_sensor_s::ROTATION_DOWNWARD_FACING) &&
+			    (distance_sensor.orientation != distance_sensor_s::ROTATION_UPWARD_FACING)) {
+
+				// update message description
+				_obstacle_map_body_frame.timestamp = math::max(_obstacle_map_body_frame.timestamp, distance_sensor.timestamp);
+				_obstacle_map_body_frame.max_distance = math::max(_obstacle_map_body_frame.max_distance,
+									(uint16_t)(distance_sensor.max_distance * 100.0f));
+				_obstacle_map_body_frame.min_distance = math::min(_obstacle_map_body_frame.min_distance,
+									(uint16_t)(distance_sensor.min_distance * 100.0f));
+
+				_addDistanceSensorData(distance_sensor, _vehicle_attitude);
+			}
+		}
+	}
+
+	// add obstacle distance data
+	if (_sub_obstacle_distance.update()) {
+		const obstacle_distance_s &obstacle_distance = _sub_obstacle_distance.get();
+
+		// Update map with obstacle data if the data is not stale
+		if (getElapsedTime(&obstacle_distance.timestamp) < RANGE_STREAM_TIMEOUT_US && obstacle_distance.increment > 0.f) {
+			//update message description
+			_obstacle_map_body_frame.timestamp = math::max(_obstacle_map_body_frame.timestamp, obstacle_distance.timestamp);
+			_obstacle_map_body_frame.max_distance = math::max(_obstacle_map_body_frame.max_distance,
+								obstacle_distance.max_distance);
+			_obstacle_map_body_frame.min_distance = math::min(_obstacle_map_body_frame.min_distance,
+								obstacle_distance.min_distance);
+			_addObstacleSensorData(obstacle_distance, _vehicle_yaw);
+		}
+	}
+
+	// publish fused obtacle distance message with data from offboard obstacle_distance and distance sensor
+	_obstacle_distance_fused_pub.publish(_obstacle_map_body_frame);
+}
+
+void CollisionPrevention::_updateObstacleData()
+{
+	_obstacle_data_present = false;
+	_closest_dist = UINT16_MAX;
+	_closest_dist_dir.setZero();
+
+	for (int i = 0; i < BIN_COUNT; i++) {
+		// if the data is stale, reset the bin
+		if (getTime() - _data_timestamps[i] > RANGE_STREAM_TIMEOUT_US) {
+			_obstacle_map_body_frame.distances[i] = UINT16_MAX;
+		}
+
+		float angle = wrap_2pi(_vehicle_yaw + math::radians((float)i * BIN_SIZE +
+				       _obstacle_map_body_frame.angle_offset));
+		const Vector2f bin_direction = {cosf(angle), sinf(angle)};
+		const uint16_t bin_distance = _obstacle_map_body_frame.distances[i];
+
+		// check if there is avaliable data and the data of the map is not stale
+		if (bin_distance < UINT16_MAX
+		    && (getTime() - _obstacle_map_body_frame.timestamp) < RANGE_STREAM_TIMEOUT_US) {
+			_obstacle_data_present = true;
+		}
+
+		if (bin_distance * 0.01f < _closest_dist) {
+			_closest_dist = bin_distance * 0.01f;
+			_closest_dist_dir = bin_direction;
+		}
+	}
+}
+
+void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint_accel, const Vector2f &setpoint_vel)
+{
+	const float setpoint_length = setpoint_accel.norm();
+	_min_dist_to_keep = math::max(_obstacle_map_body_frame.min_distance / 100.0f, _param_cp_dist.get());
+
+	const hrt_abstime now = getTime();
+
+	const bool is_stick_deflected = setpoint_length > 0.001f;
+
+	if (_obstacle_data_present && is_stick_deflected) {
+
+		_transformSetpoint(setpoint_accel);
+
+		float vel_comp_accel = INFINITY;
+		Vector2f vel_comp_accel_dir{};
+
+		_getVelocityCompensationAcceleration(_vehicle_yaw, setpoint_vel, now,
+						     vel_comp_accel, vel_comp_accel_dir);
+
+		Vector2f constr_accel_setpoint{};
+
+		if (_checkSetpointDirectionFeasability()) {
+			constr_accel_setpoint = _constrainAccelerationSetpoint(setpoint_length);
+		}
+
+		setpoint_accel = constr_accel_setpoint + vel_comp_accel * vel_comp_accel_dir;
+
+	} else if (!_obstacle_data_present) {
+		// allow no movement
+		setpoint_accel.setZero();
+
+		// if distance data is stale, switch to Loiter
+		if (getElapsedTime(&_last_timeout_warning) > 1_s && getElapsedTime(&_time_activated) > 1_s) {
+			if ((now - _obstacle_map_body_frame.timestamp) > TIMEOUT_HOLD_US &&
+			    getElapsedTime(&_time_activated) > TIMEOUT_HOLD_US) {
+				_publishVehicleCmdDoLoiter();
+			}
+
+			PX4_WARN("No obstacle data, not moving...");
+			_last_timeout_warning = now;
+		}
+	}
+}
+
+// TODO this gives false output if the offset is not a multiple of the resolution. to be fixed...
+void CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obstacle, const float vehicle_yaw)
+{
+
+	float vehicle_orientation_deg = math::degrees(vehicle_yaw);
+
 
 	if (obstacle.frame == obstacle.MAV_FRAME_GLOBAL || obstacle.frame == obstacle.MAV_FRAME_LOCAL_NED) {
 		// Obstacle message arrives in local_origin frame (north aligned)
 		// corresponding data index (convert to world frame and shift by msg offset)
-		for (int i = 0; i < INTERNAL_MAP_USED_BINS; i++) {
-			float bin_angle_deg = (float)i * INTERNAL_MAP_INCREMENT_DEG + _obstacle_map_body_frame.angle_offset;
-			msg_index = ceil(wrap_360(vehicle_orientation_deg + bin_angle_deg - obstacle.angle_offset) * increment_factor);
+		for (int i = 0; i < BIN_COUNT; i++) {
+			for (int j = 0; (j < 360 / obstacle.increment) && (j < BIN_COUNT); j++) {
+				float bin_lower_angle = _wrap_360((float)i * _obstacle_map_body_frame.increment + _obstacle_map_body_frame.angle_offset
+								  - (float)_obstacle_map_body_frame.increment / 2.f);
+				float bin_upper_angle = _wrap_360((float)i * _obstacle_map_body_frame.increment + _obstacle_map_body_frame.angle_offset
+								  + (float)_obstacle_map_body_frame.increment / 2.f);
+				float msg_lower_angle = _wrap_360((float)j * obstacle.increment + obstacle.angle_offset - vehicle_orientation_deg -
+								  obstacle.increment / 2.f);
+				float msg_upper_angle = _wrap_360((float)j * obstacle.increment + obstacle.angle_offset - vehicle_orientation_deg +
+								  obstacle.increment / 2.f);
 
-			//add all data points inside to FOV
-			if (obstacle.distances[msg_index] != UINT16_MAX) {
-				if (_enterData(i, obstacle.max_distance * 0.01f, obstacle.distances[msg_index] * 0.01f)) {
-					_obstacle_map_body_frame.distances[i] = obstacle.distances[msg_index];
-					_data_timestamps[i] = _obstacle_map_body_frame.timestamp;
-					_data_maxranges[i] = obstacle.max_distance;
-					_data_fov[i] = 1;
+				// if a bin stretches over the 0/360 degree line, adjust the angles
+				if (bin_lower_angle > bin_upper_angle) {
+					bin_lower_angle -= 360;
 				}
+
+				if (msg_lower_angle > msg_upper_angle) {
+					msg_lower_angle -= 360;
+				}
+
+				// Check for overlaps.
+				if ((msg_lower_angle > bin_lower_angle && msg_lower_angle < bin_upper_angle) ||
+				    (msg_upper_angle > bin_lower_angle && msg_upper_angle < bin_upper_angle) ||
+				    (msg_lower_angle <= bin_lower_angle && msg_upper_angle >= bin_upper_angle) ||
+				    (msg_lower_angle >= bin_lower_angle && msg_upper_angle <= bin_upper_angle)) {
+					if (obstacle.distances[j] != UINT16_MAX) {
+						if (_enterData(i, obstacle.max_distance * 0.01f, obstacle.distances[j] * 0.01f)) {
+							_obstacle_map_body_frame.distances[i] = obstacle.distances[j];
+							_data_timestamps[i] = _obstacle_map_body_frame.timestamp;
+							_data_maxranges[i] = obstacle.max_distance;
+							_data_fov[i] = 1;
+						}
+					}
+				}
+
 			}
 		}
 
 	} else if (obstacle.frame == obstacle.MAV_FRAME_BODY_FRD) {
 		// Obstacle message arrives in body frame (front aligned)
 		// corresponding data index (shift by msg offset)
-		for (int i = 0; i < INTERNAL_MAP_USED_BINS; i++) {
-			float bin_angle_deg = (float)i * INTERNAL_MAP_INCREMENT_DEG +
-					      _obstacle_map_body_frame.angle_offset;
-			msg_index = ceil(wrap_360(bin_angle_deg - obstacle.angle_offset) * increment_factor);
+		for (int i = 0; i < BIN_COUNT; i++) {
+			for (int j = 0; j < 360 / obstacle.increment; j++) {
+				float bin_lower_angle = _wrap_360((float)i * _obstacle_map_body_frame.increment + _obstacle_map_body_frame.angle_offset
+								  - (float)_obstacle_map_body_frame.increment / 2.f);
+				float bin_upper_angle = _wrap_360((float)i * _obstacle_map_body_frame.increment + _obstacle_map_body_frame.angle_offset
+								  + (float)_obstacle_map_body_frame.increment / 2.f);
+				float msg_lower_angle = _wrap_360((float)j * obstacle.increment + obstacle.angle_offset - obstacle.increment / 2.f);
+				float msg_upper_angle = _wrap_360((float)j * obstacle.increment + obstacle.angle_offset + obstacle.increment / 2.f);
 
-			//add all data points inside to FOV
-			if (obstacle.distances[msg_index] != UINT16_MAX) {
-
-				if (_enterData(i, obstacle.max_distance * 0.01f, obstacle.distances[msg_index] * 0.01f)) {
-					_obstacle_map_body_frame.distances[i] = obstacle.distances[msg_index];
-					_data_timestamps[i] = _obstacle_map_body_frame.timestamp;
-					_data_maxranges[i] = obstacle.max_distance;
-					_data_fov[i] = 1;
+				// if a bin stretches over the 0/360 degree line, adjust the angles
+				if (bin_lower_angle > bin_upper_angle) {
+					bin_lower_angle -= 360;
 				}
+
+				if (msg_lower_angle > msg_upper_angle) {
+					msg_lower_angle -= 360;
+				}
+
+				// Check for overlaps.
+				if ((msg_lower_angle > bin_lower_angle && msg_lower_angle < bin_upper_angle) ||
+				    (msg_upper_angle > bin_lower_angle && msg_upper_angle < bin_upper_angle) ||
+				    (msg_lower_angle <= bin_lower_angle && msg_upper_angle >= bin_upper_angle) ||
+				    (msg_lower_angle >= bin_lower_angle && msg_upper_angle <= bin_upper_angle)) {
+					if (obstacle.distances[j] != UINT16_MAX) {
+
+						if (_enterData(i, obstacle.max_distance * 0.01f, obstacle.distances[j] * 0.01f)) {
+							_obstacle_map_body_frame.distances[i] = obstacle.distances[j];
+							_data_timestamps[i] = _obstacle_map_body_frame.timestamp;
+							_data_maxranges[i] = obstacle.max_distance;
+							_data_fov[i] = 1;
+						}
+					}
+				}
+
 			}
 		}
 
@@ -197,80 +351,60 @@ CollisionPrevention::_enterData(int map_index, float sensor_range, float sensor_
 	return false;
 }
 
-void
-CollisionPrevention::_updateObstacleMap()
+bool
+CollisionPrevention::_checkSetpointDirectionFeasability()
 {
-	_sub_vehicle_attitude.update();
+	bool setpoint_feasible = true;
 
-	// add distance sensor data
-	for (auto &dist_sens_sub : _distance_sensor_subs) {
-		distance_sensor_s distance_sensor;
+	for (int i = 0; i < BIN_COUNT; i++) {
+		// check if our setpoint is either pointing in a direction where data exists, or if not, wether we are allowed to go where there is no data
+		if ((_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == _setpoint_index) && (!_param_cp_go_no_data.get()
+				|| (_param_cp_go_no_data.get() && _data_fov[i]))) {
+			setpoint_feasible =  false;
 
-		if (dist_sens_sub.update(&distance_sensor)) {
-			// consider only instances with valid data and orientations useful for collision prevention
-			if ((getElapsedTime(&distance_sensor.timestamp) < RANGE_STREAM_TIMEOUT_US) &&
-			    (distance_sensor.orientation != distance_sensor_s::ROTATION_DOWNWARD_FACING) &&
-			    (distance_sensor.orientation != distance_sensor_s::ROTATION_UPWARD_FACING)) {
-
-				// update message description
-				_obstacle_map_body_frame.timestamp = math::max(_obstacle_map_body_frame.timestamp, distance_sensor.timestamp);
-				_obstacle_map_body_frame.max_distance = math::max(_obstacle_map_body_frame.max_distance,
-									(uint16_t)(distance_sensor.max_distance * 100.0f));
-				_obstacle_map_body_frame.min_distance = math::min(_obstacle_map_body_frame.min_distance,
-									(uint16_t)(distance_sensor.min_distance * 100.0f));
-
-				_addDistanceSensorData(distance_sensor, Quatf(_sub_vehicle_attitude.get().q));
-			}
 		}
 	}
 
-	// add obstacle distance data
-	if (_sub_obstacle_distance.update()) {
-		const obstacle_distance_s &obstacle_distance = _sub_obstacle_distance.get();
-
-		// Update map with obstacle data if the data is not stale
-		if (getElapsedTime(&obstacle_distance.timestamp) < RANGE_STREAM_TIMEOUT_US && obstacle_distance.increment > 0.f) {
-			//update message description
-			_obstacle_map_body_frame.timestamp = math::max(_obstacle_map_body_frame.timestamp, obstacle_distance.timestamp);
-			_obstacle_map_body_frame.max_distance = math::max(_obstacle_map_body_frame.max_distance,
-								obstacle_distance.max_distance);
-			_obstacle_map_body_frame.min_distance = math::min(_obstacle_map_body_frame.min_distance,
-								obstacle_distance.min_distance);
-			_addObstacleSensorData(obstacle_distance, Quatf(_sub_vehicle_attitude.get().q));
-		}
-	}
-
-	// publish fused obtacle distance message with data from offboard obstacle_distance and distance sensor
-	_obstacle_distance_pub.publish(_obstacle_map_body_frame);
+	return setpoint_feasible;
 }
 
 void
-CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor, const matrix::Quatf &vehicle_attitude)
+CollisionPrevention::_transformSetpoint(const Vector2f &setpoint)
+{
+	const float sp_angle_body_frame = atan2f(setpoint(1), setpoint(0)) - _vehicle_yaw;
+	const float sp_angle_with_offset_deg = _wrap_360(math::degrees(sp_angle_body_frame) -
+					       _obstacle_map_body_frame.angle_offset);
+	_setpoint_index = floor(sp_angle_with_offset_deg / BIN_SIZE);
+	// change setpoint direction slightly (max by _param_cp_guide_ang degrees) to help guide through narrow gaps
+	_setpoint_dir = setpoint.unit_or_zero();
+	_adaptSetpointDirection(_setpoint_dir, _setpoint_index, _vehicle_yaw);
+}
+
+void
+CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor, const Quatf &vehicle_attitude)
 {
 	// clamp at maximum sensor range
 	float distance_reading = math::min(distance_sensor.current_distance, distance_sensor.max_distance);
 
-	// discard values below min range
-	if ((distance_reading > distance_sensor.min_distance)) {
+	// negative values indicate out of range but valid measurements.
+	if (fabsf(distance_sensor.current_distance - -1.f) < FLT_EPSILON && distance_sensor.signal_quality == 0) {
+		distance_reading = distance_sensor.max_distance;
+	}
 
+	// discard values below min range
+	if (distance_reading > distance_sensor.min_distance) {
 		float sensor_yaw_body_rad = _sensorOrientationToYawOffset(distance_sensor, _obstacle_map_body_frame.angle_offset);
 		float sensor_yaw_body_deg = math::degrees(wrap_2pi(sensor_yaw_body_rad));
 
 		// calculate the field of view boundary bin indices
-		int lower_bound = (int)floor((sensor_yaw_body_deg  - math::degrees(distance_sensor.h_fov / 2.0f)) /
-					     INTERNAL_MAP_INCREMENT_DEG);
-		int upper_bound = (int)floor((sensor_yaw_body_deg  + math::degrees(distance_sensor.h_fov / 2.0f)) /
-					     INTERNAL_MAP_INCREMENT_DEG);
+		int lower_bound = (int)round((sensor_yaw_body_deg  - math::degrees(distance_sensor.h_fov / 2.0f)) / BIN_SIZE);
+		int upper_bound = (int)round((sensor_yaw_body_deg  + math::degrees(distance_sensor.h_fov / 2.0f)) / BIN_SIZE);
 
-		// floor values above zero, ceil values below zero
-		if (lower_bound < 0) { lower_bound++; }
-
-		if (upper_bound < 0) { upper_bound++; }
 
 		// rotate vehicle attitude into the sensor body frame
-		matrix::Quatf attitude_sensor_frame = vehicle_attitude;
+		Quatf attitude_sensor_frame = vehicle_attitude;
 		attitude_sensor_frame.rotate(Vector3f(0.f, 0.f, sensor_yaw_body_rad));
-		float sensor_dist_scale = cosf(Eulerf(attitude_sensor_frame).theta());
+		float sensor_dist_scale = cosf(Eulerf(attitude_sensor_frame).theta()); // verify
 
 		if (distance_reading < distance_sensor.max_distance) {
 			distance_reading = distance_reading * sensor_dist_scale;
@@ -279,7 +413,7 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
 		uint16_t sensor_range = static_cast<uint16_t>(100.0f * distance_sensor.max_distance + 0.5f); // convert to cm
 
 		for (int bin = lower_bound; bin <= upper_bound; ++bin) {
-			int wrapped_bin = wrap_bin(bin);
+			int wrapped_bin = _wrap_bin(bin);
 
 			if (_enterData(wrapped_bin, distance_sensor.max_distance, distance_reading)) {
 				_obstacle_map_body_frame.distances[wrapped_bin] = static_cast<uint16_t>(100.0f * distance_reading + 0.5f);
@@ -294,8 +428,7 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
 void
 CollisionPrevention::_adaptSetpointDirection(Vector2f &setpoint_dir, int &setpoint_index, float vehicle_yaw_angle_rad)
 {
-	const float col_prev_d = _param_cp_dist.get();
-	const int guidance_bins = floor(_param_cp_guide_ang.get() / INTERNAL_MAP_INCREMENT_DEG);
+	const int guidance_bins = floor(_param_cp_guide_ang.get() / BIN_SIZE);
 	const int sp_index_original = setpoint_index;
 	float best_cost = 9999.f;
 	int new_sp_index = setpoint_index;
@@ -307,19 +440,19 @@ CollisionPrevention::_adaptSetpointDirection(Vector2f &setpoint_dir, int &setpoi
 		float mean_dist = 0;
 
 		for (int j = i - filter_size; j <= i + filter_size; j++) {
-			int bin = wrap_bin(j);
+			int bin = _wrap_bin(j);
 
 			if (_obstacle_map_body_frame.distances[bin] == UINT16_MAX) {
-				mean_dist += col_prev_d * 100.f;
+				mean_dist += _param_cp_dist.get() * 100.f;
 
 			} else {
 				mean_dist += _obstacle_map_body_frame.distances[bin];
 			}
 		}
 
-		const int bin = wrap_bin(i);
+		const int bin = _wrap_bin(i);
 		mean_dist = mean_dist / (2.f * filter_size + 1.f);
-		const float deviation_cost = col_prev_d * 50.f * abs(i - sp_index_original);
+		const float deviation_cost = _param_cp_dist.get() * 50.f * abs(i - sp_index_original);
 		const float bin_cost = deviation_cost - mean_dist - _obstacle_map_body_frame.distances[bin];
 
 		if (bin_cost < best_cost && _obstacle_map_body_frame.distances[bin] != UINT16_MAX) {
@@ -330,7 +463,7 @@ CollisionPrevention::_adaptSetpointDirection(Vector2f &setpoint_dir, int &setpoi
 
 	//only change setpoint direction if it was moved to a different bin
 	if (new_sp_index != setpoint_index) {
-		float angle = math::radians((float)new_sp_index * INTERNAL_MAP_INCREMENT_DEG + _obstacle_map_body_frame.angle_offset);
+		float angle = math::radians((float)new_sp_index * BIN_SIZE + _obstacle_map_body_frame.angle_offset);
 		angle = wrap_2pi(vehicle_yaw_angle_rad + angle);
 		setpoint_dir = {cosf(angle), sinf(angle)};
 		setpoint_index = new_sp_index;
@@ -340,7 +473,7 @@ CollisionPrevention::_adaptSetpointDirection(Vector2f &setpoint_dir, int &setpoi
 float
 CollisionPrevention::_sensorOrientationToYawOffset(const distance_sensor_s &distance_sensor, float angle_offset) const
 {
-	float offset = angle_offset > 0.0f ? math::radians(angle_offset) : 0.0f;
+	float offset = math::max(math::radians(angle_offset), 0.f);
 
 	switch (distance_sensor.orientation) {
 	case distance_sensor_s::ROTATION_YAW_0:
@@ -376,180 +509,147 @@ CollisionPrevention::_sensorOrientationToYawOffset(const distance_sensor_s &dist
 		break;
 
 	case distance_sensor_s::ROTATION_CUSTOM:
-		offset = matrix::Eulerf(matrix::Quatf(distance_sensor.q)).psi();
+		offset = Eulerf(Quatf(distance_sensor.q)).psi();
 		break;
 	}
 
 	return offset;
 }
 
-void
-CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint, const Vector2f &curr_pos,
-		const Vector2f &curr_vel)
+float CollisionPrevention::_getObstacleDistance(const Vector2f &direction)
 {
-	_updateObstacleMap();
-
-	// read parameters
-	const float col_prev_d = _param_cp_dist.get();
-	const float col_prev_dly = _param_cp_delay.get();
-	const bool move_no_data = _param_cp_go_nodata.get();
-	const float xy_p = _param_mpc_xy_p.get();
-	const float max_jerk = _param_mpc_jerk_max.get();
-	const float max_accel = _param_mpc_acc_hor.get();
-	const matrix::Quatf attitude = Quatf(_sub_vehicle_attitude.get().q);
-	const float vehicle_yaw_angle_rad = Eulerf(attitude).psi();
-
-	const float setpoint_length = setpoint.norm();
-
-	const hrt_abstime constrain_time = getTime();
-	int num_fov_bins = 0;
-
-	if ((constrain_time - _obstacle_map_body_frame.timestamp) < RANGE_STREAM_TIMEOUT_US) {
-		if (setpoint_length > 0.001f) {
-
-			Vector2f setpoint_dir = setpoint / setpoint_length;
-			float vel_max = setpoint_length;
-			const float min_dist_to_keep = math::max(_obstacle_map_body_frame.min_distance / 100.0f, col_prev_d);
-
-			const float sp_angle_body_frame = atan2f(setpoint_dir(1), setpoint_dir(0)) - vehicle_yaw_angle_rad;
-			const float sp_angle_with_offset_deg = wrap_360(math::degrees(sp_angle_body_frame) -
-							       _obstacle_map_body_frame.angle_offset);
-			int sp_index = floor(sp_angle_with_offset_deg / INTERNAL_MAP_INCREMENT_DEG);
-
-			// change setpoint direction slightly (max by _param_cp_guide_ang degrees) to help guide through narrow gaps
-			_adaptSetpointDirection(setpoint_dir, sp_index, vehicle_yaw_angle_rad);
-
-			// limit speed for safe flight
-			for (int i = 0; i < INTERNAL_MAP_USED_BINS; i++) { // disregard unused bins at the end of the message
-
-				// delete stale values
-				const hrt_abstime data_age = constrain_time - _data_timestamps[i];
-
-				if (data_age > RANGE_STREAM_TIMEOUT_US) {
-					_obstacle_map_body_frame.distances[i] = UINT16_MAX;
-				}
-
-				const float distance = _obstacle_map_body_frame.distances[i] * 0.01f; // convert to meters
-				const float max_range = _data_maxranges[i] * 0.01f; // convert to meters
-				float angle = math::radians((float)i * INTERNAL_MAP_INCREMENT_DEG + _obstacle_map_body_frame.angle_offset);
-
-				// convert from body to local frame in the range [0, 2*pi]
-				angle = wrap_2pi(vehicle_yaw_angle_rad + angle);
-
-				// get direction of current bin
-				const Vector2f bin_direction = {cosf(angle), sinf(angle)};
-
-				//count number of bins in the field of valid_new
-				if (_obstacle_map_body_frame.distances[i] < UINT16_MAX) {
-					num_fov_bins ++;
-				}
-
-				if (_obstacle_map_body_frame.distances[i] > _obstacle_map_body_frame.min_distance
-				    && _obstacle_map_body_frame.distances[i] < UINT16_MAX) {
-
-					if (setpoint_dir.dot(bin_direction) > 0) {
-						// calculate max allowed velocity with a P-controller (same gain as in the position controller)
-						const float curr_vel_parallel = math::max(0.f, curr_vel.dot(bin_direction));
-						float delay_distance = curr_vel_parallel * col_prev_dly;
-
-						if (distance < max_range) {
-							delay_distance += curr_vel_parallel * (data_age * 1e-6f);
-						}
-
-						const float stop_distance = math::max(0.f, distance - min_dist_to_keep - delay_distance);
-						const float vel_max_posctrl = xy_p * stop_distance;
-
-						const float vel_max_smooth = math::trajectory::computeMaxSpeedFromDistance(max_jerk, max_accel, stop_distance, 0.f);
-						const float projection = bin_direction.dot(setpoint_dir);
-						float vel_max_bin = vel_max;
-
-						if (projection > 0.01f) {
-							vel_max_bin = math::min(vel_max_posctrl, vel_max_smooth) / projection;
-						}
-
-						// constrain the velocity
-						if (vel_max_bin >= 0) {
-							vel_max = math::min(vel_max, vel_max_bin);
-						}
-					}
-
-				} else if (_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == sp_index) {
-					if (!move_no_data || (move_no_data && _data_fov[i])) {
-						vel_max = 0.f;
-					}
-				}
-			}
-
-			//if the sensor field of view is zero, never allow to move (even if move_no_data=1)
-			if (num_fov_bins == 0) {
-				vel_max = 0.f;
-			}
-
-			setpoint = setpoint_dir * vel_max;
-		}
-
-	} else {
-		//allow no movement
-		float vel_max = 0.f;
-		setpoint = setpoint * vel_max;
-
-		// if distance data is stale, switch to Loiter
-		if (getElapsedTime(&_last_timeout_warning) > 1_s && getElapsedTime(&_time_activated) > 1_s) {
-
-			if ((constrain_time - _obstacle_map_body_frame.timestamp) > TIMEOUT_HOLD_US
-			    && getElapsedTime(&_time_activated) > TIMEOUT_HOLD_US) {
-				_publishVehicleCmdDoLoiter();
-			}
-
-			_last_timeout_warning = getTime();
-		}
-
+	float obstacle_distance = 0.f;
+	const float direction_norm = direction.norm();
 
+	if (direction_norm > FLT_EPSILON) {
+		Vector2f dir = direction / direction_norm;
+		const float sp_angle_body_frame = atan2f(dir(1), dir(0)) - _vehicle_yaw;
+		const float sp_angle_with_offset_deg =
+			_wrap_360(math::degrees(sp_angle_body_frame) - _obstacle_map_body_frame.angle_offset);
+		int dir_index = floor(sp_angle_with_offset_deg / BIN_SIZE);
+		dir_index = math::constrain(dir_index, 0, BIN_COUNT - 1);
+		obstacle_distance = _obstacle_map_body_frame.distances[dir_index] * 0.01f;
 	}
+
+	return obstacle_distance;
 }
 
-void
-CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const float max_speed, const Vector2f &curr_pos,
-				    const Vector2f &curr_vel)
+Vector2f
+CollisionPrevention::_constrainAccelerationSetpoint(const float &setpoint_length)
 {
-	//calculate movement constraints based on range data
-	Vector2f new_setpoint = original_setpoint;
-	_calculateConstrainedSetpoint(new_setpoint, curr_pos, curr_vel);
+	Vector2f new_setpoint{};
+	const Vector2f normal_component = _closest_dist_dir * (_setpoint_dir.dot(_closest_dist_dir));
+	const Vector2f tangential_component = _setpoint_dir - normal_component;
 
-	//warn user if collision prevention starts to interfere
-	bool currently_interfering = (new_setpoint(0) < original_setpoint(0) - 0.05f * max_speed
-				      || new_setpoint(0) > original_setpoint(0) + 0.05f * max_speed
-				      || new_setpoint(1) < original_setpoint(1) - 0.05f * max_speed
-				      || new_setpoint(1) > original_setpoint(1) + 0.05f * max_speed);
+	const float normal_scale = _getScale(_closest_dist);
 
-	_interfering = currently_interfering;
 
-	// publish constraints
-	collision_constraints_s	constraints{};
-	constraints.timestamp = getTime();
-	original_setpoint.copyTo(constraints.original_setpoint);
-	new_setpoint.copyTo(constraints.adapted_setpoint);
-	_constraints_pub.publish(constraints);
+	const float closest_dist_tangential = _getObstacleDistance(tangential_component);
+	const float tangential_scale = _getScale(closest_dist_tangential);
 
-	original_setpoint = new_setpoint;
+
+	// only scale accelerations towards the obstacle
+	if (_closest_dist_dir.dot(_setpoint_dir) > 0) {
+		new_setpoint = (tangential_component * tangential_scale + normal_component * normal_scale) * setpoint_length;
+
+	} else {
+		new_setpoint = _setpoint_dir * setpoint_length;
+	}
+
+	return new_setpoint;
+}
+
+float
+CollisionPrevention::_getScale(const float &reference_distance)
+{
+	float scale = (reference_distance - _min_dist_to_keep);
+	const float scale_distance = math::max(_min_dist_to_keep, _param_mpc_vel_manual.get() / _param_mpc_xy_p.get());
+
+	// if scale is positive, square it and scale it with the scale_distance
+	scale = scale > 0 ? powf(scale / scale_distance, 2) : scale;
+	scale = math::min(scale, 1.0f);
+	return scale;
+}
+
+void CollisionPrevention::_getVelocityCompensationAcceleration(const float vehicle_yaw_angle_rad,
+		const Vector2f &setpoint_vel,
+		const hrt_abstime now, float &vel_comp_accel, Vector2f &vel_comp_accel_dir)
+{
+	for (int i = 0; i < BIN_COUNT; i++) {
+		const float max_range = _data_maxranges[i] * 0.01f;
+
+		// get the vector pointing into the direction of current bin
+		float bin_angle = wrap_2pi(vehicle_yaw_angle_rad
+					   + math::radians((float)i * BIN_SIZE + _obstacle_map_body_frame.angle_offset));
+
+		const Vector2f bin_direction = { cosf(bin_angle), sinf(bin_angle) };
+		float bin_distance = _obstacle_map_body_frame.distances[i];
+
+		// only consider bins which are between min and max values
+		if (bin_distance > _obstacle_map_body_frame.min_distance && bin_distance < UINT16_MAX) {
+			const float distance = bin_distance * 0.01f;
+
+			// Assume current velocity is sufficiently close to the setpoint velocity, this breaks down if flying high
+			// acceleration maneuvers
+			const float curr_vel_parallel = math::max(0.f, setpoint_vel.dot(bin_direction));
+			float delay_distance = curr_vel_parallel * _param_cp_delay.get();
+
+			const hrt_abstime data_age = now - _data_timestamps[i];
+
+			if (distance < max_range) {
+				delay_distance += curr_vel_parallel * (data_age * 1e-6f);
+			}
+
+			const float stop_distance = distance - _min_dist_to_keep - delay_distance;
+
+			float curr_acc_vel_constraint;
+
+			if (stop_distance >= 0.f) {
+				const float max_vel = math::trajectory::computeMaxSpeedFromDistance(_param_mpc_jerk_max.get(),
+						      _param_mpc_acc_hor.get(), stop_distance, 0.f);
+				curr_acc_vel_constraint = _param_mpc_xy_vel_p_acc.get() * math::min(max_vel - curr_vel_parallel, 0.f);
+
+			} else {
+				curr_acc_vel_constraint = -1.f * _param_mpc_xy_vel_p_acc.get() * curr_vel_parallel;
+			}
+
+			if (curr_acc_vel_constraint < vel_comp_accel) {
+				vel_comp_accel = curr_acc_vel_constraint;
+				vel_comp_accel_dir = bin_direction;
+			}
+		}
+	}
 }
 
 void CollisionPrevention::_publishVehicleCmdDoLoiter()
 {
 	vehicle_command_s command{};
-	command.timestamp = getTime();
 	command.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
-	command.param1 = (float)1; // base mode
-	command.param3 = (float)0; // sub mode
+	command.param1 = 1.f; // base mode VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED
+	command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
+	command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
 	command.target_system = 1;
 	command.target_component = 1;
 	command.source_system = 1;
 	command.source_component = 1;
 	command.confirmation = false;
 	command.from_external = false;
-	command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
-	command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
-
-	// publish the vehicle command
+	command.timestamp = getTime();
 	_vehicle_command_pub.publish(command);
 }
+
+float CollisionPrevention::_wrap_360(const float f)
+{
+	return wrap(f, 0.f, 360.f);
+}
+
+int CollisionPrevention::_wrap_bin(int i)
+{
+	i = i % BIN_COUNT;
+
+	while (i < 0) {
+		i += BIN_COUNT;
+	}
+
+	return i;
+}

src/lib/collision_prevention/CollisionPrevention.hpp

@@ -34,6 +34,7 @@
 /**
  * @file CollisionPrevention.hpp
  * @author Tanja Baumann <tanja@auterion.com>
+ * @author Claudio Chies <claudio@chies.com>
  *
  * CollisionPrevention controller.
  *
@@ -74,21 +75,29 @@ public:
 
 	/**
 	 * Computes collision free setpoints
-	 * @param original_setpoint, setpoint before collision prevention intervention
-	 * @param max_speed, maximum xy speed
-	 * @param curr_pos, current vehicle position
-	 * @param curr_vel, current vehicle velocity
+	 * @param setpoint_accel setpoint purely based on sticks, to be modified
+	 * @param setpoint_vel current velocity setpoint as information to be able to stop in time, does not get changed
 	 */
-	void modifySetpoint(matrix::Vector2f &original_setpoint, const float max_speed,
-			    const matrix::Vector2f &curr_pos, const matrix::Vector2f &curr_vel);
+	void modifySetpoint(matrix::Vector2f &setpoint_accel, const matrix::Vector2f &setpoint_vel);
+
+	static constexpr int BIN_COUNT =
+		sizeof(obstacle_distance_s::distances) / sizeof(obstacle_distance_s::distances[0]); // 72
+	static constexpr int BIN_SIZE = 360 / BIN_COUNT; // cannot be lower than 5 degrees, should divide 360 evenly
 
 protected:
+	/** Aggregates the sensor data into an internal obstacle map in body frame */
+	void _updateObstacleMap();
 
-	obstacle_distance_s _obstacle_map_body_frame {};
-	bool _data_fov[sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0])];
-	uint64_t _data_timestamps[sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0])];
-	uint16_t _data_maxranges[sizeof(_obstacle_map_body_frame.distances) / sizeof(
-										    _obstacle_map_body_frame.distances[0])]; /**< in cm */
+	/** Updates the obstacle data based on stale data and calculates values from the map */
+	void _updateObstacleData();
+
+	/** Calculate the constrained setpoint considering the current obstacle distances, acceleration setpoint and velocity setpoint */
+	void _calculateConstrainedSetpoint(matrix::Vector2f &setpoint_accel, const matrix::Vector2f &setpoint_vel);
+
+	obstacle_distance_s _obstacle_map_body_frame{};
+	bool _data_fov[BIN_COUNT] {};
+	uint64_t _data_timestamps[BIN_COUNT] {};
+	uint16_t _data_maxranges[BIN_COUNT] {}; /**< in cm */
 
 	void _addDistanceSensorData(distance_sensor_s &distance_sensor, const matrix::Quatf &vehicle_attitude);
 
@@ -96,7 +105,7 @@ protected:
 	 * Updates obstacle distance message with measurement from offboard
 	 * @param obstacle, obstacle_distance message to be updated
 	 */
-	void _addObstacleSensorData(const obstacle_distance_s &obstacle, const matrix::Quatf &vehicle_attitude);
+	void _addObstacleSensorData(const obstacle_distance_s &obstacle, const float vehicle_yaw);
 
 	/**
 	 * Computes an adaption to the setpoint direction to guide towards free space
@@ -106,6 +115,34 @@ protected:
 	 */
 	void _adaptSetpointDirection(matrix::Vector2f &setpoint_dir, int &setpoint_index, float vehicle_yaw_angle_rad);
 
+	/**
+	 * Constrain the acceleration setpoint based on the distance to the obstacle
+	 * The Scaling of the acceleration setpoint is linear below the min_dist_to_keep and quadratic until the scale_distance above
+	 *           +1          ________ _ _
+	 * ┌─┐      │           //
+	 * │X│      │          //
+	 * │X│      │         //
+	 * │X│      │       ///
+	 * │X│      │     //
+	 * │X│      │/////
+	 * │X│──────┼─────────────┬─────────────
+	 * │X│     /│             scale_distance
+	 * │X│    / │
+	 * │X│   /  │
+	 * │X│  /   │
+	 * │X│ /    │
+	 * └─┘/     │
+	 *           -1
+	 */
+	matrix::Vector2f _constrainAccelerationSetpoint(const float &setpoint_length);
+
+	void _getVelocityCompensationAcceleration(const float vehicle_yaw_angle_rad, const matrix::Vector2f &setpoint_vel,
+			const hrt_abstime now, float &vel_comp_accel, matrix::Vector2f &vel_comp_accel_dir);
+
+	float _getObstacleDistance(const matrix::Vector2f &direction);
+
+	float _getScale(const float &reference_distance);
+
 	/**
 	 * Determines whether a new sensor measurement is used
 	 * @param map_index, index of the bin in the internal map the measurement belongs in
@@ -114,25 +151,39 @@ protected:
 	 */
 	bool _enterData(int map_index, float sensor_range, float sensor_reading);
 
+	bool _checkSetpointDirectionFeasability();
+
+	void _transformSetpoint(const matrix::Vector2f &setpoint);
+
 
 	//Timing functions. Necessary to mock time in the tests
 	virtual hrt_abstime getTime();
 	virtual hrt_abstime getElapsedTime(const hrt_abstime *ptr);
 
-
 private:
-
-	bool _interfering{false};		/**< states if the collision prevention interferes with the user input */
+	bool _data_stale{true}; 		/**< states if the data is stale */
 	bool _was_active{false};		/**< states if the collision prevention interferes with the user input */
+	bool _obstacle_data_present{false};	/**< states if obstacle data is present */
+
+	int _setpoint_index{};			/**< index of the setpoint*/
+	matrix::Vector2f _setpoint_dir{};		/**< direction of the setpoint*/
+
+	float _closest_dist{};			/**< closest distance to an obstacle  */
+	matrix::Vector2f _closest_dist_dir{NAN, NAN};	/**< direction of the closest obstacle  */
+
+	float _min_dist_to_keep{};
 
 	orb_advert_t _mavlink_log_pub{nullptr};	 	/**< Mavlink log uORB handle */
 
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	matrix::Quatf _vehicle_attitude{};
+	float _vehicle_yaw{0.f};
+
 	uORB::Publication<collision_constraints_s>	_constraints_pub{ORB_ID(collision_constraints)};		/**< constraints publication */
-	uORB::Publication<obstacle_distance_s>		_obstacle_distance_pub{ORB_ID(obstacle_distance_fused)};	/**< obstacle_distance publication */
+	uORB::Publication<obstacle_distance_s>		_obstacle_distance_fused_pub{ORB_ID(obstacle_distance_fused)};	/**< obstacle_distance publication */
 	uORB::Publication<vehicle_command_s>	_vehicle_command_pub{ORB_ID(vehicle_command)};			/**< vehicle command do publication */
 
 	uORB::SubscriptionData<obstacle_distance_s> _sub_obstacle_distance{ORB_ID(obstacle_distance)}; /**< obstacle distances received form a range sensor */
-	uORB::SubscriptionData<vehicle_attitude_s> _sub_vehicle_attitude{ORB_ID(vehicle_attitude)};
 	uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
 
 	static constexpr uint64_t RANGE_STREAM_TIMEOUT_US{500_ms};
@@ -142,13 +193,15 @@ private:
 	hrt_abstime	_time_activated{0};
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::CP_DIST>) _param_cp_dist, /**< collision prevention keep minimum distance */
-		(ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, /**< delay of the range measurement data*/
-		(ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, /**< collision prevention change setpoint angle */
-		(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, /**< movement allowed where no data*/
-		(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, /**< p gain from position controller*/
-		(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, /**< vehicle maximum jerk*/
-		(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor /**< vehicle maximum horizontal acceleration*/
+		(ParamFloat<px4::params::CP_DIST>) _param_cp_dist, 		/**< collision prevention keep minimum distance */
+		(ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, 		/**< delay of the range measurement data*/
+		(ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, 	/**< collision prevention change setpoint angle */
+		(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_no_data, 	/**< movement allowed where no data*/
+		(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, 		/**< p gain from position controller*/
+		(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, 	/**< vehicle maximum jerk*/
+		(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, 	/**< vehicle maximum horizontal acceleration*/
+		(ParamFloat<px4::params::MPC_XY_VEL_P_ACC>) _param_mpc_xy_vel_p_acc, /**< p gain from velocity controller*/
+		(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual   /**< maximum velocity in manual flight mode*/
 	)
 
 	/**
@@ -180,14 +233,11 @@ private:
 	 */
 	void _publishObstacleDistance(obstacle_distance_s &obstacle);
 
-	/**
-	 * Aggregates the sensor data into a internal obstacle map in body frame
-	 */
-	void _updateObstacleMap();
-
 	/**
 	 * Publishes vehicle command.
 	 */
 	void _publishVehicleCmdDoLoiter();
 
+	static float _wrap_360(const float f);
+	static int _wrap_bin(int i);
 };

src/lib/component_information/CMakeLists.txt

@@ -83,12 +83,12 @@ list(APPEND comp_metadata_types "--type" "5,${PX4_BINARY_DIR}/actuators.json.xz,
 set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
 set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h)
 add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz ${component_information_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
 		${component_general_json}
 		--compress
 		${comp_metadata_types}
 		--version-file ${PX4_BINARY_DIR}/src/lib/version/build_git_version.h
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
 		${component_general_json}
 		${PX4_BINARY_DIR}/events/all_events.json.xz
 		--output ${component_information_header}

src/lib/events/CMakeLists.txt

@@ -47,7 +47,7 @@ set(generated_events_px4_file ${generated_events_dir}/px4.json)
 set(generated_events_common_enums_file ${generated_events_dir}/common_with_enums.json)
 add_custom_command(OUTPUT ${generated_events_px4_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--base-path ${PX4_SOURCE_DIR}/src
 		--src-path ${all_px4_src_files_relative}
 		--json ${generated_events_px4_file} #--verbose
@@ -64,13 +64,13 @@ add_custom_target(events_px4_json DEPENDS ${generated_events_px4_file})
 
 set(generated_events_file ${generated_events_dir}/all_events.json)
 add_custom_command(OUTPUT ${generated_events_file} ${generated_events_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		${generated_events_px4_file}
 		${generated_events_common_enums_file}
 		--output ${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/validate.py
 		${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${generated_events_file}
 	DEPENDS
 		${generated_events_px4_file}
@@ -86,7 +86,7 @@ add_custom_target(events_json DEPENDS ${generated_events_file})
 # combine common.json with our enums for the code generation
 add_custom_command(OUTPUT ${generated_events_common_enums_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		enums.json
 		libevents/events/common.json
 		--output ${generated_events_common_enums_file}
@@ -105,7 +105,7 @@ add_custom_command(OUTPUT ${generated_events_common_enums_file}
 set(generated_events_header ${generated_events_dir}/events_generated.h)
 add_custom_command(OUTPUT ${generated_events_header}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/generate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/generate.py
 		--template libevents/libs/cpp/templates/events_generated.h.jinja
 		--output ${generated_events_dir}
 		${generated_events_common_enums_file}

src/lib/metadata/CMakeLists.txt

@@ -39,14 +39,14 @@ endif()
 set(generated_actuators_metadata_file ${PX4_BINARY_DIR}/actuators.json)
 add_custom_command(OUTPUT ${generated_actuators_metadata_file}
 	${generated_actuators_metadata_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
 		${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
 		--config-files ${module_config_files} #--verbose
 		--compress
 		--board ${PX4_BOARD}
 		--output-file ${generated_actuators_metadata_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/actuators.schema.json
 		${generated_actuators_metadata_file}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI

src/lib/mixer_module/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(functions_header ${CMAKE_CURRENT_BINARY_DIR}/output_functions.hpp)
 add_custom_command(OUTPUT ${functions_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
 		${CMAKE_CURRENT_SOURCE_DIR}/output_functions.yaml
 		${functions_header}
 	DEPENDS

src/lib/mixer_module/mixer_module.hpp

@@ -170,8 +170,6 @@ public:
 	void setAllMinValues(uint16_t value);
 	void setAllMaxValues(uint16_t value);
 
-	uint16_t &reverseOutputMask() { return _reverse_output_mask; }
-	uint16_t &failsafeValue(int index) { return _failsafe_value[index]; }
 	/** Disarmed values: disarmedValue < minValue needs to hold */
 	uint16_t &disarmedValue(int index) { return _disarmed_value[index]; }
 	uint16_t &minValue(int index) { return _min_value[index]; }

src/lib/parameters/CMakeLists.txt

@@ -90,12 +90,12 @@ endif()
 
 add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--params-file ${generated_serial_params_file}
 		--serial-ports ${board_serial_ports} ${added_arguments} ${constrained_flash_arg}
 		--config-files ${module_config_files}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_module_params_file}
 		${added_arguments} ${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
@@ -114,7 +114,7 @@ set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
 file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c ${PX4_SOURCE_DIR}/src/*parameters.c)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
 		--src-path ${module_list} ${generated_params_dir}
 		--xml ${parameters_xml}
 		--json ${parameters_json}
@@ -123,7 +123,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/parameter.schema.json
 		${parameters_json}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
@@ -145,7 +145,7 @@ add_custom_target(parameters_xml DEPENDS ${parameters_xml})
 
 # generate px4_parameters.hpp
 add_custom_command(OUTPUT px4_parameters.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
@@ -157,7 +157,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)
 set(SRCS)
 
 list(APPEND SRCS
-	parameters.cpp 
+	parameters.cpp
 	atomic_transaction.cpp
 	autosave.cpp
 )

src/lib/version/CMakeLists.txt

@@ -54,7 +54,7 @@ endif()
 set(px4_git_ver_header ${CMAKE_CURRENT_BINARY_DIR}/build_git_version.h)
 add_custom_command(OUTPUT ${px4_git_ver_header}
 	COMMAND
-		${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
+		${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
 	DEPENDS
 		${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py
 		${git_dir_path}/HEAD

src/lib/wind_estimator/CMakeLists.txt

@@ -40,7 +40,7 @@ add_dependencies(wind_estimator prebuild_targets)
 add_subdirectory(test)
 
 add_custom_target(wind_estimator_generate_airspeed_fusion
-	COMMAND ${PYTHON_EXECUTABLE} derivation.py
+	COMMAND ${Python_EXECUTABLE} derivation.py
 	#DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/python/derivation.py
 	#BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/python/generated/fuse_airspeed.h
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python

src/lib/world_magnetic_model/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 add_custom_target(world_magnetic_model_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
 	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	USES_TERMINAL
@@ -40,7 +40,7 @@ add_custom_target(world_magnetic_model_update
 )
 
 add_custom_target(world_magnetic_model_tests_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
 	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	USES_TERMINAL

src/modules/commander/Commander.cpp

@@ -716,6 +716,8 @@ Commander::Commander() :
 	}
 
 	updateParameters();
+
+	_failsafe.setOnNotifyUserCallback(&Commander::onFailsafeNotifyUserTrampoline, this);
 }
 
 Commander::~Commander()
@@ -2799,8 +2801,8 @@ void Commander::dataLinkCheck()
 					_open_drone_id_system_lost = false;
 
 					if (_datalink_last_heartbeat_open_drone_id_system != 0) {
-						mavlink_log_info(&_mavlink_log_pub, "OpenDroneID system regained\t");
-						events::send(events::ID("commander_open_drone_id_regained"), events::Log::Info, "OpenDroneID system regained");
+						mavlink_log_info(&_mavlink_log_pub, "Remote ID system regained\t");
+						events::send(events::ID("commander_open_drone_id_regained"), events::Log::Info, "Remote ID system regained");
 					}
 				}
 
@@ -2861,11 +2863,11 @@ void Commander::dataLinkCheck()
 		_status_changed = true;
 	}
 
-	// OpenDroneID system
+	// Remote ID system
 	if ((hrt_elapsed_time(&_datalink_last_heartbeat_open_drone_id_system) > 3_s)
 	    && !_open_drone_id_system_lost) {
-		mavlink_log_critical(&_mavlink_log_pub, "OpenDroneID system lost");
-		events::send(events::ID("commander_open_drone_id_lost"), events::Log::Critical, "OpenDroneID system lost");
+		mavlink_log_critical(&_mavlink_log_pub, "Remote ID system lost");
+		events::send(events::ID("commander_remote_id_lost"), events::Log::Critical, "Remote ID system lost");
 		_vehicle_status.open_drone_id_system_present = false;
 		_vehicle_status.open_drone_id_system_healthy = false;
 		_open_drone_id_system_lost = true;
@@ -3000,6 +3002,20 @@ void Commander::send_parachute_command()
 	set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
 }
 
+void Commander::onFailsafeNotifyUserTrampoline(void *arg)
+{
+	Commander *commander = static_cast<Commander *>(arg);
+	commander->onFailsafeNotifyUser();
+}
+
+void Commander::onFailsafeNotifyUser()
+{
+	// If we are about to inform about a failsafe, we need to ensure any pending health report is sent out first,
+	// as the failsafe message might reference that. This is only needed in case the report is currently rate-limited,
+	// i.e. it had a recent previous change already.
+	_health_and_arming_checks.reportIfUnreportedDifferences();
+}
+
 int Commander::print_usage(const char *reason)
 {
 	if (reason) {

src/modules/commander/Commander.hpp

@@ -200,6 +200,9 @@ private:
 
 	void modeManagementUpdate();
 
+	static void onFailsafeNotifyUserTrampoline(void *arg);
+	void onFailsafeNotifyUser();
+
 	enum class PrearmedMode {
 		DISABLED = 0,
 		SAFETY_BUTTON = 1,

src/modules/commander/HealthAndArmingChecks/Common.cpp

@@ -219,7 +219,7 @@ bool Report::finalize()
 	return _results_changed;
 }
 
-bool Report::report(bool is_armed, bool force)
+bool Report::report(bool force)
 {
 	const hrt_abstime now = hrt_absolute_time();
 	const bool has_difference = _had_unreported_difference || _results_changed;
@@ -317,3 +317,12 @@ bool Report::report(bool is_armed, bool force)
 			       current_results.health.error, current_results.health.warning);
 	return true;
 }
+
+bool Report::reportIfUnreportedDifferences()
+{
+	if (_had_unreported_difference) {
+		return report(true);
+	}
+
+	return false;
+}

src/modules/commander/HealthAndArmingChecks/Common.hpp

@@ -337,7 +337,12 @@ private:
 	 */
 	bool finalize();
 
-	bool report(bool is_armed, bool force);
+	bool report(bool force);
+
+	/**
+	 * Send out any unreported changes if there are any
+	 */
+	bool reportIfUnreportedDifferences();
 
 	const hrt_abstime _min_reporting_interval;
 

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp

@@ -67,7 +67,7 @@ bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
 	}
 
 	const bool results_changed = _reporter.finalize();
-	const bool reported = _reporter.report(_context.isArmed(), force_reporting);
+	const bool reported = _reporter.report(force_reporting);
 
 	if (reported) {
 
@@ -89,7 +89,7 @@ bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
 		}
 
 		_reporter.finalize();
-		_reporter.report(_context.isArmed(), false);
+		_reporter.report(false);
 		_reporter._mavlink_log_pub = nullptr;
 		// LEGACY end
 
@@ -120,3 +120,8 @@ void HealthAndArmingChecks::updateParams()
 		_checks[i]->updateParams();
 	}
 }
+
+bool HealthAndArmingChecks::reportIfUnreportedDifferences()
+{
+	return _reporter.reportIfUnreportedDifferences();
+}

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -88,6 +88,8 @@ public:
 	 */
 	bool update(bool force_reporting = false, bool is_arming_request = false);
 
+	bool reportIfUnreportedDifferences();
+
 	/**
 	 * Whether arming is possible for a given navigation mode
 	 */

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp

@@ -69,7 +69,7 @@ TEST_F(ReporterTest, basic_no_checks)
 
 	reporter.reset();
 	reporter.finalize();
-	reporter.report(false, false);
+	reporter.report(false);
 
 	ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 	ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, 0xff);
@@ -92,7 +92,7 @@ TEST_F(ReporterTest, basic_fail_all_modes)
 		reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
 					    events::ID("arming_test_basic_fail_all_modes_fail1"), events::Log::Info, "");
 		reporter.finalize();
-		reporter.report(false, false);
+		reporter.report(false);
 
 		ASSERT_FALSE(reporter.canArm(nav_state));
 		ASSERT_TRUE(reporter.canRun(nav_state));
@@ -113,7 +113,7 @@ TEST_F(ReporterTest, arming_checks_mode_category)
 			       events::ID("arming_test_arming_checks_mode_category_fail2"), events::Log::Info, "");
 	reporter.setIsPresent(health_component_t::battery);
 	reporter.finalize();
-	reporter.report(false, false);
+	reporter.report(false);
 
 	ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 	ASSERT_TRUE(reporter.canRun(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
@@ -138,7 +138,7 @@ TEST_F(ReporterTest, arming_checks_mode_category2)
 	reporter.healthFailure(NavModes::Mission, health_component_t::remote_control,
 			       events::ID("arming_test_arming_checks_mode_category2_fail1"), events::Log::Warning, "");
 	reporter.finalize();
-	reporter.report(false, false);
+	reporter.report(false);
 
 	ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 
@@ -178,7 +178,7 @@ TEST_F(ReporterTest, reporting)
 			}
 
 			reporter.finalize();
-			reporter.report(false, false);
+			reporter.report(false);
 			ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
 
 			if (i == 0) {
@@ -219,7 +219,7 @@ TEST_F(ReporterTest, reporting)
 			}
 
 			reporter.finalize();
-			reporter.report(false, false);
+			reporter.report(false);
 			ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
 
 			if (i == 0) {
@@ -265,7 +265,7 @@ TEST_F(ReporterTest, reporting_multiple)
 		reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::remote_control,
 						     events::ID("arming_test_reporting_multiple_fail3"), events::Log::Warning, "", 55);
 		reporter.finalize();
-		reporter.report(false, false);
+		reporter.report(false);
 		ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
 
 		if (i == 0) {

src/modules/commander/failsafe/CMakeLists.txt

@@ -37,7 +37,7 @@ set(generated_uorb_struct_field_mapping_header ${PX4_BINARY_DIR}/generated_uorb_
 set(html_template_file ${CMAKE_CURRENT_SOURCE_DIR}/emscripten_template.html)
 set(html_output_file ${PX4_BINARY_DIR}/failsafe_html_template.html)
 add_custom_command(OUTPUT ${generated_uorb_struct_field_mapping_header} ${html_output_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
 		${failsafe_flags_msg_file} ${generated_uorb_struct_field_mapping_header}
 		${html_template_file} ${html_output_file}
 	DEPENDS

src/modules/commander/failsafe/framework.cpp

@@ -170,6 +170,10 @@ void FailsafeBase::removeActions(ClearCondition condition)
 
 void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action delayed_action, Cause cause)
 {
+	if (_on_notify_user_cb) {
+		_on_notify_user_cb(_on_notify_user_arg);
+	}
+
 	int delay_s = (_current_delay + 500_ms) / 1_s;
 	PX4_DEBUG("User notification: failsafe triggered (action=%i, delayed_action=%i, cause=%i, delay=%is)", (int)action,
 		  (int)delayed_action, (int)cause, delay_s);

src/modules/commander/failsafe/framework.h

@@ -165,6 +165,17 @@ public:
 	bool getDeferFailsafes() const { return _defer_failsafes; }
 	bool failsafeDeferred() const { return _failsafe_defer_started != 0; }
 
+	using UserCallback = void(*)(void *);
+
+	/**
+	 * Register a callback that is called before notifying the user.
+	 */
+	void setOnNotifyUserCallback(UserCallback callback, void *arg)
+	{
+		_on_notify_user_cb = callback;
+		_on_notify_user_arg = arg;
+	}
+
 protected:
 	enum class UserTakeoverAllowed {
 		Always, ///< allow takeover (immediately)
@@ -278,6 +289,9 @@ private:
 
 	orb_advert_t _mavlink_log_pub{nullptr};
 
+	UserCallback _on_notify_user_cb{nullptr};
+	void *_on_notify_user_arg{nullptr};
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
 					(ParamFloat<px4::params::COM_FAIL_ACT_T>) 	_param_com_fail_act_t
 				       );

src/modules/ekf2/CMakeLists.txt

@@ -35,7 +35,7 @@ option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" OFF)
 
 # Symforce code generation TODO:fixme
 execute_process(
-    COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
+    COMMAND ${Python_EXECUTABLE} -m symforce.symbolic
     RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
     OUTPUT_QUIET
 )
@@ -58,7 +58,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
 			${EKF_DERIVATION_SRC_DIR}/generated/state.h
 		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
+			${Python_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
 		DEPENDS
 			${EKF_DERIVATION_SRC_DIR}/derivation.py
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
@@ -92,7 +92,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
 			${EKF_DERIVATION_DST_DIR}/generated/state.h
 		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
+			${Python_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
 		DEPENDS
 			${EKF_DERIVATION_SRC_DIR}/derivation.py
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
@@ -277,6 +277,7 @@ px4_add_module(
 		world_magnetic_model
 
 		${EKF_LIBS}
+		lat_lon_alt
 		bias_estimator
 		output_predictor
 	UNITY_BUILD

src/modules/ekf2/EKF/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(bias_estimator)
 add_subdirectory(output_predictor)
+add_subdirectory(lat_lon_alt)
 
 set(EKF_LIBS)
 set(EKF_SRCS)
@@ -154,6 +155,7 @@ target_link_libraries(ecl_EKF
 	PRIVATE
 		bias_estimator
 		geo
+		lat_lon_alt
 		output_predictor
 		world_magnetic_model
 		${EKF_LIBS}

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

@@ -74,24 +74,21 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 		}
 
 		estimator_aid_source2d_s aid_src{};
-		Vector2f position;
+		const LatLonAlt position(sample.latitude, sample.longitude, sample.altitude_amsl);
+		const Vector2f innovation = (ekf.getLatLonAlt() - position).xy(); // altitude measurements are not used
 
-		if (ekf.global_origin_valid()) {
-			position = ekf.global_origin().project(sample.latitude, sample.longitude);
-			//const float hgt = ekf.getEkfGlobalOriginAltitude() - (float)sample.altitude;
-			// relax the upper observation noise limit which prevents bad measurements perturbing the position estimate
-			float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get(), 0.01f);
-			const float pos_var = sq(pos_noise);
-			const Vector2f pos_obs_var(pos_var, pos_var);
+		// relax the upper observation noise limit which prevents bad measurements perturbing the position estimate
+		float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get(), 0.01f);
+		const float pos_var = sq(pos_noise);
+		const Vector2f pos_obs_var(pos_var, pos_var);
 
-			ekf.updateAidSourceStatus(aid_src,
-						  sample.time_us,                                    // sample timestamp
-						  position,                                          // observation
-						  pos_obs_var,                                       // observation variance
-						  Vector2f(ekf.state().pos) - position,              // innovation
-						  Vector2f(ekf.getPositionVariance()) + pos_obs_var, // innovation variance
-						  math::max(_param_ekf2_agp_gate.get(), 1.f));       // innovation gate
-		}
+		ekf.updateAidSourceStatus(aid_src,
+					  sample.time_us,                                      // sample timestamp
+					  matrix::Vector2d(sample.latitude, sample.longitude), // observation
+					  pos_obs_var,                                         // observation variance
+					  innovation,                                          // innovation
+					  Vector2f(ekf.getPositionVariance()) + pos_obs_var,   // innovation variance
+					  math::max(_param_ekf2_agp_gate.get(), 1.f));         // innovation gate
 
 		const bool starting_conditions = PX4_ISFINITE(sample.latitude) && PX4_ISFINITE(sample.longitude)
 						 && ekf.control_status_flags().yaw_align;
@@ -113,8 +110,8 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 
 				} else {
 					// Try to initialize using measurement
-					if (ekf.setEkfGlobalOriginFromCurrentPos(sample.latitude, sample.longitude, sample.altitude_amsl, sample.eph,
-							sample.epv)) {
+					if (ekf.resetGlobalPositionTo(sample.latitude, sample.longitude, sample.altitude_amsl, sample.eph,
+								      sample.epv)) {
 						ekf.enableControlStatusAuxGpos();
 						_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 						_state = State::active;
@@ -131,7 +128,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 				if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max)
 				    || (_reset_counters.lat_lon != sample.lat_lon_reset_counter)) {
 
-					ekf.resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance));
+					ekf.resetHorizontalPositionTo(sample.latitude, sample.longitude, Vector2f(aid_src.observation_variance));
 
 					ekf.resetAidSourceStatusZeroInnovation(aid_src);
 

src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp

@@ -73,7 +73,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 
 			if (_baro_counter <= _obs_buffer_length) {
 				// Initialize the pressure offset (included in the baro bias)
-				bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+				bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());
 			}
 		}
 
@@ -106,7 +106,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 		if (measurement_valid) {
 			bias_est.setMaxStateNoise(sqrtf(measurement_var));
 			bias_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd);
-			bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+			bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
 		}
 
 		// determine if we should use height aiding
@@ -131,8 +131,8 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
 					_information_events.flags.reset_hgt_to_baro = true;
-					resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
-					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+					resetAltitudeTo(_baro_lpf.getState() - bias_est.getBias(), measurement_var);
+					bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());
 
 					// reset vertical velocity if no valid sources available
 					if (!isVerticalVelocityAidingActive()) {
@@ -163,12 +163,12 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					_height_sensor_ref = HeightSensor::BARO;
 
 					_information_events.flags.reset_hgt_to_baro = true;
-					resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
-					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+					initialiseAltitudeTo(measurement, measurement_var);
+					bias_est.reset();
 
 				} else {
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
-					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+					bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());
 				}
 
 				aid_src.time_last_fuse = imu_sample.time_us;

src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp

@@ -99,7 +99,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 	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(State::pos.idx + 2, State::pos.idx + 2));
+		bias_est.fuseBias(measurement + _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
 	}
 
 	const bool continuing_conditions_passing = (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VPOS))
@@ -117,11 +117,11 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 
 					if (_height_sensor_ref == HeightSensor::EV) {
 						_information_events.flags.reset_hgt_to_ev = true;
-						resetVerticalPositionTo(measurement, measurement_var);
+						resetAltitudeTo(-measurement, measurement_var);
 						bias_est.reset();
 
 					} else {
-						bias_est.setBias(-_state.pos(2) + measurement);
+						bias_est.setBias(_gpos.altitude() + measurement);
 					}
 
 					aid_src.time_last_fuse = _time_delayed_us;
@@ -146,8 +146,8 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 				// 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);
+				resetAltitudeTo(-measurement - bias_est.getBias(), measurement_var);
+				bias_est.setBias(_gpos.altitude() + measurement);
 
 				aid_src.time_last_fuse = _time_delayed_us;
 
@@ -170,14 +170,14 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 			if (_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::EV)) {
 				ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
 				_information_events.flags.reset_hgt_to_ev = true;
-				resetVerticalPositionTo(measurement, measurement_var);
+				resetAltitudeTo(-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);
+				bias_est.setBias(_gpos.altitude() + measurement);
 			}
 
 			aid_src.time_last_fuse = _time_delayed_us;

src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp

@@ -137,6 +137,8 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 
 #endif // CONFIG_EKF2_GNSS
 
+	const Vector2f position_estimate = getLocalHorizontalPosition();
+
 	const Vector2f measurement{pos(0), pos(1)};
 
 	const Vector2f measurement_var{
@@ -150,7 +152,7 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 	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);
+			_ev_pos_b_est.setBias(-position_estimate + measurement);
 
 		} else if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.ev_pos)) {
 			// otherwise stop EV position, when quality is good again it will restart with reset bias
@@ -165,7 +167,7 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 			      ev_sample.time_us,                                      // sample timestamp
 			      position,                                               // observation
 			      pos_obs_var,                                            // observation variance
-			      Vector2f(_state.pos) - position,                        // innovation
+			      position_estimate - position,                           // innovation
 			      Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
 			      math::max(_params.ev_pos_innov_gate, 1.f));             // innovation gate
 
@@ -174,7 +176,7 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 	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()),
+		_ev_pos_b_est.fuseBias(measurement - position_estimate,
 				       measurement_var + Vector2f(getStateVariance<State::pos>()));
 	}
 
@@ -213,7 +215,7 @@ void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurem
 	// TODO:  (_params.position_sensor_ref == PositionSensor::EV)
 	if (_control_status.flags.gps) {
 		ECL_INFO("starting %s fusion", EV_AID_SRC_NAME);
-		_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+		_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
 		_ev_pos_b_est.setFusionActive();
 
 	} else {
@@ -245,7 +247,7 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
 				_ev_pos_b_est.reset();
 
 			} else {
-				_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+				_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
 			}
 
 			aid_src.time_last_fuse = _time_delayed_us;
@@ -275,14 +277,14 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
 
 			if (_control_status.flags.gps && !pos_xy_fusion_failing) {
 				// reset EV position bias
-				_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+				_ev_pos_b_est.setBias(-Vector2f(getLocalHorizontalPosition()) + 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);
+					_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
 
 				} else {
 					resetHorizontalPositionTo(measurement, measurement_var);

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

@@ -51,7 +51,7 @@ void Ekf::controlFakeHgtFusion()
 		const float obs_var = sq(_params.pos_noaid_noise);
 		const float innov_gate = 3.f;
 
-		updateVerticalPositionAidStatus(aid_src, _time_delayed_us, _last_known_pos(2), obs_var, innov_gate);
+		updateVerticalPositionAidStatus(aid_src, _time_delayed_us, -_last_known_gpos.altitude(), obs_var, innov_gate);
 
 		const bool continuing_conditions_passing = !isVerticalAidingActive();
 		const bool starting_conditions_passing = continuing_conditions_passing
@@ -98,7 +98,7 @@ void Ekf::controlFakeHgtFusion()
 void Ekf::resetFakeHgtFusion()
 {
 	ECL_INFO("reset fake height fusion");
-	_last_known_pos(2) = _state.pos(2);
+	_last_known_gpos.setAltitude(_gpos.altitude());
 
 	resetVerticalVelocityToZero();
 	resetHeightToLastKnown();
@@ -109,8 +109,8 @@ void Ekf::resetFakeHgtFusion()
 void Ekf::resetHeightToLastKnown()
 {
 	_information_events.flags.reset_pos_to_last_known = true;
-	ECL_INFO("reset height to last known (%.3f)", (double)_last_known_pos(2));
-	resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise));
+	ECL_INFO("reset height to last known (%.3f)", (double)_last_known_gpos.altitude());
+	resetAltitudeTo(_last_known_gpos.altitude(), sq(_params.pos_noaid_noise));
 }
 
 void Ekf::stopFakeHgtFusion()

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

@@ -63,17 +63,17 @@ void Ekf::controlFakePosFusion()
 			obs_var(0) = obs_var(1) = sq(0.5f);
 		}
 
-		const Vector2f position(_last_known_pos);
+		const Vector2f innovation = (_gpos - _last_known_gpos).xy();
 
 		const float innov_gate = 3.f;
 
 		updateAidSourceStatus(aid_src,
 				      _time_delayed_us,
-				      position,                                           // observation
-				      obs_var,                                            // observation variance
-				      Vector2f(_state.pos) - position,                    // innovation
-				      Vector2f(getStateVariance<State::pos>()) + obs_var, // innovation variance
-				      innov_gate);                                        // innovation gate
+				      Vector2f(_gpos.latitude_deg(), _gpos.longitude_deg()), // observation
+				      obs_var,                                               // observation variance
+				      innovation,                       // innovation
+				      Vector2f(getStateVariance<State::pos>()) + obs_var,    // innovation variance
+				      innov_gate);                                           // innovation gate
 
 		const bool enable_valid_fake_pos = _control_status.flags.constant_pos || _control_status.flags.vehicle_at_rest;
 		const bool enable_fake_pos = !enable_valid_fake_pos
@@ -95,7 +95,7 @@ void Ekf::controlFakePosFusion()
 void Ekf::resetFakePosFusion()
 {
 	ECL_INFO("reset fake position fusion");
-	_last_known_pos.xy() = _state.pos.xy();
+	_last_known_gpos.setLatLon(_gpos);
 
 	resetHorizontalPositionToLastKnown();
 	resetHorizontalVelocityToZero();

src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp

@@ -62,9 +62,9 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 
 		const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
 		const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-		const float gnss_alt = _gps_sample_delayed.alt + pos_offset_earth(2);
+		const float gnss_alt = gps_sample.alt + pos_offset_earth(2);
 
-		const float measurement = gnss_alt - getEkfGlobalOriginAltitude();
+		const float measurement = gnss_alt;
 		const float measurement_var = sq(noise);
 
 		const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
@@ -81,13 +81,13 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 		if (measurement_valid) {
 			bias_est.setMaxStateNoise(sqrtf(measurement_var));
 			bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
-			bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+			bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
 		}
 
 		// determine if we should use height aiding
 		const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
 				&& measurement_valid
-				&& _pos_ref.isInitialized()
+				&& _local_origin_lat_lon.isInitialized()
 				&& _gps_checks_passed;
 
 		const bool starting_conditions_passing = continuing_conditions_passing
@@ -105,8 +105,8 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
 					_information_events.flags.reset_hgt_to_gps = true;
-					resetVerticalPositionTo(aid_src.observation, measurement_var);
-					bias_est.setBias(_state.pos(2) + measurement);
+					resetAltitudeTo(measurement, measurement_var);
+					bias_est.setBias(-_gpos.altitude() + measurement);
 
 					aid_src.time_last_fuse = _time_delayed_us;
 
@@ -128,13 +128,13 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 					_height_sensor_ref = HeightSensor::GNSS;
 
 					_information_events.flags.reset_hgt_to_gps = true;
-					resetVerticalPositionTo(-measurement, measurement_var);
-					_gpos_origin_epv = 0.f; // The uncertainty of the global origin is now contained in the local position uncertainty
+
+					initialiseAltitudeTo(measurement, measurement_var);
 					bias_est.reset();
 
 				} else {
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
-					bias_est.setBias(_state.pos(2) + measurement);
+					bias_est.setBias(-_gpos.altitude() + measurement);
 				}
 
 				aid_src.time_last_fuse = _time_delayed_us;

src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp

@@ -55,32 +55,6 @@
 #define MASK_GPS_VSPD    (1<<8)
 #define MASK_GPS_SPOOFED (1<<9)
 
-void Ekf::collect_gps(const gnssSample &gps)
-{
-	if (_filter_initialised && !_pos_ref.isInitialized() && _gps_checks_passed) {
-		// If we have good GPS data set the origin's WGS-84 position to the last gps fix
-		setLatLonOriginFromCurrentPos(gps.lat, gps.lon, gps.hacc);
-
-		// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
-		if (!PX4_ISFINITE(_gps_alt_ref)) {
-			setAltOriginFromCurrentPos(gps.alt, gps.vacc);
-		}
-
-		_information_events.flags.gps_checks_passed = true;
-
-		ECL_INFO("GPS origin set to lat=%.6f, lon=%.6f",
-			 _pos_ref.getProjectionReferenceLat(), _pos_ref.getProjectionReferenceLon());
-
-	} else {
-		// a rough 2D fix is sufficient to lookup earth spin rate
-		const bool gps_rough_2d_fix = (gps.fix_type >= 2) && (gps.hacc < 1000);
-
-		if (gps_rough_2d_fix && (_gps_checks_passed || !_pos_ref.isInitialized())) {
-			_earth_rate_NED = calcEarthRateNED((float)math::radians(gps.lat));
-		}
-	}
-}
-
 bool Ekf::runGnssChecks(const gnssSample &gps)
 {
 	_gps_check_fail_status.flags.spoofed = gps.spoofed;

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -67,11 +67,13 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 		    && isTimedOut(_last_gps_fail_us, max((uint64_t)1e6, (uint64_t)_min_gps_health_time_us / 10))) {
 			if (isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
 				// First time checks are passing, latching.
+				if (!_gps_checks_passed) {
+					_information_events.flags.gps_checks_passed = true;
+				}
+
 				_gps_checks_passed = true;
 			}
 
-			collect_gps(gnss_sample);
-
 		} else {
 			// Skip this sample
 			_gps_data_ready = false;
@@ -82,10 +84,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 			}
 		}
 
-		if (_pos_ref.isInitialized()) {
-			updateGnssPos(gnss_sample, _aid_src_gnss_pos);
-		}
-
+		updateGnssPos(gnss_sample, _aid_src_gnss_pos);
 		updateGnssVel(imu_delayed, gnss_sample, _aid_src_gnss_vel);
 
 	} else if (_control_status.flags.gps) {
@@ -108,9 +107,9 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 
 		const bool continuing_conditions_passing = (gnss_vel_enabled || gnss_pos_enabled)
 				&& _control_status.flags.tilt_align
-				&& _control_status.flags.yaw_align
-				&& _pos_ref.isInitialized();
+				&& _control_status.flags.yaw_align;
 		const bool starting_conditions_passing = continuing_conditions_passing && _gps_checks_passed;
+		const bool gpos_init_conditions_passing = gnss_pos_enabled && _gps_checks_passed;
 
 		if (_control_status.flags.gps) {
 			if (continuing_conditions_passing) {
@@ -174,6 +173,9 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 				}
 
 				_control_status.flags.gps = true;
+
+			} else if (gpos_init_conditions_passing && !_local_origin_lat_lon.isInitialized()) {
+				resetHorizontalPositionToGnss(_aid_src_gnss_pos);
 			}
 		}
 	}
@@ -221,8 +223,10 @@ void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s
 {
 	// correct position and height for offset relative to IMU
 	const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
-	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-	const Vector2f position = _pos_ref.project(gnss_sample.lat, gnss_sample.lon) - pos_offset_earth.xy();
+	const Vector3f pos_offset_earth = Vector3f(_R_to_earth * pos_offset_body);
+	const LatLonAlt measurement(gnss_sample.lat, gnss_sample.lon, gnss_sample.alt);
+	const LatLonAlt measurement_corrected = measurement + (-pos_offset_earth);
+	const Vector2f innovation = (_gpos - measurement_corrected).xy();
 
 	// relax the upper observation noise limit which prevents bad GPS perturbing the position estimate
 	float pos_noise = math::max(gnss_sample.hacc, _params.gps_pos_noise);
@@ -237,12 +241,13 @@ void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s
 
 	const float pos_var = math::max(sq(pos_noise), sq(0.01f));
 	const Vector2f pos_obs_var(pos_var, pos_var);
+	const matrix::Vector2d observation(measurement_corrected.latitude_deg(), measurement_corrected.longitude_deg());
 
 	updateAidSourceStatus(aid_src,
 			      gnss_sample.time_us,                                    // sample timestamp
-			      position,                                               // observation
+			      observation,                                            // observation
 			      pos_obs_var,                                            // observation variance
-			      Vector2f(_state.pos) - position,                        // innovation
+			      innovation,                                             // innovation
 			      Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
 			      math::max(_params.gps_pos_innov_gate, 1.f));            // innovation gate
 }
@@ -322,8 +327,9 @@ void Ekf::resetVelocityToGnss(estimator_aid_source3d_s &aid_src)
 void Ekf::resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src)
 {
 	_information_events.flags.reset_pos_to_gps = true;
-	resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance));
-	_gpos_origin_eph = 0.f; // The uncertainty of the global origin is now contained in the local position uncertainty
+	resetLatLonTo(aid_src.observation[0], aid_src.observation[1],
+		      aid_src.observation_variance[0] +
+		      aid_src.observation_variance[1]);
 
 	resetAidSourceStatusZeroInnovation(aid_src);
 }

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

@@ -90,12 +90,7 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 			if (global_origin_valid()
 			    && (origin_newer_than_last_mag || (isLocalHorizontalPositionValid() && isTimedOut(_wmm_mag_time_last_checked, 10e6)))
 			   ) {
-				// position of local NED origin in GPS / WGS84 frame
-				double latitude_deg;
-				double longitude_deg;
-				global_origin().reproject(_state.pos(0), _state.pos(1), latitude_deg, longitude_deg);
-
-				if (updateWorldMagneticModel(latitude_deg, longitude_deg)) {
+				if (updateWorldMagneticModel(_gpos.latitude_deg(), _gpos.longitude_deg())) {
 					wmm_updated = true;
 				}
 
@@ -368,7 +363,7 @@ bool Ekf::checkHaglYawResetReq() const
 		// 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;
+		const bool above_mag_anomalies = (getTerrainVPos() + _gpos.altitude()) > mag_anomalies_max_hagl;
 		return above_mag_anomalies;
 	}
 

src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp

@@ -230,12 +230,6 @@ void Ekf::resetFlowFusion(const flowSample &flow_sample)
 	const float flow_vel_var = sq(predictFlowRange()) * calcOptFlowMeasVar(flow_sample);
 	resetHorizontalVelocityTo(getFilteredFlowVelNE(), flow_vel_var);
 
-	// reset position, estimate is relative to initial position in this mode, so we start with zero error
-	if (!_control_status.flags.in_air) {
-		ECL_INFO("reset position to zero");
-		resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f);
-	}
-
 	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);
 
 	_innov_check_fail_status.flags.reject_optflow_X = false;
@@ -247,7 +241,7 @@ void Ekf::resetTerrainToFlow()
 	ECL_INFO("reset hagl to flow");
 
 	// TODO: use the flow data
-	const float new_terrain = fmaxf(0.0f, _state.pos(2));
+	const float new_terrain = -_gpos.altitude() + _params.rng_gnd_clearance;
 	const float delta_terrain = new_terrain - _state.terrain;
 	_state.terrain = new_terrain;
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f);

src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp

@@ -67,7 +67,8 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
 
 			// recalculate the innovation using the updated state
 			const Vector3f flow_gyro_corrected = _flow_sample_delayed.gyro_rate - _flow_gyro_bias;
-			_aid_src_optical_flow.innovation[1] = predictFlow(flow_gyro_corrected)(1) - _aid_src_optical_flow.observation[1];
+			_aid_src_optical_flow.innovation[1] = predictFlow(flow_gyro_corrected)(1) - static_cast<float>
+							      (_aid_src_optical_flow.observation[1]);
 		}
 
 		if (_aid_src_optical_flow.innovation_variance[index] < _aid_src_optical_flow.observation_variance[index]) {

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -148,7 +148,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_height_sensor_ref = HeightSensor::RANGE;
 
 					_information_events.flags.reset_hgt_to_rng = true;
-					resetVerticalPositionTo(-aid_src.observation, aid_src.observation_variance);
+					resetAltitudeTo(aid_src.observation, aid_src.observation_variance);
 					_state.terrain = 0.f;
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();
@@ -180,7 +180,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
 					_information_events.flags.reset_hgt_to_rng = true;
-					resetVerticalPositionTo(-(aid_src.observation - _state.terrain));
+					resetAltitudeTo(aid_src.observation - _state.terrain);
 
 					// reset vertical velocity if no valid sources available
 					if (!isVerticalVelocityAidingActive()) {

src/modules/ekf2/EKF/ekf.cpp

@@ -74,7 +74,7 @@ void Ekf::reset()
 	//
 #if defined(CONFIG_EKF2_TERRAIN)
 	// assume a ground clearance
-	_state.terrain = _state.pos(2) + _params.rng_gnd_clearance;
+	_state.terrain = -_gpos.altitude() + _params.rng_gnd_clearance;
 #endif // CONFIG_EKF2_TERRAIN
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -97,7 +97,7 @@ void Ekf::reset()
 	resetGpsDriftCheckFilters();
 	_gps_checks_passed = false;
 #endif // CONFIG_EKF2_GNSS
-	_gps_alt_ref = NAN;
+	_local_origin_alt = NAN;
 
 	_output_predictor.reset();
 
@@ -113,7 +113,7 @@ void Ekf::reset()
 	_time_last_heading_fuse = 0;
 	_time_last_terrain_fuse = 0;
 
-	_last_known_pos.setZero();
+	_last_known_gpos.setZero();
 
 #if defined(CONFIG_EKF2_BAROMETER)
 	_baro_counter = 0;
@@ -168,7 +168,7 @@ bool Ekf::update()
 		// control fusion of observation data
 		controlFusionModes(imu_sample_delayed);
 
-		_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos,
+		_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _gpos,
 						      _state.gyro_bias, _state.accel_bias);
 
 		return true;
@@ -205,7 +205,7 @@ bool Ekf::initialiseFilter()
 	initialiseCovariance();
 
 	// reset the output predictor state history to match the EKF initial values
-	_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos);
+	_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _gpos);
 
 	return true;
 }
@@ -230,6 +230,11 @@ bool Ekf::initialiseTilt()
 
 void Ekf::predictState(const imuSample &imu_delayed)
 {
+	if (std::fabs(_gpos.latitude_rad() - _earth_rate_lat_ref_rad) > math::radians(1.0)) {
+		_earth_rate_lat_ref_rad = _gpos.latitude_rad();
+		_earth_rate_NED = calcEarthRateNED((float)_earth_rate_lat_ref_rad);
+	}
+
 	// apply imu bias corrections
 	const Vector3f delta_ang_bias_scaled = getGyroBias() * imu_delayed.delta_ang_dt;
 	Vector3f corrected_delta_ang = imu_delayed.delta_ang - delta_ang_bias_scaled;
@@ -254,15 +259,18 @@ void Ekf::predictState(const imuSample &imu_delayed)
 	// calculate the increment in velocity using the current orientation
 	_state.vel += corrected_delta_vel_ef;
 
-	// compensate for acceleration due to gravity
-	_state.vel(2) += CONSTANTS_ONE_G * imu_delayed.delta_vel_dt;
+	// compensate for acceleration due to gravity, Coriolis and transport rate
+	const Vector3f gravity_acceleration(0.f, 0.f, CONSTANTS_ONE_G); // simplistic model
+	const Vector3f coriolis_acceleration = -2.f * _earth_rate_NED.cross(vel_last);
+	const Vector3f transport_rate = -_gpos.computeAngularRateNavFrame(vel_last).cross(vel_last);
+	_state.vel += (gravity_acceleration + coriolis_acceleration + transport_rate) * imu_delayed.delta_vel_dt;
 
 	// predict position states via trapezoidal integration of velocity
-	_state.pos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f;
+	_gpos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f;
+	_state.pos(2) = -_gpos.altitude();
 
 	// constrain states
 	_state.vel = matrix::constrain(_state.vel, -_params.velocity_limit, _params.velocity_limit);
-	_state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f);
 
 
 	// calculate a filtered horizontal acceleration with a 1 sec time constant
@@ -283,14 +291,12 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 		return false;
 	}
 
-	if (!_pos_ref.isInitialized()) {
-		if (!setLatLonOriginFromCurrentPos(latitude, longitude, eph)) {
+	if (!_local_origin_lat_lon.isInitialized()) {
+		if (!resetLatLonTo(latitude, longitude, sq(eph))) {
 			return false;
 		}
 
-		if (!PX4_ISFINITE(_gps_alt_ref)) {
-			setAltOriginFromCurrentPos(altitude, epv);
-		}
+		initialiseAltitudeTo(altitude, sq(epv));
 
 		return true;
 	}
@@ -315,12 +321,20 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 		pos_correction = _state.vel * dt_s;
 	}
 
-	{
-		const Vector2f hpos = _pos_ref.project(latitude, longitude) + pos_correction.xy();
+	LatLonAlt gpos(latitude, longitude, altitude);
+	bool alt_valid = true;
 
+	if (!checkAltitudeValidity(gpos.altitude())) {
+		gpos.setAltitude(_gpos.altitude());
+		alt_valid = false;
+	}
+
+	const LatLonAlt gpos_corrected = gpos + pos_correction;
+
+	{
 		const float obs_var = math::max(sq(eph), sq(0.01f));
 
-		const Vector2f innov = Vector2f(_state.pos.xy()) - hpos;
+		const Vector2f innov = (_gpos - gpos_corrected).xy();
 		const Vector2f innov_var = Vector2f(getStateVariance<State::pos>()) + obs_var;
 
 		const float sq_gate = sq(5.f); // magic hardcoded gate
@@ -334,8 +348,8 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 			ECL_INFO("reset position to external observation");
 			_information_events.flags.reset_pos_to_ext_obs = true;
 
-			resetHorizontalPositionTo(hpos, obs_var);
-			_last_known_pos.xy() = _state.pos.xy();
+			resetHorizontalPositionTo(gpos_corrected.latitude_deg(), gpos_corrected.longitude_deg(), obs_var);
+			_last_known_gpos.setLatLon(gpos_corrected);
 
 		} else {
 			ECL_INFO("fuse external observation as position measurement");
@@ -348,24 +362,16 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 			_state_reset_status.posNE_change.zero();
 
 			_time_last_hor_pos_fuse = _time_delayed_us;
-			_last_known_pos.xy() = _state.pos.xy();
+			_last_known_gpos.setLatLon(gpos_corrected);
 		}
 	}
 
-	if (checkAltitudeValidity(altitude)) {
-		const float altitude_corrected = altitude - pos_correction(2);
+	if (alt_valid) {
+		const float obs_var = math::max(sq(epv), sq(0.01f));
 
-		if (!PX4_ISFINITE(_gps_alt_ref)) {
-			setAltOriginFromCurrentPos(altitude_corrected, epv);
-
-		} else {
-			const float vpos = -(altitude_corrected - _gps_alt_ref);
-			const float obs_var = math::max(sq(epv), sq(0.01f));
-
-			ECL_INFO("reset height to external observation");
-			resetVerticalPositionTo(vpos, obs_var);
-			_last_known_pos(2) = _state.pos(2);
-		}
+		ECL_INFO("reset height to external observation");
+		initialiseAltitudeTo(gpos_corrected.altitude(), obs_var);
+		_last_known_gpos.setAltitude(gpos_corrected.altitude());
 	}
 
 	return true;
@@ -425,9 +431,10 @@ void Ekf::print_status()
 	       (double)getStateVariance<State::vel>()(2)
 	      );
 
+	const Vector3f position = getPosition();
 	printf("Position (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n",
 	       State::pos.idx, State::pos.idx + State::pos.dof - 1,
-	       (double)_state.pos(0), (double)_state.pos(1), (double)_state.pos(2),
+	       (double)position(0), (double)position(1), (double) position(2),
 	       (double)getStateVariance<State::pos>()(0), (double)getStateVariance<State::pos>()(1),
 	       (double)getStateVariance<State::pos>()(2)
 	      );

src/modules/ekf2/EKF/ekf.h

@@ -66,6 +66,8 @@
 # include "aid_sources/aux_global_position/aux_global_position.hpp"
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
 
+#include "lat_lon_alt/lat_lon_alt.hpp"
+
 enum class Likelihood { LOW, MEDIUM, HIGH };
 class ExternalVisionVel;
 
@@ -102,8 +104,8 @@ public:
 	bool isTerrainEstimateValid() const { return _terrain_valid; }
 
 	// get the estimated terrain vertical position relative to the NED origin
-	float getTerrainVertPos() const { return _state.terrain; };
-	float getHagl() const { return _state.terrain - _state.pos(2); }
+	float getTerrainVertPos() const { return _state.terrain + getEkfGlobalOriginAltitude(); };
+	float getHagl() const { return _state.terrain + _gpos.altitude(); }
 
 	// get the terrain variance
 	float getTerrainVariance() const { return P(State::terrain.idx, State::terrain.idx); }
@@ -192,8 +194,8 @@ public:
 	bool checkLatLonValidity(double latitude, double longitude);
 	bool checkAltitudeValidity(float altitude);
 	bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float eph = NAN, float epv = NAN);
-	bool setEkfGlobalOriginFromCurrentPos(double latitude, double longitude, float altitude, float eph = NAN,
-					      float epv = NAN);
+	bool resetGlobalPositionTo(double latitude, double longitude, float altitude, float eph = NAN,
+				   float epv = NAN);
 
 	// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
 	void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const;
@@ -217,17 +219,14 @@ public:
 	void resetAccelBias();
 	void resetAccelBiasCov();
 
-	// return true if the global position estimate is valid
-	// return true if the origin is set we are not doing unconstrained free inertial navigation
-	// and have not started using synthetic position observations to constrain drift
 	bool isGlobalHorizontalPositionValid() const
 	{
-		return _pos_ref.isInitialized() && isLocalHorizontalPositionValid();
+		return _local_origin_lat_lon.isInitialized() && isLocalHorizontalPositionValid();
 	}
 
 	bool isGlobalVerticalPositionValid() const
 	{
-		return _pos_ref.isInitialized() && isLocalVerticalPositionValid();
+		return PX4_ISFINITE(_local_origin_alt) && isLocalVerticalPositionValid();
 	}
 
 	bool isLocalHorizontalPositionValid() const
@@ -375,8 +374,6 @@ public:
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 #if defined(CONFIG_EKF2_GNSS)
-	void collect_gps(const gnssSample &gps);
-
 	// set minimum continuous period without GPS fail required to mark a healthy GPS status
 	void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; }
 
@@ -473,6 +470,8 @@ private:
 
 	StateSample _state{};		///< state struct of the ekf running at the delayed time horizon
 
+	LatLonAlt _gpos{0.0, 0.0, 0.f};
+
 	bool _filter_initialised{false};	///< true when the EKF sttes and covariances been initialised
 
 	uint64_t _time_last_horizontal_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
@@ -486,9 +485,10 @@ private:
 	uint64_t _time_last_heading_fuse{0};
 	uint64_t _time_last_terrain_fuse{0};
 
-	Vector3f _last_known_pos{};		///< last known local position vector (m)
+	LatLonAlt _last_known_gpos{};
 
-	Vector3f _earth_rate_NED{};	///< earth rotation vector (NED) in rad/s
+	Vector3f _earth_rate_NED{}; ///< earth rotation vector (NED) in rad/s
+	double _earth_rate_lat_ref_rad{0.0}; ///< latitude at which the earth rate was evaluated (radians)
 
 	Dcmf _R_to_earth{};	///< transformation matrix from body frame to earth frame from last EKF prediction
 
@@ -645,11 +645,11 @@ private:
 		P.slice<S.dof, S.dof>(S.idx, S.idx) = cov;
 	}
 
-	bool setLatLonOrigin(double latitude, double longitude, float eph = NAN);
-	bool setAltOrigin(float altitude, float epv = NAN);
+	bool setLatLonOrigin(double latitude, double longitude, float hpos_var = NAN);
+	bool setAltOrigin(float altitude, float vpos_var = NAN);
 
-	bool setLatLonOriginFromCurrentPos(double latitude, double longitude, float eph = NAN);
-	bool setAltOriginFromCurrentPos(float altitude, float epv = NAN);
+	bool resetLatLonTo(double latitude, double longitude, float hpos_var = NAN);
+	bool initialiseAltitudeTo(float altitude, float vpos_var = NAN);
 
 	// update quaternion states and covariances using an innovation, observation variance and Jacobian vector
 	bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW);
@@ -711,14 +711,22 @@ private:
 
 	void resetHorizontalPositionToLastKnown();
 
-	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var);
-	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); }
+	void resetHorizontalPositionTo(const double &new_latitude, const double &new_longitude,
+				       const Vector2f &new_horz_pos_var);
+	void resetHorizontalPositionTo(const double &new_latitude, const double &new_longitude, const float pos_var = NAN) { resetHorizontalPositionTo(new_latitude, new_longitude, Vector2f(pos_var, pos_var)); }
+	void resetHorizontalPositionTo(const Vector2f &new_pos, const Vector2f &new_horz_pos_var);
+
+	Vector2f getLocalHorizontalPosition() const;
+
+	Vector2f computeDeltaHorizontalPosition(const double &new_latitude, const double &new_longitude) const;
+	void updateHorizontalPositionResetStatus(const Vector2f &delta);
 
 	void resetWindTo(const Vector2f &wind, const Vector2f &wind_var);
 
 	bool isHeightResetRequired() const;
 
-	void resetVerticalPositionTo(float new_vert_pos, float new_vert_pos_var = NAN);
+	void resetAltitudeTo(float new_altitude, float new_vert_pos_var = NAN);
+	void updateVerticalPositionResetStatus(const float delta_z);
 
 	void resetVerticalVelocityToZero();
 
@@ -740,6 +748,7 @@ private:
 	void controlTerrainFakeFusion();
 
 	void updateTerrainValidity();
+	void updateTerrainResetStatus(const float delta_z);
 
 # if defined(CONFIG_EKF2_RANGE_FINDER)
 	// update the terrain vertical position estimate using a height above ground measurement from the range finder
@@ -832,6 +841,7 @@ private:
 	void startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src);
 	void updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient,
 			       bool reset, estimator_aid_source2d_s &aid_src);
+
 	void stopEvPosFusion();
 	void stopEvHgtFusion();
 	void stopEvVelFusion();
@@ -1049,9 +1059,9 @@ private:
 	}
 
 	// helper used for populating and filtering estimator aid source struct for logging
-	template <typename T, typename S>
+	template <typename T, typename S, typename D>
 	void updateAidSourceStatus(T &status, const uint64_t &timestamp_sample,
-				   const S &observation, const S &observation_variance,
+				   const D &observation, const S &observation_variance,
 				   const S &innovation, const S &innovation_variance,
 				   float innovation_gate = 1.f) const
 	{
@@ -1106,7 +1116,7 @@ private:
 
 			status.test_ratio[i] = test_ratio;
 
-			status.observation[i] = observation(i);
+			status.observation[i] = static_cast<double>(observation(i));
 			status.observation_variance[i] = observation_variance(i);
 
 			status.innovation[i] = innovation(i);

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -65,9 +65,9 @@ Vector3f Ekf::calcEarthRateNED(float lat_rad) const
 
 void Ekf::getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const
 {
-	origin_time = _pos_ref.getProjectionReferenceTimestamp();
-	latitude = _pos_ref.getProjectionReferenceLat();
-	longitude = _pos_ref.getProjectionReferenceLon();
+	origin_time = _local_origin_lat_lon.getProjectionReferenceTimestamp();
+	latitude = _local_origin_lat_lon.getProjectionReferenceLat();
+	longitude = _local_origin_lat_lon.getProjectionReferenceLon();
 	origin_alt  = getEkfGlobalOriginAltitude();
 }
 
@@ -85,156 +85,170 @@ bool Ekf::checkAltitudeValidity(const float altitude)
 	return (PX4_ISFINITE(altitude) && ((altitude > -12'000.f) && (altitude < 100'000.f)));
 }
 
-bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float eph,
-			     const float epv)
+bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float hpos_var,
+			     const float vpos_var)
 {
-	if (!setLatLonOrigin(latitude, longitude, eph)) {
+	if (!setLatLonOrigin(latitude, longitude, hpos_var)) {
 		return false;
 	}
 
 	// altitude is optional
-	setAltOrigin(altitude, epv);
+	setAltOrigin(altitude, vpos_var);
 
 	return true;
 }
 
-bool Ekf::setLatLonOrigin(const double latitude, const double longitude, const float eph)
+bool Ekf::setLatLonOrigin(const double latitude, const double longitude, const float hpos_var)
 {
 	if (!checkLatLonValidity(latitude, longitude)) {
 		return false;
 	}
 
-	bool current_pos_available = false;
-	double current_lat = static_cast<double>(NAN);
-	double current_lon = static_cast<double>(NAN);
+	if (!_local_origin_lat_lon.isInitialized() && isLocalHorizontalPositionValid()) {
+		// Already navigating in a local frame, use the origin to initialize global position
+		const Vector2f pos_prev = getLocalHorizontalPosition();
+		_local_origin_lat_lon.initReference(latitude, longitude, _time_delayed_us);
+		double new_latitude;
+		double new_longitude;
+		_local_origin_lat_lon.reproject(pos_prev(0), pos_prev(1), new_latitude, new_longitude);
+		resetHorizontalPositionTo(new_latitude, new_longitude, hpos_var);
 
-	// if we are already doing aiding, correct for the change in position since the EKF started navigating
-	if (_pos_ref.isInitialized() && isLocalHorizontalPositionValid()) {
-		_pos_ref.reproject(_state.pos(0), _state.pos(1), current_lat, current_lon);
-		current_pos_available = true;
-	}
-
-	// reinitialize map projection to latitude, longitude, altitude, and reset position
-	_pos_ref.initReference(latitude, longitude, _time_delayed_us);
-
-	if (PX4_ISFINITE(eph) && (eph >= 0.f)) {
-		_gpos_origin_eph = eph;
-	}
-
-	if (current_pos_available) {
-		// reset horizontal position if we already have a global origin
-		Vector2f position = _pos_ref.project(current_lat, current_lon);
-		resetHorizontalPositionTo(position);
+	} else {
+		// Simply move the origin and compute the change in local position
+		const Vector2f pos_prev = getLocalHorizontalPosition();
+		_local_origin_lat_lon.initReference(latitude, longitude, _time_delayed_us);
+		const Vector2f pos_new = getLocalHorizontalPosition();
+		const Vector2f delta_pos = pos_new - pos_prev;
+		updateHorizontalPositionResetStatus(delta_pos);
 	}
 
 	return true;
 }
 
-bool Ekf::setAltOrigin(const float altitude, const float epv)
+bool Ekf::setAltOrigin(const float altitude, const float vpos_var)
 {
 	if (!checkAltitudeValidity(altitude)) {
 		return false;
 	}
 
-	const float gps_alt_ref_prev = _gps_alt_ref;
-	_gps_alt_ref = altitude;
+	ECL_INFO("EKF origin altitude %.1fm -> %.1fm", (double)_local_origin_alt,
+		 (double)altitude);
 
-	if (PX4_ISFINITE(epv) && (epv >= 0.f)) {
-		_gpos_origin_epv = epv;
-	}
+	if (!PX4_ISFINITE(_local_origin_alt) && isLocalVerticalPositionValid()) {
+		const float local_alt_prev = _gpos.altitude();
+		_local_origin_alt = altitude;
+		resetAltitudeTo(local_alt_prev + _local_origin_alt);
 
-	if (PX4_ISFINITE(gps_alt_ref_prev) && isLocalVerticalPositionValid()) {
-		// determine current z
-		const float z_prev = _state.pos(2);
-		const float current_alt = -z_prev + gps_alt_ref_prev;
-#if defined(CONFIG_EKF2_GNSS)
-		const float gps_hgt_bias = _gps_hgt_b_est.getBias();
-#endif // CONFIG_EKF2_GNSS
-		resetVerticalPositionTo(_gps_alt_ref - current_alt);
-		ECL_DEBUG("EKF global origin updated, resetting vertical position %.1fm -> %.1fm", (double)z_prev,
-			  (double)_state.pos(2));
-#if defined(CONFIG_EKF2_GNSS)
-		// adjust existing GPS height bias
-		_gps_hgt_b_est.setBias(gps_hgt_bias);
-#endif // CONFIG_EKF2_GNSS
+	} else {
+		const float delta_origin_alt = altitude - _local_origin_alt;
+		_local_origin_alt = altitude;
+		updateVerticalPositionResetStatus(-delta_origin_alt);
+
+#if defined(CONFIG_EKF2_TERRAIN)
+		updateTerrainResetStatus(-delta_origin_alt);
+#endif // CONFIG_EKF2_TERRAIN
 	}
 
 	return true;
 }
 
-bool Ekf::setEkfGlobalOriginFromCurrentPos(const double latitude, const double longitude, const float altitude,
-		const float eph, const float epv)
+bool Ekf::resetGlobalPositionTo(const double latitude, const double longitude, const float altitude,
+				const float hpos_var, const float vpos_var)
 {
-	if (!setLatLonOriginFromCurrentPos(latitude, longitude, eph)) {
+	if (!resetLatLonTo(latitude, longitude, hpos_var)) {
 		return false;
 	}
 
 	// altitude is optional
-	setAltOriginFromCurrentPos(altitude, epv);
+	initialiseAltitudeTo(altitude, vpos_var);
 
 	return true;
 }
 
-bool Ekf::setLatLonOriginFromCurrentPos(const double latitude, const double longitude, const float eph)
+bool Ekf::resetLatLonTo(const double latitude, const double longitude, const float hpos_var)
 {
 	if (!checkLatLonValidity(latitude, longitude)) {
 		return false;
 	}
 
-	_pos_ref.initReference(latitude, longitude, _time_delayed_us);
+	Vector2f pos_prev;
 
-	// if we are already doing aiding, correct for the change in position since the EKF started navigating
-	if (isLocalHorizontalPositionValid()) {
-		double est_lat;
-		double est_lon;
-		_pos_ref.reproject(-_state.pos(0), -_state.pos(1), est_lat, est_lon);
-		_pos_ref.initReference(est_lat, est_lon, _time_delayed_us);
+	if (!_local_origin_lat_lon.isInitialized()) {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		pos_prev = zero_ref.project(_gpos.latitude_deg(), _gpos.longitude_deg());
+
+		_local_origin_lat_lon.initReference(latitude, longitude, _time_delayed_us);
+
+		// if we are already doing aiding, correct for the change in position since the EKF started navigating
+		if (isLocalHorizontalPositionValid()) {
+			double est_lat;
+			double est_lon;
+			_local_origin_lat_lon.reproject(-pos_prev(0), -pos_prev(1), est_lat, est_lon);
+			_local_origin_lat_lon.initReference(est_lat, est_lon, _time_delayed_us);
+		}
+
+		ECL_INFO("Origin set to lat=%.6f, lon=%.6f",
+			 _local_origin_lat_lon.getProjectionReferenceLat(), _local_origin_lat_lon.getProjectionReferenceLon());
+
+	} else {
+		pos_prev = _local_origin_lat_lon.project(_gpos.latitude_deg(), _gpos.longitude_deg());
 	}
 
-	if (PX4_ISFINITE(eph) && (eph >= 0.f)) {
-		_gpos_origin_eph = eph;
+	_gpos.setLatLonDeg(latitude, longitude);
+	_output_predictor.resetLatLonTo(latitude, longitude);
+
+	const Vector2f delta_horz_pos = getLocalHorizontalPosition() - pos_prev;
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - delta_horz_pos);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+
+	updateHorizontalPositionResetStatus(delta_horz_pos);
+
+	if (PX4_ISFINITE(hpos_var)) {
+		P.uncorrelateCovarianceSetVariance<2>(State::pos.idx, math::max(sq(0.01f), hpos_var));
 	}
 
+	// Reset the timout timer
+	_time_last_hor_pos_fuse = _time_delayed_us;
+
 	return true;
 }
 
-bool Ekf::setAltOriginFromCurrentPos(const float altitude, const float epv)
+bool Ekf::initialiseAltitudeTo(const float altitude, const float vpos_var)
 {
 	if (!checkAltitudeValidity(altitude)) {
 		return false;
 	}
 
-	_gps_alt_ref = altitude + _state.pos(2);
+	if (!PX4_ISFINITE(_local_origin_alt)) {
+		const float local_alt_prev = _gpos.altitude();
 
-	if (PX4_ISFINITE(epv) && (epv >= 0.f)) {
-		_gpos_origin_epv = epv;
+		if (isLocalVerticalPositionValid()) {
+			_local_origin_alt = altitude - local_alt_prev;
+
+		} else {
+			_local_origin_alt = altitude;
+		}
+
+		ECL_INFO("Origin alt=%.3f", (double)_local_origin_alt);
 	}
 
+	resetAltitudeTo(altitude, vpos_var);
+
 	return true;
 }
 
 void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
 {
-	float eph = INFINITY;
-	float epv = INFINITY;
-
 	if (global_origin_valid()) {
-		// report absolute accuracy taking into account the uncertainty in location of the origin
-		eph = sqrtf(P.trace<2>(State::pos.idx + 0) + sq(_gpos_origin_eph));
-		epv = sqrtf(P.trace<1>(State::pos.idx + 2) + sq(_gpos_origin_epv));
+		get_ekf_lpos_accuracy(ekf_eph, ekf_epv);
 
-		if (_horizontal_deadreckon_time_exceeded) {
-			float lpos_eph = 0.f;
-			float lpos_epv = 0.f;
-			get_ekf_lpos_accuracy(&lpos_eph, &lpos_epv);
-
-			eph = math::max(eph, lpos_eph);
-			epv = math::max(epv, lpos_epv);
-		}
+	} else {
+		*ekf_eph = INFINITY;
+		*ekf_epv = INFINITY;
 	}
-
-	*ekf_eph = eph;
-	*ekf_epv = epv;
 }
 
 void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
@@ -726,7 +740,13 @@ void Ekf::fuse(const VectorState &K, float innovation)
 	_state.vel = matrix::constrain(_state.vel - K.slice<State::vel.dof, 1>(State::vel.idx, 0) * innovation, -1.e3f, 1.e3f);
 
 	// pos
-	_state.pos = matrix::constrain(_state.pos - K.slice<State::pos.dof, 1>(State::pos.idx, 0) * innovation, -1.e6f, 1.e6f);
+	const Vector3f pos_correction = K.slice<State::pos.dof, 1>(State::pos.idx, 0) * (-innovation);
+
+	// Accumulate position in global coordinates
+	_gpos += pos_correction;
+	_state.pos.zero();
+	// Also store altitude in the state vector as this is used for optical flow fusion
+	_state.pos(2) = -_gpos.altitude();
 
 	// gyro_bias
 	_state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice<State::gyro_bias.dof, 1>(State::gyro_bias.idx,

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -568,6 +568,26 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 	return true;
 }
 
+Vector3f EstimatorInterface::getPosition() const
+{
+	LatLonAlt lla = _output_predictor.getLatLonAlt();
+	float x;
+	float y;
+
+	if (_local_origin_lat_lon.isInitialized()) {
+		_local_origin_lat_lon.project(lla.latitude_deg(), lla.longitude_deg(), x, y);
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		zero_ref.project(lla.latitude_deg(), lla.longitude_deg(), x, y);
+	}
+
+	const float z = -(lla.altitude() - getEkfGlobalOriginAltitude());
+
+	return Vector3f(x, y, z);
+}
+
 bool EstimatorInterface::isOnlyActiveSourceOfHorizontalAiding(const bool aiding_flag) const
 {
 	return aiding_flag && !isOtherSourceOfHorizontalAidingThan(aiding_flag);

src/modules/ekf2/EKF/estimator_interface.h

@@ -42,6 +42,7 @@
 #ifndef EKF_ESTIMATOR_INTERFACE_H
 #define EKF_ESTIMATOR_INTERFACE_H
 
+#include "lat_lon_alt/lat_lon_alt.hpp"
 #if defined(MODULE_NAME)
 #include <px4_platform_common/log.h>
 # define ECL_INFO PX4_DEBUG
@@ -241,7 +242,8 @@ public:
 	Vector3f getVelocity() const { return _output_predictor.getVelocity(); }
 	const Vector3f &getVelocityDerivative() const { return _output_predictor.getVelocityDerivative(); }
 	float getVerticalPositionDerivative() const { return _output_predictor.getVerticalPositionDerivative(); }
-	Vector3f getPosition() const { return _output_predictor.getPosition(); }
+	Vector3f getPosition() const;
+	LatLonAlt getLatLonAlt() const { return _output_predictor.getLatLonAlt(); }
 	const Vector3f &getOutputTrackingError() const { return _output_predictor.getOutputTrackingError(); }
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -307,9 +309,9 @@ public:
 	const imuSample &get_imu_sample_delayed() const { return _imu_buffer.get_oldest(); }
 	const uint64_t &time_delayed_us() const { return _time_delayed_us; }
 
-	bool global_origin_valid() const { return _pos_ref.isInitialized(); }
-	const MapProjection &global_origin() const { return _pos_ref; }
-	float getEkfGlobalOriginAltitude() const { return PX4_ISFINITE(_gps_alt_ref) ? _gps_alt_ref : 0.f; }
+	bool global_origin_valid() const { return _local_origin_lat_lon.isInitialized(); }
+	const MapProjection &global_origin() const { return _local_origin_lat_lon; }
+	float getEkfGlobalOriginAltitude() const { return PX4_ISFINITE(_local_origin_alt) ? _local_origin_alt : 0.f; }
 
 	OutputPredictor &output_predictor() { return _output_predictor; };
 
@@ -379,10 +381,8 @@ protected:
 	bool _initialised{false};      // true if the ekf interface instance (data buffering) is initialized
 
 	// Variables used to publish the WGS-84 location of the EKF local NED origin
-	MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin
-	float _gps_alt_ref{NAN};		///< WGS-84 height (m)
-	float _gpos_origin_eph{0.0f}; // horizontal position uncertainty of the global origin
-	float _gpos_origin_epv{0.0f}; // vertical position uncertainty of the global origin
+	MapProjection _local_origin_lat_lon{};
+	float _local_origin_alt{NAN};
 
 #if defined(CONFIG_EKF2_GNSS)
 	RingBuffer<gnssSample> *_gps_buffer {nullptr};

src/modules/ekf2/EKF/lat_lon_alt/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,9 +31,13 @@
 #
 ############################################################################
 
-px4_add_library(FlightTaskManualPositionSmoothVel
-	FlightTaskManualPositionSmoothVel.cpp
+add_library(lat_lon_alt
+	lat_lon_alt.cpp
+	lat_lon_alt.hpp
 )
 
-target_link_libraries(FlightTaskManualPositionSmoothVel PUBLIC FlightTaskManualPosition FlightTaskUtility)
-target_include_directories(FlightTaskManualPositionSmoothVel PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+add_dependencies(lat_lon_alt prebuild_targets)
+target_include_directories(lat_lon_alt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_compile_options(lat_lon_alt PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+
+px4_add_unit_gtest(SRC test_lat_lon_alt.cpp LINKLIBS lat_lon_alt geo)

src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.cpp

@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "lat_lon_alt.hpp"
+
+using matrix::Vector3f;
+using matrix::Vector2d;
+
+Vector3f LatLonAlt::computeAngularRateNavFrame(const Vector3f &v_ned) const
+{
+	double r_n;
+	double r_e;
+	computeRadiiOfCurvature(_latitude_rad, r_n, r_e);
+	return Vector3f(
+		       v_ned(1) / (static_cast<float>(r_e) + _altitude),
+		       -v_ned(0) / (static_cast<float>(r_n) + _altitude),
+		       -v_ned(1) * tanf(_latitude_rad) / (static_cast<float>(r_e) + _altitude));
+}
+
+Vector2d LatLonAlt::deltaLatLonToDeltaXY(const double latitude, const float altitude)
+{
+	double r_n;
+	double r_e;
+	computeRadiiOfCurvature(latitude, r_n, r_e);
+	const double dn_dlat = r_n + static_cast<double>(altitude);
+	const double de_dlon = (r_e + static_cast<double>(altitude)) * cos(latitude);
+
+	return Vector2d(dn_dlat, de_dlon);
+}
+
+void LatLonAlt::computeRadiiOfCurvature(const double latitude, double &meridian_radius_of_curvature,
+					double &transverse_radius_of_curvature)
+{
+	const double tmp = 1.0 - pow(Wgs84::eccentricity * sin(latitude), 2);
+	const double sqrt_tmp = std::sqrt(tmp);
+	meridian_radius_of_curvature = Wgs84::meridian_radius_of_curvature_numerator / (tmp * tmp * sqrt_tmp);
+	transverse_radius_of_curvature = Wgs84::equatorial_radius / sqrt_tmp;
+}
+
+LatLonAlt LatLonAlt::operator+(const matrix::Vector3f &delta_pos) const
+{
+	const matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(latitude_rad(), altitude());
+	const double latitude_rad = matrix::wrap_pi(_latitude_rad + static_cast<double>(delta_pos(0)) / d_lat_lon_to_d_xy(0));
+	const double longitude_rad = matrix::wrap_pi(_longitude_rad + static_cast<double>(delta_pos(1)) / d_lat_lon_to_d_xy(1));
+	const float altitude = _altitude - delta_pos(2);
+
+	LatLonAlt lla_new;
+	lla_new.setLatLonRad(latitude_rad, longitude_rad);
+	lla_new.setAltitude(altitude);
+	return lla_new;
+}
+
+void LatLonAlt::operator+=(const matrix::Vector3f &delta_pos)
+{
+	matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(_latitude_rad, _altitude);
+	_latitude_rad = matrix::wrap_pi(_latitude_rad + static_cast<double>(delta_pos(0)) / d_lat_lon_to_d_xy(0));
+	_longitude_rad = matrix::wrap_pi(_longitude_rad + static_cast<double>(delta_pos(1)) / d_lat_lon_to_d_xy(1));
+	_altitude -= delta_pos(2);
+}
+
+void LatLonAlt::operator+=(const matrix::Vector2f &delta_pos)
+{
+	matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(_latitude_rad, _altitude);
+	_latitude_rad = matrix::wrap_pi(_latitude_rad + static_cast<double>(delta_pos(0)) / d_lat_lon_to_d_xy(0));
+	_longitude_rad = matrix::wrap_pi(_longitude_rad + static_cast<double>(delta_pos(1)) / d_lat_lon_to_d_xy(1));
+}
+
+matrix::Vector3f LatLonAlt::operator-(const LatLonAlt &lla) const
+{
+	const double delta_lat = matrix::wrap_pi(_latitude_rad - lla.latitude_rad());
+	const double delta_lon = matrix::wrap_pi(_longitude_rad - lla.longitude_rad());
+	const float delta_alt = _altitude - lla.altitude();
+
+	const matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(_latitude_rad, _altitude);
+	return matrix::Vector3f(static_cast<float>(delta_lat * d_lat_lon_to_d_xy(0)),
+				static_cast<float>(delta_lon * d_lat_lon_to_d_xy(1)),
+				-delta_alt);
+}

src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.hpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "mathlib/math/Limits.hpp"
+#include <matrix/math.hpp>
+
+class LatLonAlt
+{
+public:
+	LatLonAlt() = default;
+	LatLonAlt(const LatLonAlt &lla)
+	{
+		_latitude_rad = lla.latitude_rad();
+		_longitude_rad = lla.longitude_rad();
+		_altitude = lla.altitude();
+	}
+
+	LatLonAlt(const double latitude_deg, const double longitude_deg, const float altitude_m)
+	{
+		_latitude_rad = math::radians(latitude_deg);
+		_longitude_rad = math::radians(longitude_deg);
+		_altitude = altitude_m;
+	}
+
+	void setZero() { _latitude_rad = 0.0; _longitude_rad = 0.0; _altitude = 0.f; }
+
+	double latitude_deg() const { return math::degrees(latitude_rad()); }
+	double longitude_deg() const { return math::degrees(longitude_rad()); }
+
+	const double &latitude_rad() const { return _latitude_rad; }
+	const double &longitude_rad() const { return _longitude_rad; }
+	float altitude() const { return _altitude; }
+
+	void setLatitudeDeg(const double &latitude_deg) { _latitude_rad = math::radians(latitude_deg); }
+	void setLongitudeDeg(const double &longitude_deg) { _longitude_rad = math::radians(longitude_deg); }
+	void setAltitude(const float altitude) { _altitude = altitude; }
+
+	void setLatLon(const LatLonAlt &lla) { _latitude_rad = lla.latitude_rad(); _longitude_rad = lla.longitude_rad(); }
+	void setLatLonDeg(const double latitude, const double longitude) { _latitude_rad = math::radians(latitude); _longitude_rad = math::radians(longitude); }
+	void setLatLonRad(const double latitude, const double longitude) { _latitude_rad = latitude; _longitude_rad = longitude; }
+
+	void print() const { printf("latitude = %f (deg), longitude = %f (deg), altitude = %f (m)\n", _latitude_rad, _longitude_rad, (double)_altitude); }
+
+	/*
+	 * The plus and minus operators below use approximations and should only be used when the Cartesian component is small
+	 */
+	LatLonAlt operator+(const matrix::Vector3f &delta_pos) const;
+	void operator+=(const matrix::Vector3f &delta_pos);
+	void operator+=(const matrix::Vector2f &delta_pos);
+	matrix::Vector3f operator-(const LatLonAlt &lla) const;
+
+	void operator=(const LatLonAlt &lla)
+	{
+		_latitude_rad = lla.latitude_rad();
+		_longitude_rad = lla.longitude_rad();
+		_altitude = lla.altitude();
+	}
+
+	/*
+	 * Compute the angular rate of the local navigation frame at the current latitude and height
+	 * with respect to an inertial frame and resolved in the navigation frame
+	 */
+	matrix::Vector3f computeAngularRateNavFrame(const matrix::Vector3f &v_ned) const;
+
+private:
+	// Convert between curvilinear and cartesian errors
+	static matrix::Vector2d deltaLatLonToDeltaXY(const double latitude, const float altitude);
+
+	static void computeRadiiOfCurvature(const double latitude, double &meridian_radius_of_curvature,
+					    double &transverse_radius_of_curvature);
+
+	struct Wgs84 {
+		static constexpr double equatorial_radius = 6378137.0;
+		static constexpr double eccentricity = 0.0818191908425;
+		static constexpr double meridian_radius_of_curvature_numerator = equatorial_radius * (1.0 - eccentricity *eccentricity);
+	};
+
+	double _latitude_rad{0.0};
+	double _longitude_rad{0.0};
+	float _altitude{0.0};
+};

src/modules/ekf2/EKF/lat_lon_alt/test_lat_lon_alt.cpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <matrix/math.hpp>
+#include <lib/geo/geo.h>
+
+#include "lat_lon_alt.hpp"
+
+using namespace matrix;
+using math::radians;
+using math::degrees;
+
+TEST(TestLatLonAlt, init)
+{
+	LatLonAlt lla(5.7, -2.3, 420);
+	ASSERT_FLOAT_EQ(lla.latitude_deg(), 5.7);
+	ASSERT_FLOAT_EQ(lla.longitude_deg(), -2.3);
+	ASSERT_EQ(lla.altitude(), 420);
+}
+
+TEST(TestLatLonAlt, set)
+{
+	LatLonAlt lla(0.0, 0.0, 0);
+	ASSERT_EQ(lla.latitude_rad(), 0.0);
+	ASSERT_EQ(lla.longitude_rad(), 0.0);
+	ASSERT_EQ(lla.altitude(), 0);
+
+	lla.setLatLonRad(0.1, -0.5);
+	lla.setAltitude(420);
+	ASSERT_EQ(lla.latitude_rad(), 0.1);
+	ASSERT_EQ(lla.longitude_rad(), -0.5);
+	ASSERT_EQ(lla.altitude(), 420);
+}
+
+TEST(TestLatLonAlt, copy)
+{
+	LatLonAlt lla(-0.8, -0.1, 500);
+
+	LatLonAlt lla_copy = lla;
+	ASSERT_EQ(lla_copy.latitude_deg(), -0.8);
+	ASSERT_EQ(lla_copy.longitude_deg(), -0.1);
+	ASSERT_EQ(lla_copy.altitude(), 500);
+}
+
+TEST(TestLatLonAlt, addDeltaPos)
+{
+	MapProjection pos_ref(60.0, 5.0);
+	LatLonAlt lla(pos_ref.getProjectionReferenceLat(), pos_ref.getProjectionReferenceLon(), 400.f);
+
+	Vector3f delta_pos(5.f, -2.f, 3.f);
+	lla += delta_pos;
+
+	double lat_new, lon_new;
+	pos_ref.reproject(delta_pos(0), delta_pos(1), lat_new, lon_new);
+
+	EXPECT_NEAR(lla.latitude_deg(), lat_new, 1e-6);
+	EXPECT_NEAR(lla.longitude_deg(), lon_new, 1e-6);
+	EXPECT_EQ(lla.altitude(), 397.f);
+}
+
+TEST(TestLatLonAlt, subLatLonAlt)
+{
+	MapProjection pos_ref(60.0, 5.0);
+	LatLonAlt lla(pos_ref.getProjectionReferenceLat(), pos_ref.getProjectionReferenceLon(), 0.f);
+
+	const Vector3f delta_pos_true(1.f, -2.f, 3.f);
+
+	double lat_new, lon_new;
+	pos_ref.reproject(delta_pos_true(0), delta_pos_true(1), lat_new, lon_new);
+	LatLonAlt lla_new(lat_new, lon_new, -3.f);
+	Vector3f delta_pos = lla_new - lla;
+
+	EXPECT_NEAR(delta_pos(0), delta_pos_true(0), 1e-2);
+	EXPECT_NEAR(delta_pos(1), delta_pos_true(1), 1e-2);
+	EXPECT_EQ(delta_pos(2), delta_pos_true(2));
+}

src/modules/ekf2/EKF/output_predictor/CMakeLists.txt

@@ -36,4 +36,4 @@ add_library(output_predictor
 	output_predictor.h
 )
 
-add_dependencies(output_predictor prebuild_targets)
+add_dependencies(output_predictor prebuild_targets lat_lon_alt)

src/modules/ekf2/EKF/output_predictor/output_predictor.cpp

@@ -69,7 +69,7 @@ void OutputPredictor::print_status()
 	       _output_vert_buffer.entries(), _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size());
 }
 
-void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state)
+void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const LatLonAlt &gpos_state)
 {
 	const outputSample &output_delayed = _output_buffer.get_oldest();
 
@@ -77,9 +77,12 @@ void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f
 	Quatf q_delta{quat_state * output_delayed.quat_nominal.inversed()};
 	q_delta.normalize();
 
-	// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
+	// calculate the velocity delta between the output and EKF at the EKF fusion time horizon
 	const Vector3f vel_delta = vel_state - output_delayed.vel;
-	const Vector3f pos_delta = pos_state - output_delayed.pos;
+
+	// zero the position error at delayed time and reset the global reference
+	const Vector3f pos_delta = -output_delayed.pos;
+	_global_ref = gpos_state;
 
 	// loop through the output filter state history and add the deltas
 	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
@@ -156,29 +159,15 @@ void OutputPredictor::resetVerticalVelocityTo(float delta_vert_vel)
 	_output_vert_new.vert_vel += delta_vert_vel;
 }
 
-void OutputPredictor::resetHorizontalPositionTo(const Vector2f &delta_horz_pos)
+void OutputPredictor::resetLatLonTo(const double &new_latitude, const double &new_longitude)
 {
-	for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		_output_buffer[index].pos.xy() += delta_horz_pos;
-	}
-
-	_output_new.pos.xy() += delta_horz_pos;
+	_global_ref.setLatitudeDeg(new_latitude);
+	_global_ref.setLongitudeDeg(new_longitude);
 }
 
-void OutputPredictor::resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change)
+void OutputPredictor::resetAltitudeTo(const float new_altitude, const float vert_pos_change)
 {
-	// apply the change in height / height rate to our newest height / height rate estimate
-	// which have already been taken out from the output buffer
-	_output_new.pos(2) += vert_pos_change;
-
-	// add the reset amount to the output observer buffered data
-	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-		_output_buffer[i].pos(2) += vert_pos_change;
-		_output_vert_buffer[i].vert_vel_integ += vert_pos_change;
-	}
-
-	// add the reset amount to the output observer vertical position state
-	_output_vert_new.vert_vel_integ = new_vert_pos;
+	_global_ref.setAltitude(new_altitude);
 }
 
 void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle,
@@ -261,7 +250,7 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 }
 
 void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
-		const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias,
+		const Quatf &quat_state, const Vector3f &vel_state, const LatLonAlt &gpos_state, const matrix::Vector3f &gyro_bias,
 		const matrix::Vector3f &accel_bias)
 {
 	// calculate an average filter update time
@@ -317,6 +306,8 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 	const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg, 10.f);
 	const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg, 10.f);
 
+	const Vector3f pos_state = gpos_state - _global_ref;
+
 	// calculate down velocity and position tracking errors
 	const float vert_vel_err = (vel_state(2) - output_vert_delayed.vert_vel);
 	const float vert_vel_integ_err = (pos_state(2) - output_vert_delayed.vert_vel_integ);
@@ -325,7 +316,7 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 	// using a PD feedback tuned to a 5% overshoot
 	const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f;
 
-	applyCorrectionToVerticalOutputBuffer(vert_vel_correction);
+	applyCorrectionToVerticalOutputBuffer(vert_vel_correction, pos_state(2));
 
 	// calculate velocity and position tracking errors
 	const Vector3f vel_err(vel_state - output_delayed.vel);
@@ -342,10 +333,14 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 	_pos_err_integ += pos_err;
 	const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f;
 
-	applyCorrectionToOutputBuffer(vel_correction, pos_correction);
+	// as the reference changes, adjust the position correction to keep a constant global position
+	const Vector3f pos_correction_with_ref_change = pos_correction - pos_state;
+	applyCorrectionToOutputBuffer(vel_correction, pos_correction_with_ref_change);
+
+	_global_ref = gpos_state;
 }
 
-void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_correction)
+void OutputPredictor::applyCorrectionToVerticalOutputBuffer(const float vert_vel_correction, const float pos_ref_change)
 {
 	// loop through the vertical output filter state history starting at the oldest and apply the corrections to the
 	// vert_vel states and propagate vert_vel_integ forward using the corrected vert_vel
@@ -367,7 +362,7 @@ void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_corre
 
 		// position is propagated forward using the corrected velocity and a trapezoidal integrator
 		next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f *
-					    next_state.dt;
+					    next_state.dt - pos_ref_change;
 
 		// advance the index
 		index = (index + 1) % size;

src/modules/ekf2/EKF/output_predictor/output_predictor.h

@@ -37,6 +37,7 @@
 #include <matrix/math.hpp>
 
 #include "../RingBuffer.h"
+#include "../lat_lon_alt/lat_lon_alt.hpp"
 
 #include <lib/geo/geo.h>
 
@@ -52,7 +53,7 @@ public:
 
 	// modify output filter to match the the EKF state at the fusion time horizon
 	void alignOutputFilter(const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state,
-			       const matrix::Vector3f &pos_state);
+			       const LatLonAlt &gpos_state);
 	/*
 	* Implement a strapdown INS algorithm using the latest IMU data at the current time horizon.
 	* Buffer the INS states and calculate the difference with the EKF states at the delayed fusion time horizon.
@@ -67,7 +68,7 @@ public:
 				   const matrix::Vector3f &delta_velocity, const float delta_velocity_dt);
 
 	void correctOutputStates(const uint64_t time_delayed_us,
-				 const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state,
+				 const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const LatLonAlt &gpos_state,
 				 const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);
 
 	void resetQuaternion(const matrix::Quatf &quat_change);
@@ -75,8 +76,8 @@ public:
 	void resetHorizontalVelocityTo(const matrix::Vector2f &delta_horz_vel);
 	void resetVerticalVelocityTo(float delta_vert_vel);
 
-	void resetHorizontalPositionTo(const matrix::Vector2f &delta_horz_pos);
-	void resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change);
+	void resetLatLonTo(const double &new_latitude, const double &new_longitude);
+	void resetAltitudeTo(float new_altitude, float vert_pos_change);
 
 	void print_status();
 
@@ -106,13 +107,12 @@ public:
 	// get the derivative of the vertical position of the body frame origin in local NED earth frame
 	float getVerticalPositionDerivative() const { return _output_vert_new.vert_vel - _vel_imu_rel_body_ned(2); }
 
-	// get the position of the body frame origin in local earth frame
-	matrix::Vector3f getPosition() const
+	LatLonAlt getLatLonAlt() const
 	{
 		// rotate the position of the IMU relative to the boy origin into earth frame
 		const matrix::Vector3f pos_offset_earth{_R_to_earth_now * _imu_pos_body};
 		// subtract from the EKF position (which is at the IMU) to get position at the body origin
-		return _output_new.pos - pos_offset_earth;
+		return _global_ref + (_output_new.pos - pos_offset_earth);
 	}
 
 	// return an array containing the output predictor angular, velocity and position tracking
@@ -133,7 +133,7 @@ private:
 	* This provides an alternative vertical velocity output that is closer to the first derivative
 	* of the position but does degrade tracking relative to the EKF state.
 	*/
-	void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction);
+	void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction, const float pos_ref_change);
 
 	/*
 	* Calculate corrections to be applied to vel and pos output state history.
@@ -159,6 +159,8 @@ private:
 		float    dt{0.f};             ///< delta time (sec)
 	};
 
+	LatLonAlt _global_ref{0.0, 0.0, 0.f};
+
 	RingBuffer<outputSample> _output_buffer{12};
 	RingBuffer<outputVert> _output_vert_buffer{12};
 

src/modules/ekf2/EKF/position_fusion.cpp

@@ -36,7 +36,7 @@
 void Ekf::updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us,
 		const float observation, const float observation_variance, const float innovation_gate) const
 {
-	float innovation = _state.pos(2) - observation;
+	float innovation = -_gpos.altitude() - observation;
 	float innovation_variance = getStateVariance<State::pos>()(2) + observation_variance;
 
 	updateAidSourceStatus(aid_src, time_us,
@@ -93,10 +93,20 @@ bool Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src)
 	return aid_src.fused;
 }
 
-void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var)
+void Ekf::resetHorizontalPositionTo(const double &new_latitude, const double &new_longitude,
+				    const Vector2f &new_horz_pos_var)
 {
-	const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}};
-	_state.pos.xy() = new_horz_pos;
+	const Vector2f delta_horz_pos = computeDeltaHorizontalPosition(new_latitude, new_longitude);
+
+	updateHorizontalPositionResetStatus(delta_horz_pos);
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - delta_horz_pos);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
+
+	_gpos.setLatLonDeg(new_latitude, new_longitude);
+	_output_predictor.resetLatLonTo(new_latitude, new_longitude);
 
 	if (PX4_ISFINITE(new_horz_pos_var(0))) {
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx, math::max(sq(0.01f), new_horz_pos_var(0)));
@@ -106,54 +116,89 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, math::max(sq(0.01f), new_horz_pos_var(1)));
 	}
 
-	_output_predictor.resetHorizontalPositionTo(delta_horz_pos);
-
-	// record the state change
-	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
-		_state_reset_status.posNE_change = delta_horz_pos;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.posNE_change += delta_horz_pos;
-	}
-
-	_state_reset_status.reset_count.posNE++;
-
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change);
-#endif // CONFIG_EKF2_EXTERNAL_VISION
-	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
-
 	// Reset the timout timer
 	_time_last_hor_pos_fuse = _time_delayed_us;
 }
 
-void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
+Vector2f Ekf::computeDeltaHorizontalPosition(const double &new_latitude, const double &new_longitude) const
 {
-	const float old_vert_pos = _state.pos(2);
-	_state.pos(2) = new_vert_pos;
+	Vector2f pos;
+	Vector2f pos_new;
+
+	if (_local_origin_lat_lon.isInitialized()) {
+		_local_origin_lat_lon.project(_gpos.latitude_deg(), _gpos.longitude_deg(), pos(0), pos(1));
+		_local_origin_lat_lon.project(new_latitude, new_longitude, pos_new(0), pos_new(1));
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		zero_ref.project(_gpos.latitude_deg(), _gpos.longitude_deg(), pos(0), pos(1));
+		zero_ref.project(new_latitude, new_longitude, pos_new(0), pos_new(1));
+	}
+
+	return pos_new - pos;
+}
+
+Vector2f Ekf::getLocalHorizontalPosition() const
+{
+	if (_local_origin_lat_lon.isInitialized()) {
+		return _local_origin_lat_lon.project(_gpos.latitude_deg(), _gpos.longitude_deg());
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		return zero_ref.project(_gpos.latitude_deg(), _gpos.longitude_deg());
+	}
+}
+
+void Ekf::updateHorizontalPositionResetStatus(const Vector2f &delta)
+{
+	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
+		_state_reset_status.posNE_change = delta;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.posNE_change += delta;
+	}
+
+	_state_reset_status.reset_count.posNE++;
+}
+
+void Ekf::resetHorizontalPositionTo(const Vector2f &new_pos,
+				    const Vector2f &new_horz_pos_var)
+{
+	double new_latitude;
+	double new_longitude;
+
+	if (_local_origin_lat_lon.isInitialized()) {
+		_local_origin_lat_lon.reproject(new_pos(0), new_pos(1), new_latitude, new_longitude);
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		zero_ref.reproject(new_pos(0), new_pos(1), new_latitude, new_longitude);
+	}
+
+	resetHorizontalPositionTo(new_latitude, new_longitude, new_horz_pos_var);
+}
+
+void Ekf::resetAltitudeTo(const float new_altitude, float new_vert_pos_var)
+{
+	const float old_altitude = _gpos.altitude();
+	_gpos.setAltitude(new_altitude);
 
 	if (PX4_ISFINITE(new_vert_pos_var)) {
 		// the state variance is the same as the observation
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, math::max(sq(0.01f), new_vert_pos_var));
 	}
 
-	const float delta_z = new_vert_pos - old_vert_pos;
+	const float delta_z = -(new_altitude - old_altitude);
 
 	// apply the change in height / height rate to our newest height / height rate estimate
 	// which have already been taken out from the output buffer
-	_output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z);
+	_output_predictor.resetAltitudeTo(new_altitude, delta_z);
 
-	// record the state change
-	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
-		_state_reset_status.posD_change = delta_z;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.posD_change += delta_z;
-	}
-
-	_state_reset_status.reset_count.posD++;
+	updateVerticalPositionResetStatus(delta_z);
 
 #if defined(CONFIG_EKF2_BAROMETER)
 	_baro_b_est.setBias(_baro_b_est.getBias() + delta_z);
@@ -166,9 +211,29 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_TERRAIN)
+	updateTerrainResetStatus(delta_z);
 	_state.terrain += delta_z;
+#endif // CONFIG_EKF2_TERRAIN
 
-	// record the state change
+	// Reset the timout timer
+	_time_last_hgt_fuse = _time_delayed_us;
+}
+
+void Ekf::updateVerticalPositionResetStatus(const float delta_z)
+{
+	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
+		_state_reset_status.posD_change = delta_z;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.posD_change += delta_z;
+	}
+
+	_state_reset_status.reset_count.posD++;
+}
+
+void Ekf::updateTerrainResetStatus(const float delta_z)
+{
 	if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) {
 		_state_reset_status.hagl_change = delta_z;
 
@@ -178,17 +243,15 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
 	}
 
 	_state_reset_status.reset_count.hagl++;
-#endif // CONFIG_EKF2_TERRAIN
-
-	// Reset the timout timer
-	_time_last_hgt_fuse = _time_delayed_us;
 }
 
 void Ekf::resetHorizontalPositionToLastKnown()
 {
-	ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1));
+	ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_gpos.latitude_deg(),
+		 (double)_last_known_gpos.longitude_deg());
 	_information_events.flags.reset_pos_to_last_known = true;
 
 	// Used when falling back to non-aiding mode of operation
-	resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise));
+	resetHorizontalPositionTo(_last_known_gpos.latitude_deg(), _last_known_gpos.longitude_deg(),
+				  sq(_params.pos_noaid_noise));
 }

src/modules/ekf2/EKF/python/ekf_derivation/utils/derivation_utils.py

@@ -91,20 +91,21 @@ def generate_python_function(function_name, output_names):
 def build_state_struct(state, T="float"):
     out = "struct StateSample {\n"
 
-    def TypeFromLength(len):
-        if len == 1:
+    def get_px4_type(obj):
+        if isinstance(obj, sf.M11):
             return f"{T}"
-        elif len == 2:
+        elif isinstance(obj, sf.M21):
             return f"matrix::Vector2<{T}>"
-        elif len == 3:
+        elif isinstance(obj, sf.M31):
             return f"matrix::Vector3<{T}>"
-        elif len == 4:
+        elif isinstance(obj, sf.Rot3):
             return f"matrix::Quaternion<{T}>"
         else:
+            print(f"unknown type {type(obj)}")
             raise NotImplementedError
 
     for key, val in state.items():
-        out += f"\t{TypeFromLength(val.storage_dim())} {key}{{}};\n"
+        out += f"\t{get_px4_type(val)} {key}{{}};\n"
 
     state_size = state.storage_dim()
     out += f"\n\tmatrix::Vector<{T}, {state_size}> Data() const {{\n" \

src/modules/ekf2/EKF/terrain_control.cpp

@@ -43,7 +43,7 @@
 void Ekf::initTerrain()
 {
 	// assume a ground clearance
-	_state.terrain = _state.pos(2) + _params.rng_gnd_clearance;
+	_state.terrain = -_gpos.altitude() + _params.rng_gnd_clearance;
 
 	// use the ground clearance value as our uncertainty
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.rng_gnd_clearance));
@@ -53,7 +53,7 @@ void Ekf::controlTerrainFakeFusion()
 {
 	// If we are on ground, store the local position and time to use as a reference
 	if (!_control_status.flags.in_air) {
-		_last_on_ground_posD = _state.pos(2);
+		_last_on_ground_posD = -_gpos.altitude();
 		_control_status.flags.rng_fault = false;
 
 	} else if (!_control_status_prev.flags.in_air) {

src/modules/ekf2/EKF2.cpp

@@ -1166,17 +1166,17 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
 {
 	if (_ekf.global_origin_valid() && _ekf.control_status().flags.yaw_align) {
-		const Vector3f position{_ekf.getPosition()};
-
 		// generate and publish global position data
 		vehicle_global_position_s global_pos{};
 		global_pos.timestamp_sample = timestamp;
 
-		// Position of local NED origin in GPS / WGS84 frame
-		_ekf.global_origin().reproject(position(0), position(1), global_pos.lat, global_pos.lon);
+		// Position GPS / WGS84 frame
+		const LatLonAlt lla = _ekf.getLatLonAlt();
+		global_pos.lat = lla.latitude_deg();
+		global_pos.lon = lla.longitude_deg();
 		global_pos.lat_lon_valid = _ekf.isGlobalHorizontalPositionValid();
 
-		global_pos.alt = -position(2) + _ekf.getEkfGlobalOriginAltitude(); // Altitude AMSL in meters
+		global_pos.alt = lla.altitude();
 		global_pos.alt_valid = _ekf.isGlobalVerticalPositionValid();
 
 #if defined(CONFIG_EKF2_GNSS)

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

@@ -1,391 +1,391 @@
 Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
-10000,1,-0.0094,-0.01,-3.2e-06,0.00023,7.3e-05,-0.011,7.2e-06,2.2e-06,-0.00045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.1,0.01,0.01,8.1e-05,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.032
-90000,1,-0.0094,-0.011,6.9e-05,-0.00047,0.0026,-0.026,-1.6e-05,0.00011,-0.0023,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.1,0.01,0.01,0.00036,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.058
-190000,1,-0.0094,-0.011,2.8e-05,6.9e-05,0.004,-0.041,-5.9e-06,0.00043,-0.0044,-3e-11,-2.7e-12,5.6e-13,0,0,-5e-08,0,0,0,0,0,0,0,0,0.1,0.011,0.011,0.00084,25,25,10,1e+02,1e+02,1,0.01,0.01,0.01,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.082
-290000,1,-0.0094,-0.011,6.3e-05,0.001,0.0064,-0.053,3.8e-05,0.00036,-0.007,9.1e-10,1e-10,-1.7e-11,0,0,-2.5e-06,0,0,0,0,0,0,0,0,0.1,0.012,0.012,0.00075,25,25,9.6,0.37,0.37,0.41,0.01,0.01,0.0049,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.11
-390000,1,-0.0094,-0.011,7e-05,0.0024,0.0083,-0.059,0.00021,0.0011,-0.0094,-1.1e-08,2.8e-09,2.9e-10,0,0,-1.5e-05,0,0,0,0,0,0,0,0,0.1,0.012,0.012,0.0012,25,25,8.1,0.97,0.97,0.32,0.01,0.01,0.0049,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.13
-490000,1,-0.0095,-0.012,2e-05,0.0039,0.0048,-0.06,0.00024,0.00049,-0.011,1.6e-06,-3.7e-07,-4.2e-08,0,0,-4.1e-05,0,0,0,0,0,0,0,0,0.1,0.013,0.013,0.00072,7.8,7.8,5.9,0.34,0.34,0.31,0.01,0.01,0.0021,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.16
-590000,1,-0.0095,-0.012,2.6e-05,0.006,0.0073,-0.059,0.00074,0.0011,-0.012,1.6e-06,-3.4e-07,-4e-08,0,0,-7.3e-05,0,0,0,0,0,0,0,0,0.1,0.015,0.015,0.00099,7.9,7.9,4.2,0.67,0.67,0.32,0.01,0.01,0.0021,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.18
-690000,1,-0.0096,-0.012,8.6e-05,0.0063,0.0052,-0.059,0.0005,0.00055,-0.013,5.5e-06,-3.2e-06,-1.8e-07,0,0,-0.00012,0,0,0,0,0,0,0,0,0.1,0.016,0.016,0.00061,2.7,2.7,2.8,0.26,0.26,0.29,0.01,0.01,0.00098,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.21
-790000,1,-0.0097,-0.013,9.9e-05,0.0086,0.0073,-0.063,0.0012,0.0012,-0.014,5.4e-06,-3.1e-06,-1.8e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.018,0.018,0.00077,2.8,2.8,2,0.42,0.42,0.28,0.01,0.01,0.00098,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.23
-890000,1,-0.0098,-0.013,0.00012,0.01,0.006,-0.077,0.00096,0.00072,-0.021,1.6e-05,-1.5e-05,-6.5e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.019,0.019,0.00051,1.3,1.3,2,0.2,0.2,0.43,0.0099,0.01,0.00053,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.26
-990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,-6.5e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.021,0.021,0.00062,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00053,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.28
-1090000,1,-0.01,-0.014,0.00013,0.016,0.0051,-0.11,0.0018,0.00086,-0.039,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.023,0.023,0.00043,0.93,0.93,2,0.17,0.17,0.84,0.0098,0.0098,0.00032,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.31
-1190000,1,-0.01,-0.014,0.0001,0.02,0.0053,-0.12,0.0035,0.0014,-0.051,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.025,0.025,0.00051,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00032,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.33
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src/modules/ekf2/test/change_indication/iris_gps.csv

@@ -1,351 +1,351 @@
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src/modules/ekf2/test/test_EKF_airspeed.cpp

@@ -180,15 +180,31 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
 	_ekf->set_vehicle_at_rest(false);
 	_ekf->set_is_fixed_wing(true);
 
+	const Vector3f pos_prev = _ekf->getPosition();
+
 	const double latitude_new  = -15.0000005;
 	const double longitude_new = -115.0000005;
 	const float altitude_new  = 1500.0;
 	const float eph = 50.f;
 	const float epv = 10.f;
 
-	_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new);
 	_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, altitude_new, eph, epv, 0);
 
+	const Vector3f pos = _ekf->getPosition();
+
+	// lat/lon is initialized so the local horizontal position remains constant
+	EXPECT_NEAR(pos(0), pos_prev(0), 1e-3f);
+	EXPECT_NEAR(pos(1), pos_prev(1), 1e-3f);
+
+	// alt is updated as the local altitude origin was already set
+	EXPECT_NEAR(pos(2), pos_prev(2) - (altitude_new - _ekf->getEkfGlobalOriginAltitude()), 1e-3f);
+
+	const LatLonAlt lla = _ekf->getLatLonAlt();
+	EXPECT_NEAR(lla.latitude_deg(), latitude_new, 1e-6f);
+	EXPECT_NEAR(lla.longitude_deg(), longitude_new, 1e-6f);
+	EXPECT_NEAR(lla.altitude(), altitude_new, 1e-3f);
+
+
 	// Simulate the fact that the sideslip can start immediately, without
 	// waiting for a measurement sample.
 	_ekf_wrapper.enableBetaFusion();
@@ -227,7 +243,6 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoningLatLonAltReset)
 	const float eph = 50.f;
 	const float epv = 1.f;
 
-	_ekf->setEkfGlobalOrigin(latitude, longitude, altitude);
 	_ekf->resetGlobalPosToExternalObservation(latitude, longitude, altitude, eph, epv, 0);
 
 	_ekf_wrapper.enableBetaFusion();

src/modules/ekf2/test/test_EKF_basics.cpp

@@ -219,19 +219,22 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 	_altitude_new  = 100.0;
 
 	_sensor_simulator.startGps();
-	_ekf->set_min_required_gps_health_time(1e6);
-	_sensor_simulator.runSeconds(1);
+	_ekf_wrapper.enableGpsHeightFusion();
 
 	_sensor_simulator.setGpsLatitude(_latitude_new);
 	_sensor_simulator.setGpsLongitude(_longitude_new);
 	_sensor_simulator.setGpsAltitude(_altitude_new);
+	_ekf->set_min_required_gps_health_time(1e6);
+	_sensor_simulator.runSeconds(1);
 	_sensor_simulator.runSeconds(5);
 
 	_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);
 
 	EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
-	EXPECT_NEAR(_altitude, _altitude_new, 0.01f);
+
+	// In baro height ref the origin is set using baro data and not GNSS altitude
+	EXPECT_NEAR(_altitude, _sensor_simulator._baro.getData(), 0.01f);
 
 	// Note: we cannot reset too far since the local position is limited to 1e6m
 	_latitude_new  = 14.0000005;
@@ -261,11 +264,13 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 
 TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized)
 {
-	_ekf->getEkfGlobalOrigin(_origin_time, _latitude_new, _longitude_new, _altitude_new);
+	_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);
 
 	EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
-	EXPECT_FLOAT_EQ(_altitude, _altitude_new);
+
+	// In baro height ref the origin is set using baro data and not GNSS altitude
+	EXPECT_NEAR(_altitude, _sensor_simulator._baro.getData(), 0.01f);
 
 	EXPECT_FALSE(_ekf->global_origin_valid());
 

src/modules/ekf2/test/test_EKF_flow.cpp

@@ -345,3 +345,49 @@ TEST_F(EkfFlowTest, yawMotionNoMagFusion)
 	_ekf->state().vector().print();
 	_ekf->covariances().print();
 }
+
+TEST_F(EkfFlowTest, deadReckoning)
+{
+	ResetLoggingChecker reset_logging_checker(_ekf);
+
+	// WHEN: simulate being 5m above ground
+	const float simulated_distance_to_ground = 5.f;
+	_sensor_simulator._trajectory[2].setCurrentPosition(-simulated_distance_to_ground);
+	startRangeFinderFusion(simulated_distance_to_ground);
+
+	_ekf->set_in_air_status(true);
+	_ekf->set_vehicle_at_rest(false);
+
+	// WHEN: moving a couple of meters while doing flow dead_reckoning
+	Vector3f simulated_velocity(0.5f, -0.2f, 0.f);
+	_sensor_simulator._trajectory[0].setCurrentVelocity(simulated_velocity(0));
+	_sensor_simulator._trajectory[1].setCurrentVelocity(simulated_velocity(1));
+	_sensor_simulator.setTrajectoryTargetVelocity(simulated_velocity);
+	_ekf_wrapper.enableFlowFusion();
+	_sensor_simulator.startFlow();
+
+	_sensor_simulator.runTrajectorySeconds(5.f);
+
+	simulated_velocity = Vector3f(0.f, 0.f, 0.f);
+	_sensor_simulator.setTrajectoryTargetVelocity(simulated_velocity);
+
+	_sensor_simulator.runTrajectorySeconds(_sensor_simulator._trajectory[0].getTotalTime());
+
+	EXPECT_FALSE(_ekf->isGlobalHorizontalPositionValid());
+	EXPECT_TRUE(_ekf->isLocalHorizontalPositionValid());
+	const Vector3f lpos_before_reset = _ekf->getPosition();
+	const float altitude_ref_prev = _ekf->getEkfGlobalOriginAltitude();
+
+	const double latitude_new  = -15.0000005;
+	const double longitude_new = -115.0000005;
+	const float altitude_new  = 1500.0;
+	const float eph = 50.f;
+	const float epv = 10.f;
+	_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new, eph, epv);
+
+	const Vector3f lpos_after_reset = _ekf->getPosition();
+
+	EXPECT_NEAR(lpos_after_reset(0), lpos_before_reset(0), 1e-3);
+	EXPECT_NEAR(lpos_after_reset(1), lpos_before_reset(1), 1e-3);
+	EXPECT_NEAR(lpos_after_reset(2), lpos_before_reset(2) + (altitude_new - altitude_ref_prev), 1e-3);
+}

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -164,7 +164,7 @@ TEST_F(EkfGpsTest, resetToGpsPosition)
 
 	// AND: simulate jump in position
 	_sensor_simulator.startGps();
-	const Vector3f simulated_position_change(2.0f, -1.0f, 0.f);
+	const Vector3f simulated_position_change(20.0f, -1.0f, 0.f);
 	_sensor_simulator._gps.stepHorizontalPositionByMeters(
 		Vector2f(simulated_position_change));
 	_sensor_simulator.runSeconds(6);

src/modules/ekf2/test/test_EKF_height_fusion.cpp

@@ -123,7 +123,7 @@ TEST_F(EkfHeightFusionTest, baroRef)
 	/* EXPECT_EQ(status.bias, _sensor_simulator._baro.getData()); */ // This is the real bias, but the estimator isn't running so the status isn't updated
 	EXPECT_EQ(baro_status.bias, 0.f);
 	const BiasEstimator::status &gps_status = _ekf->getGpsHgtBiasEstimatorStatus();
-	EXPECT_NEAR(gps_status.bias, -baro_increment, 0.2f);
+	EXPECT_NEAR(gps_status.bias, _sensor_simulator._gps.getData().alt - _sensor_simulator._baro.getData(), 0.2f);
 
 	const float terrain = _ekf->getTerrainVertPos();
 	EXPECT_NEAR(terrain, -baro_increment, 1.2f);
@@ -170,8 +170,13 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
 	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeightFusion());
 
-	// AND WHEN: the baro data increases
 	const float baro_initial = _sensor_simulator._baro.getData();
+
+	const BiasEstimator::status &baro_status_initial = _ekf->getBaroBiasEstimatorStatus();
+	const float baro_rel_initial = baro_initial - _sensor_simulator._gps.getData().alt;
+	EXPECT_NEAR(baro_status_initial.bias, baro_rel_initial, 0.6f);
+
+	// AND WHEN: the baro data increases
 	const float baro_increment = 5.f;
 	_sensor_simulator._baro.setData(baro_initial + baro_increment);
 	_sensor_simulator.runSeconds(100);
@@ -180,7 +185,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	// the GPS height value and the baro gets its bias estimated
 	EXPECT_NEAR(_ekf->getPosition()(2), 0.f, 1.f);
 	const BiasEstimator::status &baro_status = _ekf->getBaroBiasEstimatorStatus();
-	EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f);
+	EXPECT_NEAR(baro_status.bias, baro_rel_initial + baro_increment, 1.3f);
 
 	const float terrain = _ekf->getTerrainVertPos();
 	EXPECT_NEAR(terrain, 0.f, 1.1f); // TODO: why?
@@ -196,7 +201,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
-	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_initial + baro_increment - gps_step, 0.2f);
+	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_rel_initial + baro_increment - gps_step, 0.2f);
 
 	// and the innovations are close to zero
 	EXPECT_NEAR(_ekf->aid_src_baro_hgt().innovation, 0.f, 0.2f);
@@ -367,6 +372,7 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)
 
 	ResetLoggingChecker reset_logging_checker(_ekf);
 	reset_logging_checker.capturePreResetState();
+	const float baro_bias_prev = _ekf->getBaroBiasEstimatorStatus().bias;
 
 	const float alt_increment = 4478.f;
 	_ekf->setEkfGlobalOrigin(lat, lon, alt + alt_increment);
@@ -376,9 +382,12 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)
 	EXPECT_NEAR(_ekf->getPosition()(2), alt_increment, 1.f);
 
 	reset_logging_checker.capturePostResetState();
-	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, _sensor_simulator._baro.getData() + alt_increment, 0.2f);
+
+	// An origin reset doesn't change the baro bias as it is relative to the height reference (GNSS)
+	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_bias_prev, 0.3f);
 
 	EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f);
+
 	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 }

src/modules/ekf2/test/test_EKF_yaw_estimator.cpp

@@ -40,7 +40,6 @@
 #include "EKF/ekf.h"
 #include "sensor_simulator/sensor_simulator.h"
 #include "sensor_simulator/ekf_wrapper.h"
-#include "test_helper/reset_logging_checker.h"
 
 class EKFYawEstimatorTest : public ::testing::Test
 {
@@ -91,8 +90,6 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
 	// WHEN: the vehicle starts accelerating in the horizontal plane
 	_sensor_simulator.setTrajectoryTargetVelocity(Vector3f(2.f, -2.f, -1.f));
 	_ekf->set_in_air_status(true);
-	ResetLoggingChecker reset_logging_checker(_ekf);
-	reset_logging_checker.capturePreResetState();
 
 	_sensor_simulator.runTrajectorySeconds(3.f);
 
@@ -106,10 +103,12 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
 	EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
 	EXPECT_LT(yaw_est_var, tolerance_rad);
 
-	// 1 reset when starting GNSS aiding
-	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
-	EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
+	EXPECT_LT(_ekf->aid_src_gnss_pos().test_ratio[0], 0.5f);
+	EXPECT_LT(_ekf->aid_src_gnss_pos().test_ratio[1], 0.5f);
+
+	EXPECT_LT(_ekf->aid_src_gnss_vel().test_ratio[0], 0.1f);
+	EXPECT_LT(_ekf->aid_src_gnss_vel().test_ratio[1], 0.1f);
+	EXPECT_LT(_ekf->aid_src_gnss_vel().test_ratio[2], 0.1f);
 
 	EXPECT_TRUE(_ekf->isLocalHorizontalPositionValid());
 	EXPECT_TRUE(_ekf->isGlobalHorizontalPositionValid());

src/modules/flight_mode_manager/CMakeLists.txt

@@ -47,7 +47,6 @@ list(APPEND flight_tasks_all
 	ManualAltitude
 	ManualAltitudeSmoothVel
 	ManualPosition
-	ManualPositionSmoothVel
 	Transition
 )
 
@@ -77,7 +76,7 @@ add_custom_command(
 	OUTPUT
 		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp
 		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp
-	COMMAND ${PYTHON_EXECUTABLE} generate_flight_tasks.py ${python_args}
+	COMMAND ${Python_EXECUTABLE} generate_flight_tasks.py ${python_args}
 	COMMENT "Generating Flight Tasks"
 	DEPENDS
 		Templates/FlightTasks_generated.cpp.em

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -213,10 +213,6 @@ void FlightModeManager::start_flight_task()
 			error = switchTask(FlightTaskIndex::ManualPosition);
 			break;
 
-		case 3:
-			error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
-			break;
-
 		case 4:
 		default:
 			if (_param_mpc_pos_mode.get() != 4) {

src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -94,11 +94,6 @@ void FlightTaskManualPosition::_scaleSticks()
 	// Rotate setpoint into local frame
 	Sticks::rotateIntoHeadingFrameXY(vel_sp_xy, _yaw, _yaw_setpoint);
 
-	// collision prevention
-	if (_collision_prevention.is_active()) {
-		_collision_prevention.modifySetpoint(vel_sp_xy, velocity_scale, _position.xy(), _velocity.xy());
-	}
-
 	_velocity_setpoint.xy() = vel_sp_xy;
 }
 

src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp

@@ -1,185 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "FlightTaskManualPositionSmoothVel.hpp"
-
-#include <mathlib/mathlib.h>
-#include <float.h>
-
-using namespace matrix;
-
-bool FlightTaskManualPositionSmoothVel::activate(const trajectory_setpoint_s &last_setpoint)
-{
-	bool ret = FlightTaskManualPosition::activate(last_setpoint);
-
-	// Check if the previous FlightTask provided setpoints
-	Vector3f accel_prev{last_setpoint.acceleration};
-	Vector3f vel_prev{last_setpoint.velocity};
-	Vector3f pos_prev{last_setpoint.position};
-
-	for (int i = 0; i < 3; i++) {
-		// If the position setpoint is unknown, set to the current postion
-		if (!PX4_ISFINITE(pos_prev(i))) { pos_prev(i) = _position(i); }
-
-		// If the velocity setpoint is unknown, set to the current velocity
-		if (!PX4_ISFINITE(vel_prev(i))) { vel_prev(i) = _velocity(i); }
-
-		// No acceleration estimate available, set to zero if the setpoint is NAN
-		if (!PX4_ISFINITE(accel_prev(i))) { accel_prev(i) = 0.f; }
-	}
-
-	_smoothing_xy.reset(Vector2f{accel_prev}, Vector2f{vel_prev}, Vector2f{pos_prev});
-	_smoothing_z.reset(accel_prev(2), vel_prev(2), pos_prev(2));
-
-	return ret;
-}
-
-void FlightTaskManualPositionSmoothVel::reActivate()
-{
-	FlightTaskManualPosition::reActivate();
-	// The task is reacivated while the vehicle is on the ground. To detect takeoff in mc_pos_control_main properly
-	// using the generated jerk, reset the z derivatives to zero
-	_smoothing_xy.reset(Vector2f(), _velocity.xy(), _position.xy());
-	_smoothing_z.reset(0.f, 0.f, _position(2));
-}
-
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
-{
-	_smoothing_xy.setCurrentPosition(_position.xy());
-}
-
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
-{
-	_smoothing_xy.setCurrentVelocity(_velocity.xy());
-}
-
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
-{
-	_smoothing_z.setCurrentPosition(_position(2));
-}
-
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
-{
-	_smoothing_z.setCurrentVelocity(_velocity(2));
-}
-
-void FlightTaskManualPositionSmoothVel::_updateSetpoints()
-{
-	// Set max accel/vel/jerk
-	// Has to be done before _updateTrajectories()
-	_updateTrajConstraints();
-	_updateTrajVelFeedback();
-	_updateTrajCurrentPositionEstimate();
-
-	// Get yaw setpoint, un-smoothed position setpoints
-	FlightTaskManualPosition::_updateSetpoints();
-
-	_updateTrajectories(_velocity_setpoint);
-
-	// Fill the jerk, acceleration, velocity and position setpoint vectors
-	_setOutputState();
-}
-
-void FlightTaskManualPositionSmoothVel::_updateTrajConstraints()
-{
-	_updateTrajConstraintsXY();
-	_updateTrajConstraintsZ();
-}
-
-void FlightTaskManualPositionSmoothVel::_updateTrajConstraintsXY()
-{
-	_smoothing_xy.setMaxJerk(_param_mpc_jerk_max.get());
-	_smoothing_xy.setMaxAccel(_param_mpc_acc_hor_max.get());
-	_smoothing_xy.setMaxVel(_param_mpc_vel_manual.get());
-}
-
-void FlightTaskManualPositionSmoothVel::_updateTrajConstraintsZ()
-{
-	_smoothing_z.setMaxJerk(_param_mpc_jerk_max.get());
-
-	_smoothing_z.setMaxAccelUp(_param_mpc_acc_up_max.get());
-	_smoothing_z.setMaxVelUp(_constraints.speed_up);
-
-	_smoothing_z.setMaxAccelDown(_param_mpc_acc_down_max.get());
-	_smoothing_z.setMaxVelDown(_constraints.speed_down);
-}
-
-void FlightTaskManualPositionSmoothVel::_updateTrajVelFeedback()
-{
-	_smoothing_xy.setVelSpFeedback(_velocity_setpoint_feedback.xy());
-	_smoothing_z.setVelSpFeedback(_velocity_setpoint_feedback(2));
-}
-
-void FlightTaskManualPositionSmoothVel::_updateTrajCurrentPositionEstimate()
-{
-	_smoothing_xy.setCurrentPositionEstimate(_position.xy());
-	_smoothing_z.setCurrentPositionEstimate(_position(2));
-}
-
-void FlightTaskManualPositionSmoothVel::_updateTrajectories(Vector3f vel_target)
-{
-	_smoothing_xy.update(_deltatime, vel_target.xy());
-	_smoothing_z.update(_deltatime, vel_target(2));
-}
-
-void FlightTaskManualPositionSmoothVel::_setOutputState()
-{
-	_setOutputStateXY();
-	_setOutputStateZ();
-}
-
-void FlightTaskManualPositionSmoothVel::_setOutputStateXY()
-{
-	_jerk_setpoint.xy() = _smoothing_xy.getCurrentJerk();
-	_acceleration_setpoint.xy() = _smoothing_xy.getCurrentAcceleration();
-	_velocity_setpoint.xy() = _smoothing_xy.getCurrentVelocity();
-	_position_setpoint.xy() = _smoothing_xy.getCurrentPosition();
-}
-
-void FlightTaskManualPositionSmoothVel::_setOutputStateZ()
-{
-	_jerk_setpoint(2) = _smoothing_z.getCurrentJerk();
-	_acceleration_setpoint(2) = _smoothing_z.getCurrentAcceleration();
-	_velocity_setpoint(2) = _smoothing_z.getCurrentVelocity();
-
-	if (!_terrain_hold) {
-		if (_terrain_hold_previous) {
-			// Reset position setpoint to current position when switching from terrain hold to non-terrain hold
-			_smoothing_z.setCurrentPosition(_position(2));
-		}
-
-		_position_setpoint(2) = _smoothing_z.getCurrentPosition();
-	}
-
-	_terrain_hold_previous = _terrain_hold;
-}

src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp

@@ -1,92 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2019 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 FlightTaskManualPositionSmoothVel.hpp
- *
- * Flight task for smooth manual controlled position.
- */
-
-#pragma once
-
-#include "FlightTaskManualPosition.hpp"
-#include <motion_planning/ManualVelocitySmoothingXY.hpp>
-#include <motion_planning/ManualVelocitySmoothingZ.hpp>
-
-using matrix::Vector2f;
-using matrix::Vector3f;
-
-class FlightTaskManualPositionSmoothVel : public FlightTaskManualPosition
-{
-public:
-	FlightTaskManualPositionSmoothVel() = default;
-	virtual ~FlightTaskManualPositionSmoothVel() = default;
-
-	bool activate(const trajectory_setpoint_s &last_setpoint) override;
-	void reActivate() override;
-
-protected:
-
-	virtual void _updateSetpoints() override;
-
-	/** Reset position or velocity setpoints in case of EKF reset event */
-	void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
-	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
-	void _ekfResetHandlerPositionZ(float delta_z) override;
-	void _ekfResetHandlerVelocityZ(float delta_vz) override;
-
-	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
-					(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
-					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
-					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
-				       )
-
-private:
-	void _updateTrajConstraints();
-	void _updateTrajConstraintsXY();
-	void _updateTrajConstraintsZ();
-
-	void _updateTrajVelFeedback();
-	void _updateTrajCurrentPositionEstimate();
-
-	void _updateTrajectories(Vector3f vel_target);
-
-	void _setOutputState();
-	void _setOutputStateXY();
-	void _setOutputStateZ();
-
-	ManualVelocitySmoothingXY _smoothing_xy; ///< Smoothing in x and y directions
-	ManualVelocitySmoothingZ _smoothing_z; ///< Smoothing in z direction
-
-	bool _terrain_hold_previous{false}; /**< true when vehicle was controlling height above a static ground position in the previous iteration */
-};

src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp

@@ -96,6 +96,10 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw,
 	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_sp);
 	_acceleration_setpoint = stick_xy.emult(acceleration_scale);
 
+	if (_collision_prevention.is_active()) {
+		_collision_prevention.modifySetpoint(_acceleration_setpoint, _velocity_setpoint);
+	}
+
 	// Add drag to limit speed and brake again
 	Vector2f drag = calculateDrag(acceleration_scale.edivide(velocity_scale), dt, stick_xy, _velocity_setpoint);
 

src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp

@@ -40,6 +40,7 @@
 #pragma once
 
 #include <px4_platform_common/module_params.h>
+#include <lib/collision_prevention/CollisionPrevention.hpp>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <matrix/math.hpp>
 #include <uORB/Subscription.hpp>
@@ -65,6 +66,8 @@ public:
 	void setVelocityConstraint(float vel) { _velocity_constraint = fmaxf(vel, FLT_EPSILON); };
 
 private:
+	CollisionPrevention _collision_prevention{this};
+
 	void applyJerkLimit(const float dt);
 	matrix::Vector2f calculateDrag(matrix::Vector2f drag_coefficient, const float dt, const matrix::Vector2f &stick_xy,
 				       const matrix::Vector2f &vel_sp);

src/modules/mavlink/CMakeLists.txt

@@ -42,7 +42,7 @@ set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
 	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 			--lang C --wire-protocol 2.0
 			--output ${MAVLINK_LIBRARY_DIR}
 			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${MAVLINK_DIALECT_UAVIONIX}.log
@@ -60,7 +60,7 @@ set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/$
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
 	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 			--lang C --wire-protocol 2.0
 			--output ${MAVLINK_LIBRARY_DIR}
 			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -167,7 +167,6 @@ private:
 		(ParamFloat<px4::params::MPC_VEL_MAN_SIDE>) _param_mpc_vel_man_side,
 		(ParamFloat<px4::params::MPC_XY_CRUISE>)    _param_mpc_xy_cruise,
 		(ParamFloat<px4::params::MPC_LAND_ALT2>)    _param_mpc_land_alt2,    /**< downwards speed limited below this altitude */
-		(ParamInt<px4::params::MPC_POS_MODE>)       _param_mpc_pos_mode,
 		(ParamInt<px4::params::MPC_ALT_MODE>)       _param_mpc_alt_mode,
 		(ParamFloat<px4::params::MPC_TILTMAX_LND>)  _param_mpc_tiltmax_lnd,  /**< maximum tilt for landing and smooth takeoff */
 		(ParamFloat<px4::params::MPC_THR_MIN>)      _param_mpc_thr_min,

src/modules/mc_pos_control/multicopter_position_mode_params.c

@@ -39,14 +39,10 @@
  *   Sticks directly map to velocity setpoints without smoothing.
  *   Also applies to vertical direction and Altitude mode.
  *   Useful for velocity control tuning.
- * - "Smoothed velocity":
- *   Sticks map to velocity but with maximum acceleration and jerk limits based on
- *   jerk optimized trajectory generator (different algorithm than 1).
  *  - "Acceleration based":
  *  Sticks map to acceleration and there's a virtual brake drag
  *
  * @value 0 Direct velocity
- * @value 3 Smoothed velocity
  * @value 4 Acceleration based
  * @group Multicopter Position Control
  */
@@ -104,7 +100,6 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
  *
  * MPC_POS_MODE
  * 1 just deceleration
- * 3 acceleration and deceleration
  * 4 not used, use MPC_ACC_HOR instead
  *
  * @unit m/s^2
@@ -125,7 +120,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
  *
  * Setting this to the maximum value essentially disables the limit.
  *
- * Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.
+ * Only used with MPC_POS_MODE Acceleration based.
  *
  * @unit m/s^3
  * @min 0.5