[RFC] control_allocator: custom configuration parameters

- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured

Tools/kconfig/merge_config.py

@@ -115,10 +115,11 @@ def main(kconfig_file, config1, config2):
             sym_name = match.group(1)
             kconf.syms[sym_name].unset_value()
 
-            for default, cond in kconf.syms[sym_name].orig_defaults:
-                if(cond.str_value == 'y'):
-                    # Default is y, our diff is unset thus we've set it to no
-                    kconf.syms[sym_name].set_value(0)
+            if kconf.syms[sym_name].type is BOOL:
+                for default, cond in kconf.syms[sym_name].orig_defaults:
+                    if(cond.str_value == 'y'):
+                        # Default is y, our diff is unset thus we've set it to no
+                        kconf.syms[sym_name].set_value(0)
 
     f.close()
 

boards/ark/can-rtk-gps/debug.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_CONSTRAINED_FLASH=n
 CONFIG_BOARD_NO_HELP=n
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_UORB=y

boards/av/x-v1/default.px4board

@@ -44,8 +44,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/omnibus/f4sd/default.px4board

@@ -2,8 +2,8 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y

boards/px4/fmu-v2/fixedwing.px4board

@@ -5,9 +5,11 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y

boards/px4/fmu-v4pro/test.px4board

@@ -1,14 +1,11 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
-CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n

boards/px4/fmu-v5/default.px4board

@@ -54,8 +54,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/px4/fmu-v5/uavcanv0periph.px4board

@@ -6,7 +6,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n

boards/px4/sitl/test.px4board

@@ -1,3 +1,2 @@
 CONFIG_BOARD_NOLOCKSTEP=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y

cmake/px4_add_module.cmake

@@ -156,11 +156,12 @@ function(px4_add_module)
 	if(NOT DYNAMIC)
 		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_layer px4_platform systemlib)
 		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
-		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
-		px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${SRCS})
-		set_property(GLOBAL APPEND PROPERTY PX4_SRC_FILES ${ABS_SRCS})
 	endif()
 
+	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
+	px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${SRCS})
+	set_property(GLOBAL APPEND PROPERTY PX4_SRC_FILES ${ABS_SRCS})
+
 	# set defaults if not set
 	set(MAIN_DEFAULT MAIN-NOTFOUND)
 	set(STACK_MAIN_DEFAULT 2048)

src/drivers/distance_sensor/ulanding_radar/module.yaml

@@ -1,6 +1,6 @@
 module_name: uLanding Radar
 serial_config:
-    - command: ulanding_radar start ${SERIAL_DEV}
+    - command: ulanding_radar start -d ${SERIAL_DEV}
       port_config_param:
         name: SENS_ULAND_CFG
         group: Sensors

src/modules/commander/Commander.cpp

@@ -3912,7 +3912,7 @@ void Commander::estimator_check()
 
 		if (run_quality_checks && _status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 
-			if (_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
+			if (_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
 				_nav_test_failed = false;
 				_nav_test_passed = false;
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp

@@ -0,0 +1,253 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ActuatorEffectivenessCustom.hpp"
+
+ActuatorEffectivenessCustom::ActuatorEffectivenessCustom(ModuleParams *parent):
+	ModuleParams(parent)
+{
+}
+
+float getScaleParameter(uint8_t n)
+{
+	// CA_ACTn_SC: scale
+	char buffer[17];
+	sprintf(buffer, "CA_ACT%u_SC", n);
+	param_t param_handle = param_find(buffer);
+
+	if (param_handle == PARAM_INVALID) {
+		PX4_ERR("invalid parameter %s", buffer);
+		return 0.f;
+	}
+
+	float scale = 1.f;
+
+	if (param_get(param_handle, &scale) != PX4_OK) {
+		PX4_ERR("param_get %s failed", buffer);
+		return scale;
+	}
+
+	return 0.f;
+}
+
+bool ActuatorEffectivenessCustom::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
+		bool force)
+{
+	// TODO:
+	//  - airspeed scaling
+	//  - battery scaling
+	//  - publish motors and servos (handle ranges)
+	//  - disable individual actuators
+	//      - feedback from output module (actual failures)
+	//      - VTOL transitions (cleanly blend in and out?)
+	//      -   eg disable all downward thrust
+	//      -   eg disable all control surfaces
+	//      -  blend in/out higher level by adjusting max? then completely purge from effectiveness once off
+	if (_updated || force) {
+		_updated = false;
+
+		int num_actuators = 0;
+		_effectiveness.zero();
+
+		for (int n = 0; n < NUM_ACTUATORS; n++) {
+			// CA_ACTn_FUNC: look up function
+			char buffer[17];
+			sprintf(buffer, "CA_ACT%u_FUNC", n);
+			int32_t ctrl_func = 0;
+			param_get(param_find(buffer), &ctrl_func);
+
+			switch (ctrl_func) {
+			case 0:
+				// disabled
+				break;
+
+			case 1: {
+					// 1: custom thrust (parameters)
+					matrix::Vector3f axis{};
+					matrix::Vector3f position{};
+					float thrust_coef = 0.f;
+					float moment_ratio = 0.f;
+
+					for (int i = 0; i < 3; i++) {
+						char axis_char = 'X' + i;
+
+						// CA_ACTn_P{X,Y,Z}
+						sprintf(buffer, "CA_ACT%u_P%c", n, axis_char);
+
+						if (param_get(param_find(buffer), &position(i)) != PX4_OK) {
+							PX4_ERR("unable to get %s", buffer);
+						}
+
+						// CA_ACTn_A_{X,Y,Z}
+						sprintf(buffer, "CA_ACT%u_A%c", n, axis_char);
+
+						if (param_get(param_find(buffer), &axis(i)) != PX4_OK) {
+							PX4_ERR("unable to get %s", buffer);
+						}
+					}
+
+					// CA_ACTn_CT TODO
+					sprintf(buffer, "CA_ACT%u_CT", n);
+					param_get(param_find(buffer), &thrust_coef);
+
+					// CA_ACTn_KM TODO
+					sprintf(buffer, "CA_ACT%u_KM", n);
+					param_get(param_find(buffer), &moment_ratio);
+
+					// Normalize axis
+					float axis_norm = axis.norm();
+
+					if (axis_norm > FLT_EPSILON) {
+						axis /= axis_norm;
+
+					} else {
+						// Bad axis definition, ignore this rotor
+						continue;
+					}
+
+					// Get coefficients
+					float ct = thrust_coef;
+					float km = moment_ratio;
+
+					if (fabsf(ct) < FLT_EPSILON) {
+						continue;
+					}
+
+					// Compute thrust generated by this rotor
+					const matrix::Vector3f thrust{ct * axis};
+
+					// Compute moment generated by this rotor
+					const matrix::Vector3f moment{ct * position.cross(axis) - ct *km * axis};
+
+					// Fill corresponding items in effectiveness matrix
+					for (size_t j = 0; j < 3; j++) {
+						_effectiveness(j, n) = moment(j);
+						_effectiveness(j + 3, n) = thrust(j);
+					}
+				}
+
+				break;
+
+			case 2: {
+					// 2: custom torque (parameters)
+
+					// CA_ACTn_TRQ_R
+					// CA_ACTn_TRQ_P
+					// CA_ACTn_TRQ_Y
+					char torque_str[3][17];
+					sprintf(torque_str[0], "CA_ACT%u_TRQ_R", n);
+					sprintf(torque_str[1], "CA_ACT%u_TRQ_P", n);
+					sprintf(torque_str[2], "CA_ACT%u_TRQ_Y", n);
+
+					for (int i = 0; i < 3; i++) {
+						// CA_ACTn_TRQ_{R,P,Y}
+						param_get(param_find(torque_str[i]), &_effectiveness(i, n));
+					}
+				}
+				break;
+
+			case 100: {
+					// 100: Aileron, scaled (CA_ACTn_SC) roll torque
+					_effectiveness(0, n) = getScaleParameter(n);
+				}
+				break;
+
+			case 101: {
+					// 101: Elevator, scaled (CA_ACTn_SC) pitch torque
+					_effectiveness(1, n) = getScaleParameter(n);
+				}
+				break;
+
+			case 102: {
+					// 102: Rudder, scaled (CA_ACTn_SC) yaw torque
+					_effectiveness(2, n) = getScaleParameter(n);
+				}
+				break;
+
+			case 103: {
+					// 103: Throttle, scaled (CA_ACTn_SC) X thrust
+					_effectiveness(4, n) = getScaleParameter(n);
+				}
+				break;
+
+			case 104: {
+					// 104: Elevon(+), scaled (CA_ACTn_SC) roll & pitch torque
+					float scale = getScaleParameter(n);
+					_effectiveness(0, n) = 0.5f * scale;
+					_effectiveness(1, n) = 0.5f * scale;
+				}
+				break;
+
+			case 105: {
+					// 105: Elevon(+), scaled (CA_ACTn_SC) -roll & pitch torque
+					float scale = getScaleParameter(n);
+					_effectiveness(0, n) = -0.5f * scale;
+					_effectiveness(1, n) =  0.5f * scale;
+				}
+				break;
+
+			case 106: {
+					// 106: V-Tail (+), scaled (CA_ACTn_SC) pitch & yaw torque
+					float scale = getScaleParameter(n);
+					_effectiveness(1, n) = 0.5f * scale;
+					_effectiveness(2, n) = 0.5f * scale;
+				}
+				break;
+
+			case 107: {
+					// 107: V-Tail (-), scaled (CA_ACTn_SC) pitch & -yaw torque
+					float scale = getScaleParameter(n);
+					_effectiveness(1, n) =  0.5f * scale;
+					_effectiveness(2, n) = -0.5f * scale;
+				}
+				break;
+
+			default:
+				PX4_ERR("%s invalid function %d", buffer, n);
+				break;
+			}
+
+			if (_effectiveness.col(n).longerThan(0.f)) {
+				num_actuators = n + 1;
+			}
+		}
+
+		_effectiveness.transpose().print();
+
+		_num_actuators = num_actuators;
+		matrix = _effectiveness;
+		return true;
+	}
+
+	return false;
+}

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 ActuatorEffectivenessCustom.hpp
+ *
+ * Actuator effectiveness computed from rotors position and orientation
+ *
+ * @author Julien Lecoeur <julien.lecoeur@gmail.com>
+ */
+
+#pragma once
+
+#include "ActuatorEffectiveness.hpp"
+
+#include <px4_platform_common/module_params.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+
+using namespace time_literals;
+
+class ActuatorEffectivenessCustom: public ModuleParams, public ActuatorEffectiveness
+{
+public:
+	ActuatorEffectivenessCustom(ModuleParams *parent);
+	virtual ~ActuatorEffectivenessCustom() = default;
+
+	bool getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix, bool force) override;
+
+	int numActuators() const override { return _num_actuators; }
+private:
+	matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> _effectiveness{};
+
+	int _num_actuators{0};
+
+	bool _updated{true};
+};

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019-2021 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
@@ -33,6 +33,8 @@
 
 px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.hpp
+	ActuatorEffectivenessCustom.cpp
+	ActuatorEffectivenessCustom.hpp
 	ActuatorEffectivenessMultirotor.cpp
 	ActuatorEffectivenessMultirotor.hpp
 	ActuatorEffectivenessStandardVTOL.cpp

src/modules/control_allocator/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -49,4 +49,6 @@ px4_add_module(
 		ControlAllocation
 		mixer
 		px4_work_queue
+	MODULE_CONFIG
+		module.yaml
 )

src/modules/control_allocator/ControlAllocator.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 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
@@ -51,8 +51,7 @@ using namespace time_literals;
 
 ControlAllocator::ControlAllocator() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::ctrl_alloc),
-	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
+	WorkItem(MODULE_NAME, px4::wq_configurations::ctrl_alloc)
 {
 	parameters_updated();
 }
@@ -212,6 +211,10 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessTiltrotorVTOL();
 			break;
 
+		case EffectivenessSource::CUSTOM:
+			tmp = new ActuatorEffectivenessCustom(this);
+			break;
+
 		default:
 			PX4_ERR("Unknown airframe");
 			break;
@@ -512,6 +515,10 @@ int ControlAllocator::print_status()
 	case EffectivenessSource::TILTROTOR_VTOL:
 		PX4_INFO("EffectivenessSource: Tiltrotor VTOL");
 		break;
+
+	case EffectivenessSource::CUSTOM:
+		PX4_INFO("EffectivenessSource: Custom");
+		break;
 	}
 
 	// Print current effectiveness matrix

src/modules/control_allocator/ControlAllocator.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 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
@@ -42,6 +42,7 @@
 #pragma once
 
 #include <ActuatorEffectiveness.hpp>
+#include <ActuatorEffectivenessCustom.hpp>
 #include <ActuatorEffectivenessMultirotor.hpp>
 #include <ActuatorEffectivenessStandardVTOL.hpp>
 #include <ActuatorEffectivenessTiltrotorVTOL.hpp>
@@ -61,8 +62,6 @@
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/actuator_motors.h>
 #include <uORB/topics/actuator_servos.h>
-#include <uORB/topics/airspeed.h>
-#include <uORB/topics/battery_status.h>
 #include <uORB/topics/control_allocator_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
@@ -124,10 +123,11 @@ private:
 	ControlAllocation *_control_allocation{nullptr}; 	///< class for control allocation calculations
 
 	enum class EffectivenessSource {
-		NONE = -1,
-		MULTIROTOR = 0,
-		STANDARD_VTOL = 1,
+		NONE           = -1,
+		MULTIROTOR     = 0,
+		STANDARD_VTOL  = 1,
 		TILTROTOR_VTOL = 2,
+		CUSTOM         = 3,
 	};
 
 	EffectivenessSource _effectiveness_source_id{EffectivenessSource::NONE};
@@ -146,16 +146,14 @@ private:
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};				/**< airspeed subscription */
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
 	matrix::Vector3f _torque_sp;
 	matrix::Vector3f _thrust_sp;
 
 	// float _battery_scale_factor{1.0f};
-	// float _airspeed_scale_factor{1.0f};
 
-	perf_counter_t	_loop_perf;			/**< loop duration performance counter */
+	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 
 	hrt_abstime _last_run{0};
 	hrt_abstime _timestamp_sample{0};

src/modules/control_allocator/control_allocator_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 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
@@ -50,6 +50,7 @@
  * @value 0 Multirotor
  * @value 1 Standard VTOL (WIP)
  * @value 2 Tiltrotor VTOL (WIP)
+ * @value 3 Custom (CA_ACTn* torque and thrust parameters)
  * @group Control Allocation
  */
 PARAM_DEFINE_INT32(CA_AIRFRAME, 0);

src/modules/control_allocator/module.yaml

@@ -0,0 +1,198 @@
+__max_num_config_instances: &max_num_config_instances 16
+
+module_name: control_allocator
+
+parameters:
+    - group: Control Allocator
+      definitions:
+        CA_ACT${i}_FUNC:
+            description:
+                short: actuator ${i} function
+                long: actuator ${i} function
+            type: enum
+            values:
+                0: disabled
+                1: custom thrust (parameters)
+                2: custom torque (parameters)
+                100: Aileron
+                101: Elevator
+                102: Rudder
+                103: Throttle
+                104: Elevon (+)
+                105: Elevon (-)
+                106: V-Tail (+)
+                107: V-Tail (-)
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0
+
+        CA_ACT${i}_PX:
+            description:
+                short: actuator ${i} position X
+                long: Actuator ${i} position along X body axis
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_PY:
+            description:
+                short: actuator ${i} position Y
+                long: Actuator ${i} position along Y body axis
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_PZ:
+            description:
+                short: actuator ${i} position Z
+                long: Actuator ${i} position along Z body axis
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_THR_X:
+            description:
+                short: actuator ${i} thrust x
+                long: Actuator ${i} thrust x
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_THR_Y:
+            description:
+                short: actuator ${i} thrust y
+                long: Actuator ${i} thrust y
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_THR_Z:
+            description:
+                short: actuator ${i} thrust z
+                long: Actuator ${i} thrust z
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_AX:
+            description:
+                short: actuator ${i} axis of thrust vector, X body axis component
+                long: Actuator ${i} axis of thrust vector, X body axis component
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_AY:
+            description:
+                short: actuator ${i} axis of thrust vector, Y body axis component
+                long: Actuator ${i} axis of thrust vector, Y body axis component
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_AZ:
+            description:
+                short: actuator ${i} axis of thrust vector, Z body axis component
+                long: Actuator ${i} axis of thrust vector, Z body axis component
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_CT:
+            description:
+                short: actuator ${i} thrust coefficient
+                long:  The thrust coefficient if defined as Thrust = CT * u^2,
+                       where u (with value between CA_ACT0_MIN and CA_ACT0_MAX)
+                       is the output signal sent to the motor controller.
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_KM:
+            description:
+                short: actuator ${i} moment coefficient
+                long:  The moment coefficient if defined as Torque = KM * Thrust
+                       Use a positive value for a rotor with CCW rotation.
+                       Use a negative value for a rotor with CW rotation.
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_TRQ_R:
+            description:
+                short: actuator ${i} roll torque
+                long: Actuator ${i} roll torque
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_TRQ_P:
+            description:
+                short: actuator ${i} pitch torque
+                long: Actuator ${i} pitch torque
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_TRQ_Y:
+            description:
+                short: actuator ${i} yaw torque
+                long: Actuator ${i} yaw torque
+            type: float
+            decimal: 2
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 0.0
+
+        CA_ACT${i}_SC:
+            description:
+                short: actuator ${i} scale
+                long: Actuator ${i} scale
+            type: float
+            decimal: 2
+            minimum: -1.0
+            maximum: 1.0
+            reboot_required: false
+            num_instances: *max_num_config_instances
+            instance_start: 0
+            default: 1.0

src/modules/ekf2/CMakeLists.txt

@@ -54,6 +54,8 @@ px4_add_module(
 		EKF/EKFGSF_yaw.cpp
 		EKF/estimator_interface.cpp
 		EKF/gps_checks.cpp
+		EKF/gps_control.cpp
+		EKF/gps_fusion.cpp
 		EKF/gps_yaw_fusion.cpp
 		EKF/imu_down_sampler.cpp
 		EKF/mag_control.cpp

src/modules/ekf2/EKF/CMakeLists.txt

@@ -42,6 +42,8 @@ add_library(ecl_EKF
 	EKFGSF_yaw.cpp
 	estimator_interface.cpp
 	gps_checks.cpp
+	gps_control.cpp
+	gps_fusion.cpp
 	gps_yaw_fusion.cpp
 	imu_down_sampler.cpp
 	mag_control.cpp

src/modules/ekf2/EKF/control.cpp

@@ -519,242 +519,6 @@ void Ekf::resetOnGroundMotionForOpticalFlowChecks()
 	_time_good_motion_us = _imu_sample_delayed.time_us;
 }
 
-void Ekf::controlGpsFusion()
-{
-	// Check for new GPS data that has fallen behind the fusion time horizon
-	if (_gps_data_ready) {
-
-		const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
-		const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
-
-		controlGpsYawFusion(gps_checks_passing, gps_checks_failing);
-
-		// Determine if we should use GPS aiding for velocity and horizontal position
-		// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
-		if ((_params.fusion_mode & MASK_USE_GPS) && !_control_status.flags.gps) {
-			if (_control_status.flags.tilt_align && _NED_origin_initialised && gps_checks_passing) {
-				// If the heading is not aligned, reset the yaw and magnetic field states
-				// Do not use external vision for yaw if using GPS because yaw needs to be
-				// defined relative to an NED reference frame
-				if (_control_status.flags.ev_yaw
-				    || _mag_inhibit_yaw_reset_req
-				    || _mag_yaw_reset_req) {
-
-					_mag_yaw_reset_req = true;
-
-					// Stop the vision for yaw fusion and do not allow it to start again
-					stopEvYawFusion();
-					_inhibit_ev_yaw_use = true;
-
-				} else if (_control_status.flags.yaw_align) {
-					// If the heading is valid start using gps aiding
-					startGpsFusion();
-				}
-			}
-
-		}  else if (_control_status.flags.gps
-			    && (!(_params.fusion_mode & MASK_USE_GPS) || !_control_status.flags.yaw_align)) {
-
-			stopGpsFusion();
-		}
-
-		// Handle the case where we are using GPS and another source of aiding and GPS is failing checks
-		if (_control_status.flags.gps && gps_checks_failing && isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
-			stopGpsFusion();
-
-			// Reset position state to external vision if we are going to use absolute values
-			if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
-				resetHorizontalPosition();
-			}
-
-			_warning_events.flags.gps_quality_poor = true;
-			ECL_WARN("GPS quality poor - stopping use");
-		}
-
-		// handle case where we are not currently using GPS, but need to align yaw angle using EKF-GSF before
-		// we can start using GPS
-		const bool align_yaw_using_gsf = !_control_status.flags.yaw_align
-		                                 && (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE);
-
-		if ((align_yaw_using_gsf || _do_ekfgsf_yaw_reset)
-		    && isTimedOut(_ekfgsf_yaw_reset_time, 5000000)){
-			if (resetYawToEKFGSF()) {
-				_ekfgsf_yaw_reset_time = _time_last_imu;
-				_do_ekfgsf_yaw_reset = false;
-			}
-		}
-
-		// handle the case when we now have GPS, but have not been fusing it for an extended period
-		if (_control_status.flags.gps) {
-			// We are relying on aiding to constrain drift so after a specified time
-			// with no aiding we need to do something
-			bool do_vel_pos_reset = isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
-						&& isTimedOut(_time_last_delpos_fuse, _params.reset_timeout_max)
-						&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
-						&& isTimedOut(_time_last_of_fuse, _params.reset_timeout_max);
-
-			// We haven't had an absolute position fix for a longer time so need to do something
-			do_vel_pos_reset = do_vel_pos_reset || isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
-
-			/* Logic controlling the reset of navigation filter yaw to the EKF-GSF estimate to recover from loss of
-			   navigation casued by a bad yaw estimate.
-
-			   A rapid reset to the EKF-GSF estimate is performed after a recent takeoff if horizontal velocity
-			   innovation checks fail. This enables recovery from a bad yaw estimate. After 30 seconds from takeoff,
-			   different test criteria are used that take longer to trigger and reduce false positives. A reset is
-			   not performed if the fault condition was present before flight to prevent triggering due to GPS glitches
-			   or other sensor errors.
-
-			   The yaw reset to the EKF-GSF estimate can be requested externally at any time during flight.
-
-			   The total number of resets allowed per boot cycle is limited.
-
-			   The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
-			   to improve its estimate if the previous reset was not successful.
-
-			   A reset is not performed when getting GPS back after a significant period of no data because the timeout
-			   could have been caused by bad GPS.
-			*/
-
-			const bool recent_takeoff_nav_failure = _control_status.flags.in_air &&
-								!isTimedOut(_time_last_on_ground_us, 30000000) &&
-								isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay) &&
-								(_time_last_hor_vel_fuse > _time_last_on_ground_us);
-
-			const bool inflight_nav_failure = _control_status.flags.in_air &&
-							  do_vel_pos_reset &&
-							  (_time_last_hor_vel_fuse > _time_last_on_ground_us) &&
-							  (_time_last_hor_pos_fuse > _time_last_on_ground_us);
-
-			bool is_yaw_failure = false;
-
-			if ((recent_takeoff_nav_failure || inflight_nav_failure) && _time_last_hor_vel_fuse > 0) {
-				// Do sanity check to see if the innovation failures is likely caused by a yaw angle error
-				// by measuring the angle between the velocity estimate and the last velocity observation
-				// Only use those vectors if their norm if they are larger than 4 times their noise standard deviation
-				const float vel_obs_xy_norm_sq = _last_vel_obs.xy().norm_squared();
-				const float vel_state_xy_norm_sq = _state.vel.xy().norm_squared();
-
-				const float vel_obs_threshold_sq = fmaxf(sq(4.f) * (_last_vel_obs_var(0) + _last_vel_obs_var(1)), sq(0.4f));
-				const float vel_state_threshold_sq = fmaxf(sq(4.f) * (P(4, 4) + P(5, 5)), sq(0.4f));
-
-				if (vel_obs_xy_norm_sq > vel_obs_threshold_sq && vel_state_xy_norm_sq > vel_state_threshold_sq) {
-					const float obs_dot_vel = Vector2f(_last_vel_obs).dot(_state.vel.xy());
-					const float cos_sq = sq(obs_dot_vel) / (vel_state_xy_norm_sq * vel_obs_xy_norm_sq);
-
-					if (cos_sq < sq(cosf(math::radians(25.f))) || obs_dot_vel < 0.f) {
-						// The angle between the observation and the velocity estimate is greater than 25 degrees
-						is_yaw_failure = true;
-					}
-				}
-			}
-
-			// Detect if coming back after significant time without GPS data
-			const bool gps_signal_was_lost = isTimedOut(_time_prev_gps_us, 1000000);
-			const bool do_yaw_vel_pos_reset = (_do_ekfgsf_yaw_reset || is_yaw_failure) &&
-							  _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit &&
-							  isTimedOut(_ekfgsf_yaw_reset_time, 5000000) &&
-							  !gps_signal_was_lost;
-
-			if (do_yaw_vel_pos_reset) {
-				if (resetYawToEKFGSF()) {
-					_ekfgsf_yaw_reset_time = _time_last_imu;
-					_do_ekfgsf_yaw_reset = false;
-					_ekfgsf_yaw_reset_count++;
-
-					// Reset the timeout counters
-					_time_last_hor_pos_fuse = _time_last_imu;
-					_time_last_delpos_fuse = _time_last_imu;
-					_time_last_hor_vel_fuse = _time_last_imu;
-					_time_last_of_fuse = _time_last_imu;
-				}
-
-			} else if (do_vel_pos_reset) {
-				// use GPS velocity data to check and correct yaw angle if a FW vehicle
-				if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
-					// if flying a fixed wing aircraft, do a complete reset that includes yaw
-					_control_status.flags.mag_aligned_in_flight = realignYawGPS();
-				}
-
-				resetVelocity();
-				resetHorizontalPosition();
-				_velpos_reset_request = false;
-				_warning_events.flags.gps_fusion_timout = true;
-				ECL_WARN("GPS fusion timeout - reset to GPS");
-
-				// Reset the timeout counters
-				_time_last_hor_pos_fuse = _time_last_imu;
-				_time_last_hor_vel_fuse = _time_last_imu;
-			}
-		}
-
-		// Only use GPS data for position and velocity aiding if enabled
-		if (_control_status.flags.gps) {
-
-			Vector2f gps_vel_innov_gates; // [horizontal vertical]
-			Vector2f gps_pos_innov_gates; // [horizontal vertical]
-			Vector3f gps_pos_obs_var;
-
-			// correct velocity for offset relative to IMU
-			const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
-			const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
-			const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
-			_gps_sample_delayed.vel -= vel_offset_earth;
-
-			// correct position and height for offset relative to IMU
-			const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-			_gps_sample_delayed.pos -= pos_offset_earth.xy();
-			_gps_sample_delayed.hgt += pos_offset_earth(2);
-
-			const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
-
-			if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
-				// if we are using other sources of aiding, then relax the upper observation
-				// noise limit which prevents bad GPS perturbing the position estimate
-				gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(fmaxf(_gps_sample_delayed.hacc, lower_limit));
-
-			} else {
-				// if we are not using another source of aiding, then we are reliant on the GPS
-				// observations to constrain attitude errors and must limit the observation noise value.
-				float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
-				gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
-			}
-
-			_gps_sample_delayed.sacc = fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise);
-
-			_last_vel_obs_var.setAll(sq(_gps_sample_delayed.sacc));
-			_last_vel_obs_var(2) *= sq(1.5f);
-
-			// calculate innovations
-			_last_vel_obs = _gps_sample_delayed.vel;
-			_gps_vel_innov = _state.vel - _last_vel_obs;
-			_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
-
-			// set innovation gate size
-			gps_pos_innov_gates(0) = fmaxf(_params.gps_pos_innov_gate, 1.0f);
-			gps_vel_innov_gates(0) = gps_vel_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
-
-			// fuse GPS measurement
-			fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates, _last_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
-			fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, _last_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
-			fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
-		}
-
-	} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
-		stopGpsFusion();
-		_warning_events.flags.gps_data_stopped = true;
-		ECL_WARN("GPS data stopped");
-
-	}  else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6)
-		    && isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
-		// Handle the case where we are fusing another position source along GPS,
-		// stop waiting for GPS after 1 s of lost signal
-		stopGpsFusion();
-		_warning_events.flags.gps_data_stopped_using_alternate = true;
-		ECL_WARN("GPS data stopped, using only EV, OF or air data");
-	}
-}
-
 void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
 {
 	if (!(_params.fusion_mode & MASK_USE_GPSYAW)
@@ -820,10 +584,10 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
 		} else {
 			if (starting_conditions_passing) {
 				// Try to activate GPS yaw fusion
-				if (resetYawToGps()) {
-					_control_status.flags.yaw_align = true;
+				startGpsYawFusion();
+
+				if (_control_status.flags.gps_yaw) {
 					_nb_gps_yaw_reset_available = 1;
-					startGpsYawFusion();
 				}
 			}
 		}
@@ -1465,3 +1229,50 @@ void Ekf::controlAuxVelFusion()
 
 	}
 }
+
+
+bool Ekf::isVelStateAlignedWithObs() const
+{
+	/* Do sanity check to see if the innovation failures is likely caused by a yaw angle error
+	 * by measuring the angle between the velocity estimate and the last velocity observation
+	 * Only use those vectors if their norm if they are larger than 4 times their noise standard deviation
+	 */
+	const float vel_obs_xy_norm_sq = _last_vel_obs.xy().norm_squared();
+	const float vel_state_xy_norm_sq = _state.vel.xy().norm_squared();
+
+	const float vel_obs_threshold_sq = fmaxf(sq(4.f) * (_last_vel_obs_var(0) + _last_vel_obs_var(1)), sq(0.4f));
+	const float vel_state_threshold_sq = fmaxf(sq(4.f) * (P(4, 4) + P(5, 5)), sq(0.4f));
+
+	if (vel_obs_xy_norm_sq > vel_obs_threshold_sq && vel_state_xy_norm_sq > vel_state_threshold_sq) {
+		const float obs_dot_vel = Vector2f(_last_vel_obs).dot(_state.vel.xy());
+		const float cos_sq = sq(obs_dot_vel) / (vel_state_xy_norm_sq * vel_obs_xy_norm_sq);
+
+		if (cos_sq < sq(cosf(math::radians(25.f))) || obs_dot_vel < 0.f) {
+			// The angle between the observation and the velocity estimate is greater than 25 degrees
+			return false;
+		}
+	}
+
+	return true;
+}
+
+bool Ekf::hasHorizontalAidingTimedOut() const
+{
+	return isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
+	       && isTimedOut(_time_last_delpos_fuse, _params.reset_timeout_max)
+	       && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
+	       && isTimedOut(_time_last_of_fuse, _params.reset_timeout_max);
+}
+
+void Ekf::processVelPosResetRequest()
+{
+	if (_velpos_reset_request) {
+		resetVelocity();
+		resetHorizontalPosition();
+		_velpos_reset_request = false;
+
+		// Reset the timeout counters
+		_time_last_hor_pos_fuse = _time_last_imu;
+		_time_last_hor_vel_fuse = _time_last_imu;
+	}
+}

src/modules/ekf2/EKF/ekf.h

@@ -661,6 +661,8 @@ private:
 	bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
 				  Vector3f &innov_var, Vector2f &test_ratio);
 
+	void fuseGpsVelPos();
+
 	// calculate optical flow body angular rate compensation
 	// returns false if bias corrected body rate data is unavailable
 	bool calcOptFlowBodyRateComp();
@@ -802,6 +804,12 @@ private:
 
 	// control fusion of GPS observations
 	void controlGpsFusion();
+	bool shouldResetGpsFusion() const;
+	bool hasHorizontalAidingTimedOut() const;
+	bool isVelStateAlignedWithObs() const;
+	void processYawEstimatorResetRequest();
+	void processVelPosResetRequest();
+
 	void controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing);
 
 	// control fusion of magnetometer observations

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -1515,9 +1515,14 @@ void Ekf::startGpsFusion()
 
 void Ekf::stopGpsFusion()
 {
-	stopGpsPosFusion();
-	stopGpsVelFusion();
-	stopGpsYawFusion();
+	if (_control_status.flags.gps) {
+		stopGpsPosFusion();
+		stopGpsVelFusion();
+	}
+
+	if (_control_status.flags.gps_yaw) {
+		stopGpsYawFusion();
+	}
 
 	// We do not need to know the true North anymore
 	// EV yaw can start again
@@ -1546,11 +1551,15 @@ void Ekf::stopGpsVelFusion()
 
 void Ekf::startGpsYawFusion()
 {
-	_control_status.flags.mag_dec = false;
-	stopEvYawFusion();
-	stopMagHdgFusion();
-	stopMag3DFusion();
-	_control_status.flags.gps_yaw = true;
+	if (resetYawToGps()) {
+		_control_status.flags.yaw_align = true;
+		_control_status.flags.mag_dec = false;
+		stopEvYawFusion();
+		stopMagHdgFusion();
+		stopMag3DFusion();
+		_control_status.flags.gps_yaw = true;
+	}
+
 }
 
 void Ekf::stopGpsYawFusion()

src/modules/ekf2/EKF/gps_control.cpp

@@ -0,0 +1,209 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 gps_control.cpp
+ * Control functions for ekf GNSS fusion
+ */
+
+#include "ekf.h"
+#include <mathlib/mathlib.h>
+
+void Ekf::controlGpsFusion()
+{
+	if (!(_params.fusion_mode & MASK_USE_GPS)) {
+		stopGpsFusion();
+		return;
+	}
+
+	// Check for new GPS data that has fallen behind the fusion time horizon
+	if (_gps_data_ready) {
+		const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
+		const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
+
+		controlGpsYawFusion(gps_checks_passing, gps_checks_failing);
+
+		// Determine if we should use GPS aiding for velocity and horizontal position
+		// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
+		const bool mandatory_conditions_passing = _control_status.flags.tilt_align
+		                                          && _control_status.flags.yaw_align
+							  && _NED_origin_initialised;
+		const bool continuing_conditions_passing = mandatory_conditions_passing
+		                                           && !gps_checks_failing;
+		const bool starting_conditions_passing = continuing_conditions_passing
+							 && gps_checks_passing;
+
+		if (_control_status.flags.gps) {
+			if (mandatory_conditions_passing) {
+				if (continuing_conditions_passing
+				    || !isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
+
+					fuseGpsVelPos();
+
+					if (shouldResetGpsFusion()){
+						const bool is_yaw_failure = !isVelStateAlignedWithObs();
+						const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1000000);
+
+						/* A reset is not performed when getting GPS back after a significant period of no data
+						 * because the timeout could have been caused by bad GPS.
+						 * The total number of resets allowed per boot cycle is limited.
+						 */
+						if (is_yaw_failure
+						    && _control_status.flags.in_air
+						    && !was_gps_signal_lost
+						    && _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit) {
+
+							_do_ekfgsf_yaw_reset = true;
+
+						} else {
+							// use GPS velocity data to check and correct yaw angle if a FW vehicle
+							if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
+								// if flying a fixed wing aircraft, do a complete reset that includes yaw
+								_control_status.flags.mag_aligned_in_flight = realignYawGPS();
+							}
+
+							_warning_events.flags.gps_fusion_timout = true;
+							ECL_WARN("GPS fusion timeout - resetting");
+							_velpos_reset_request = true;
+						}
+					}
+
+				} else {
+					stopGpsFusion();
+					_warning_events.flags.gps_quality_poor = true;
+					ECL_WARN("GPS quality poor - stopping use");
+
+					// TODO: move this to EV control logic
+					// Reset position state to external vision if we are going to use absolute values
+					if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
+						resetHorizontalPosition();
+					}
+				}
+
+			} else { // mandatory conditions are not passing
+				stopGpsFusion();
+			}
+
+		} else {
+			if (starting_conditions_passing) {
+				// Do not use external vision for yaw if using GPS because yaw needs to be
+				// defined relative to an NED reference frame
+				if (_control_status.flags.ev_yaw
+				    || _mag_inhibit_yaw_reset_req
+				    || _mag_yaw_reset_req) {
+
+					_mag_yaw_reset_req = true;
+
+					// Stop the vision for yaw fusion and do not allow it to start again
+					stopEvYawFusion();
+					_inhibit_ev_yaw_use = true;
+
+				} else {
+					startGpsFusion();
+				}
+
+			} else if(!_control_status.flags.yaw_align
+		                  && (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE)) {
+				// If no mag is used, align using the yaw estimator
+				_do_ekfgsf_yaw_reset = true;
+			}
+		}
+
+		processYawEstimatorResetRequest();
+		processVelPosResetRequest();
+
+	} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
+		stopGpsFusion();
+		_warning_events.flags.gps_data_stopped = true;
+		ECL_WARN("GPS data stopped");
+
+	}  else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6)
+		    && isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
+		// Handle the case where we are fusing another position source along GPS,
+		// stop waiting for GPS after 1 s of lost signal
+		stopGpsFusion();
+		_warning_events.flags.gps_data_stopped_using_alternate = true;
+		ECL_WARN("GPS data stopped, using only EV, OF or air data");
+	}
+}
+
+bool Ekf::shouldResetGpsFusion() const
+{
+	/* We are relying on aiding to constrain drift so after a specified time
+	 * with no aiding we need to do something
+	 */
+	const bool is_reset_required = hasHorizontalAidingTimedOut()
+				     || isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
+
+	/* Logic controlling the reset of navigation filter yaw to the EKF-GSF estimate to recover from loss of
+	 * navigation casued by a bad yaw estimate.
+
+	 * A rapid reset to the EKF-GSF estimate is performed after a recent takeoff if horizontal velocity
+	 * innovation checks fail. This enables recovery from a bad yaw estimate. After 30 seconds from takeoff,
+	 * different test criteria are used that take longer to trigger and reduce false positives. A reset is
+	 * not performed if the fault condition was present before flight to prevent triggering due to GPS glitches
+	 * or other sensor errors.
+	 */
+	const bool is_recent_takeoff_nav_failure = _control_status.flags.in_air
+						   && isRecent(_time_last_on_ground_us, 30000000)
+						   && isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay)
+						   && (_time_last_hor_vel_fuse > _time_last_on_ground_us);
+
+	const bool is_inflight_nav_failure = _control_status.flags.in_air
+					     && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
+					     && isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
+					     && (_time_last_hor_vel_fuse > _time_last_on_ground_us)
+					     && (_time_last_hor_pos_fuse > _time_last_on_ground_us);
+
+	return (is_reset_required || is_recent_takeoff_nav_failure || is_inflight_nav_failure);
+}
+
+void Ekf::processYawEstimatorResetRequest()
+{
+	/* The yaw reset to the EKF-GSF estimate can be requested externally at any time during flight.
+	 * The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
+	 * to improve its estimate if the previous reset was not successful.
+	 */
+	if (_do_ekfgsf_yaw_reset
+	    && isTimedOut(_ekfgsf_yaw_reset_time, 5000000)){
+		if (resetYawToEKFGSF()) {
+			_ekfgsf_yaw_reset_time = _time_last_imu;
+			_time_last_hor_pos_fuse = _time_last_imu;
+			_time_last_hor_vel_fuse = _time_last_imu;
+
+			_do_ekfgsf_yaw_reset = false;
+			_velpos_reset_request = false; // included in yaw reset
+			_ekfgsf_yaw_reset_count++;
+		}
+	}
+}

src/modules/ekf2/EKF/gps_fusion.cpp

@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4. 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 gps_fusion.cpp
+ * Function for fusing gps measurements
+ */
+
+/* #include <mathlib/mathlib.h> */
+#include "ekf.h"
+
+void Ekf::fuseGpsVelPos()
+{
+	Vector2f gps_vel_innov_gates; // [horizontal vertical]
+	Vector2f gps_pos_innov_gates; // [horizontal vertical]
+	Vector3f gps_pos_obs_var;
+
+	// correct velocity for offset relative to IMU
+	const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
+	const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
+	const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
+	_gps_sample_delayed.vel -= vel_offset_earth;
+
+	// correct position and height for offset relative to IMU
+	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
+	_gps_sample_delayed.pos -= pos_offset_earth.xy();
+	_gps_sample_delayed.hgt += pos_offset_earth(2);
+
+	const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
+
+	if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
+		// if we are using other sources of aiding, then relax the upper observation
+		// noise limit which prevents bad GPS perturbing the position estimate
+		gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(fmaxf(_gps_sample_delayed.hacc, lower_limit));
+
+	} else {
+		// if we are not using another source of aiding, then we are reliant on the GPS
+		// observations to constrain attitude errors and must limit the observation noise value.
+		float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
+		gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
+	}
+
+	_gps_sample_delayed.sacc = fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise);
+
+	_last_vel_obs_var.setAll(sq(_gps_sample_delayed.sacc));
+	_last_vel_obs_var(2) *= sq(1.5f);
+
+	// calculate innovations
+	_last_vel_obs = _gps_sample_delayed.vel;
+	_gps_vel_innov = _state.vel - _last_vel_obs;
+	_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
+
+	// set innovation gate size
+	gps_pos_innov_gates(0) = fmaxf(_params.gps_pos_innov_gate, 1.0f);
+	gps_vel_innov_gates(0) = gps_vel_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
+
+	// fuse GPS measurement
+	fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates, _last_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
+	fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, _last_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
+	fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
+}

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]
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 85000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-185000,0.9998,-0.01041,-0.01079,-0.01659,0.00012,-0.0001068,-0.01151,1.367e-05,-4.605e-06,-0.0002653,1.723e-15,-3.189e-15,-1.16e-16,0,0,-7.936e-11,0.1915,0.001876,0.4041,0,0,0,0,0,1.4e-06,0.002516,0.002516,0.003057,0.2565,0.2565,0.5626,0.1264,0.1264,1.001,1e-06,1e-06,9.994e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-285000,0.9997,-0.0105,-0.01113,-0.01657,0.001356,0.0003869,-0.0252,7.071e-05,-1.587e-05,-0.001614,2.516e-14,2.383e-14,-5.642e-16,0,0,-1.754e-09,0.1915,0.001876,0.4041,0,0,0,0,0,1.165e-06,0.00258,0.002581,0.002087,0.2826,0.2826,0.5625,0.1329,0.1329,0.5769,1e-06,1e-06,9.954e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-385000,0.9997,-0.01051,-0.01142,-0.01656,0.002794,0.0008415,-0.03978,0.0002341,6.617e-05,-0.003793,3.99e-11,-5.707e-10,-6.111e-12,0,0,-1.901e-08,0.1915,0.001876,0.4041,0,0,0,0,0,1.078e-06,0.002692,0.002692,0.001622,0.3201,0.3201,0.5601,0.09423,0.09423,0.3756,1e-06,1e-06,9.856e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-485000,0.9997,-0.01058,-0.01177,-0.0166,0.005656,1.423e-05,-0.05482,0.0006732,9.343e-05,-0.006829,3.142e-11,-5.376e-10,-5.51e-12,-1.595e-11,1.4e-11,-9.604e-08,0.1915,0.001876,0.4041,0,0,0,0,0,1.075e-06,0.002857,0.002857,0.001369,0.3885,0.3885,0.5539,0.1095,0.1095,0.2874,1e-06,1e-06,9.684e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-585000,0.9997,-0.01058,-0.01206,-0.0166,0.007778,0.0007735,-0.06691,0.001031,9.87e-05,-0.01058,4.497e-09,-3.172e-08,-3.459e-10,5.382e-09,1.295e-09,-3.142e-07,0.1915,0.001876,0.4041,0,0,0,0,0,1.096e-06,0.003021,0.003022,0.001225,0.4389,0.4389,0.5428,0.09056,0.09056,0.242,9.996e-07,9.996e-07,9.428e-07,4e-06,4e-06,3.999e-06,0,0,0,0,0,0,0,0
-685000,0.9997,-0.01071,-0.01233,-0.01653,0.01054,-6.85e-05,-0.0799,0.001918,0.0001062,-0.01489,4.469e-09,-3.124e-08,-3.4e-10,2.834e-09,3.498e-09,-8.023e-07,0.1915,0.001876,0.4041,0,0,0,0,0,1.168e-06,0.003285,0.003285,0.001145,0.5532,0.5533,0.5259,0.1174,0.1174,0.2175,9.996e-07,9.996e-07,9.084e-07,4e-06,4e-06,3.998e-06,0,0,0,0,0,0,0,0
-785000,0.9997,-0.01082,-0.01262,-0.01652,0.01165,0.0002296,-0.09245,0.002104,5.707e-05,-0.0207,2.102e-08,-2.701e-07,-2.329e-09,1.239e-07,1.621e-08,-1.439e-06,0.1915,0.001876,0.4041,0,0,0,0,0,1.217e-06,0.003383,0.003384,0.001103,0.5752,0.5753,0.511,0.1015,0.1015,0.2156,9.962e-07,9.963e-07,8.658e-07,3.999e-06,3.999e-06,3.996e-06,0,0,0,0,0,0,0,0
-885000,0.9997,-0.01093,-0.01288,-0.0165,0.01624,-0.0007782,-0.1071,0.003485,-7.642e-06,-0.03067,2.102e-08,-2.701e-07,-2.329e-09,1.239e-07,1.621e-08,-1.439e-06,0.1915,0.001876,0.4041,0,0,0,0,0,1.34e-06,0.003738,0.003739,0.001085,0.7314,0.7315,0.5166,0.1417,0.1417,0.2562,9.962e-07,9.963e-07,8.161e-07,3.999e-06,3.999e-06,3.996e-06,0,0,0,0,0,0,0,0
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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/sensor_simulator/ekf_logger.cpp

@@ -55,7 +55,7 @@ void EkfLogger::writeState()
 			matrix::Vector<float, 24> state = _ekf->getStateAtFusionHorizonAsVector();
 
 			for (int i = 0; i < 24; i++) {
-				_file << "," << std::setprecision(4) << state(i);
+				_file << "," << std::setprecision(3) << state(i);
 			}
 		}
 

src/modules/ekf2/test/test_EKF_fusionLogic.cpp

@@ -115,12 +115,12 @@ TEST_F(EkfFusionLogicTest, doGpsFusion)
 	EXPECT_TRUE(_ekf->local_position_is_valid());
 	EXPECT_TRUE(_ekf->global_position_is_valid());
 
-	// // WHEN: clients decides to stop GPS fusion
-	// _ekf_wrapper.disableGpsFusion();
-	// // THEN: EKF should stop to intend to fuse GPS immediately
-	// _sensor_simulator.runMicroseconds(1000);
-	// EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
-	// THIS is not happening at the moment
+	// WHEN: clients decides to stop GPS fusion
+	_ekf_wrapper.disableGpsFusion();
+
+	// THEN: EKF should stop to intend to fuse GPS immediately
+	_sensor_simulator.runSeconds(0.01);
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
 }
 
 TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
@@ -138,11 +138,11 @@ TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
 	const Vector3f pos_old = _ekf->getPosition();
 	const Vector3f vel_old = _ekf->getVelocity();
 	const Vector3f accel_bias_old = _ekf->getAccelBias();
-	_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f{20.0f, 0.0f});
+	const Vector3f pos_step{20.0f, 0.0f, 0.f};
+	_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f(pos_step));
 	_sensor_simulator.runSeconds(2);
 
 	// THEN: The estimate should not change much in the short run
-	//       and GPS fusion should be stopped after a while.
 	Vector3f pos_new = _ekf->getPosition();
 	Vector3f vel_new = _ekf->getVelocity();
 	Vector3f accel_bias_new = _ekf->getAccelBias();
@@ -150,14 +150,54 @@ TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
 	EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
 	EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
 
-	_sensor_simulator.runSeconds(10);
+	// BUT THEN: GPS fusion should reset after a while
+	// (it takes some time beacuse vel fusion is still good)
+	_sensor_simulator.runSeconds(14);
 	pos_new = _ekf->getPosition();
 	vel_new = _ekf->getVelocity();
 	accel_bias_new = _ekf->getAccelBias();
-	EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f));
+	EXPECT_TRUE(matrix::isEqual(pos_new, pos_old + pos_step, 0.01f));
 	EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
 	EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
-	// EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); // What do we expect here?
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+}
+
+TEST_F(EkfFusionLogicTest, fallbackFromGpsToFlow)
+{
+	// GIVEN: GPS and flow setup up and with valid data
+	_ekf_wrapper.enableGpsFusion();
+	_sensor_simulator.startGps();
+
+	const float max_flow_rate = 5.f;
+	const float min_ground_distance = 0.f;
+	const float max_ground_distance = 50.f;
+	_ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance);
+	_sensor_simulator.startFlow();
+	_sensor_simulator.startFlow();
+	_ekf_wrapper.enableFlowFusion();
+
+	_ekf->set_in_air_status(true);
+	_sensor_simulator.runSeconds(15);
+
+	// THEN: both should be fused
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion());
+
+	// WHEN: GPS data stops
+	_sensor_simulator.stopGps();
+	_sensor_simulator.runSeconds(2);
+
+	// THEN: immediately switch to flow only
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion());
+
+	// BUT WHEN: GPS starts again
+	_sensor_simulator.startGps();
+	_sensor_simulator.runSeconds(1);
+
+	// THEN: use it again
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion());
 }
 
 TEST_F(EkfFusionLogicTest, doFlowFusion)

src/modules/logger/CMakeLists.txt

@@ -36,6 +36,7 @@ px4_add_module(
 	MAIN logger
 	PRIORITY "SCHED_PRIORITY_MAX-30"
 	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		logged_topics.cpp

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -434,15 +434,15 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force)
 
 		if (_esc_status_sub.copy(&esc_status) && (hrt_elapsed_time(&esc_status.timestamp) < DYNAMIC_NOTCH_FITLER_TIMEOUT)) {
 
-			static constexpr int32_t ESC_RPM_MIN = 20 * 60; // TODO: configurable
-			const int32_t ESC_RPM_MAX = roundf(_filter_sample_rate_hz / 3.f * 60.f); // upper bound safety (well below Nyquist)
+			static constexpr float ESC_RPM_MIN = 10.f * 60.f; // TODO: configurable
+			const float ESC_RPM_MAX = roundf(_filter_sample_rate_hz / 3.f * 60.f); // upper bound safety (well below Nyquist)
 
 			for (size_t esc = 0; esc < math::min(esc_status.esc_count, (uint8_t)MAX_NUM_ESC_RPM); esc++) {
-
 				const esc_report_s &esc_report = esc_status.esc[esc];
+				const float esc_rpm = abs(esc_report.esc_rpm);
 
 				// only update if ESC RPM range seems valid
-				if ((esc_report.esc_rpm > ESC_RPM_MIN) && (esc_report.esc_rpm < ESC_RPM_MAX)
+				if ((esc_report.esc_rpm != 0) && (esc_rpm > ESC_RPM_MIN) && (esc_rpm < ESC_RPM_MAX)
 				    && (hrt_elapsed_time(&esc_report.timestamp) < DYNAMIC_NOTCH_FITLER_TIMEOUT)) {
 
 					// for each ESC check determine if enabled/disabled from first notch (x axis, harmonic 0)
@@ -450,7 +450,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force)
 
 					bool reset = (nfx0.getNotchFreq() <= FLT_EPSILON); // notch was previously disabled
 
-					const float esc_hz = static_cast<float>(esc_report.esc_rpm) / 60.f;
+					const float esc_hz = esc_rpm / 60.f;
 
 					// update filter parameters if frequency changed or forced
 					if (force || reset || (fabsf(nfx0.getNotchFreq() - esc_hz) > FLT_EPSILON)) {
@@ -486,8 +486,9 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force)
 					_esc_available.set(esc, true);
 					_last_esc_rpm_notch_update[esc] = esc_report.timestamp;
 
-				} else if (force || (hrt_elapsed_time(&_last_esc_rpm_notch_update[esc]) >= DYNAMIC_NOTCH_FITLER_TIMEOUT)) {
-					// disable all notch filters for this ESC after timeout
+				} else if (_esc_available[esc]
+					   && (force || (hrt_elapsed_time(&_last_esc_rpm_notch_update[esc]) >= DYNAMIC_NOTCH_FITLER_TIMEOUT))) {
+					// if this ESC was previously available disable all notch filters if forced or timeout
 					_esc_available.set(esc, false);
 
 					for (int axis = 0; axis < 3; axis++) {