NuttX: increase default optimization to ${MAX_CUSTOM_OPT_LEVEL}

- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
[AUTO COMMIT] update change indication
2026-05-28 12:00:05 +08:00 · 2021-11-01 13:50:00 -04:00 · 2021-11-01 13:59:34 +01:00 · 2021-11-01 13:59:34 +01:00 · 2021-11-01 13:59:34 +01:00 · 2021-11-01 13:59:34 +01:00
35 changed files with 1362 additions and 1211 deletions
@@ -26,7 +26,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -41,8 +40,5 @@ CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_VER=y
@@ -156,11 +156,12 @@ function(px4_add_module)
 	if(NOT DYNAMIC)
 		target_link_libraries(${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)
@@ -90,7 +90,7 @@ ARCHCCMAJOR = $(shell echo $(ARCHCCVERSION) | cut -d'.' -f1)
 ifeq ($(CONFIG_DEBUG_CUSTOMOPT),y)
   MAXOPTIMIZATION = $(CONFIG_DEBUG_OPTLEVEL)
 else
-   MAXOPTIMIZATION = -Os
+   MAXOPTIMIZATION = ${MAX_CUSTOM_OPT_LEVEL}
 endif

 FLAGS = $(MAXOPTIMIZATION) -g2 \
@@ -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
@@ -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;

@@ -44,6 +44,7 @@
 #include <ControlAllocation/ControlAllocation.hpp>

 #include <matrix/matrix/math.hpp>
+#include <uORB/topics/vehicle_actuator_setpoint.h>

 class ActuatorEffectiveness
 {
@@ -54,6 +55,23 @@ public:
 	static constexpr uint8_t NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
 	static constexpr uint8_t NUM_AXES = ControlAllocation::NUM_AXES;

+	enum class FlightPhase {
+		HOVER_FLIGHT = 0,
+		FORWARD_FLIGHT = 1,
+		TRANSITION_HF_TO_FF = 2,
+		TRANSITION_FF_TO_HF = 3
+	};
+
+	/**
+	 * Set the current flight phase
+	 *
+	 * @param Flight phase
+	 */
+	virtual void setFlightPhase(const FlightPhase &flight_phase)
+	{
+		_flight_phase = flight_phase;
+	}
+
 	/**
 	 * Get the control effectiveness matrix if updated
 	 *
@@ -66,7 +84,20 @@ public:
 	 *
 	 * @return Actuator trims
 	 */
-	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorTrim() const { return _trim; }
+	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorTrim() const
+	{
+		return _trim;
+	}
+
+	/**
+	 * Get the current flight phase
+	 *
+	 * @return Flight phase
+	 */
+	const FlightPhase &getFlightPhase() const
+	{
+		return _flight_phase;
+	}

 	/**
 	 * Get the number of actuators
@@ -75,4 +106,5 @@ public:

 protected:
 	matrix::Vector<float, NUM_ACTUATORS> _trim;			///< Actuator trim
+	FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};		///< Current flight phase
 };
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   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)
-{
-}
-
-bool ActuatorEffectivenessCustom::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
-		bool force)
-{
-	if (_updated || force) {
-		_updated = false;
-
-		int num_actuators = 0;
-
-		for (int n = 0; n < NUM_ACTUATORS; n++) {
-			// 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);
-
-			// CA_ACTn_THR_X
-			// CA_ACTn_THR_Y
-			// CA_ACTn_THR_Z
-			char thrust_str[3][17];
-			sprintf(thrust_str[0], "CA_ACT%u_THR_X", n);
-			sprintf(thrust_str[1], "CA_ACT%u_THR_Y", n);
-			sprintf(thrust_str[2], "CA_ACT%u_THR_Z", n);
-
-			for (int i = 0; i < 3; i++) {
-				// CA_ACTn_TRQ_{R,P,Y}
-				param_get(param_find(torque_str[i]), &_matrix(n, i));
-
-				// CA_ACTn_THR_{X,Y,Z}
-				param_get(param_find(thrust_str[i]), &_matrix(n, i + 3));
-			}
-
-			if (_matrix.row(n).longerThan(0.f)) {
-				num_actuators++;
-			}
-		}
-
-		_num_actuators = num_actuators;
-		matrix = _matrix;
-		return true;
-	}
-
-	return false;
-}
@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   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> _matrix{};
-
-	int _num_actuators{0};
-
-	bool _updated{true};
-};
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -54,33 +54,78 @@ ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NU
 		_updated = false;

 		// Get multirotor geometry
-		MultirotorGeometry geometry{};
+		MultirotorGeometry geometry = {};
+		geometry.rotors[0].position_x = _param_ca_mc_r0_px.get();
+		geometry.rotors[0].position_y = _param_ca_mc_r0_py.get();
+		geometry.rotors[0].position_z = _param_ca_mc_r0_pz.get();
+		geometry.rotors[0].axis_x = _param_ca_mc_r0_ax.get();
+		geometry.rotors[0].axis_y = _param_ca_mc_r0_ay.get();
+		geometry.rotors[0].axis_z = _param_ca_mc_r0_az.get();
+		geometry.rotors[0].thrust_coef = _param_ca_mc_r0_ct.get();
+		geometry.rotors[0].moment_ratio = _param_ca_mc_r0_km.get();

-		for (int n = 0; n < NUM_ROTORS_MAX; n++) {
-			char buffer[17];
+		geometry.rotors[1].position_x = _param_ca_mc_r1_px.get();
+		geometry.rotors[1].position_y = _param_ca_mc_r1_py.get();
+		geometry.rotors[1].position_z = _param_ca_mc_r1_pz.get();
+		geometry.rotors[1].axis_x = _param_ca_mc_r1_ax.get();
+		geometry.rotors[1].axis_y = _param_ca_mc_r1_ay.get();
+		geometry.rotors[1].axis_z = _param_ca_mc_r1_az.get();
+		geometry.rotors[1].thrust_coef = _param_ca_mc_r1_ct.get();
+		geometry.rotors[1].moment_ratio = _param_ca_mc_r1_km.get();

-			for (int i = 0; i < 3; i++) {
-				char axis_char = 'X' + i;
+		geometry.rotors[2].position_x = _param_ca_mc_r2_px.get();
+		geometry.rotors[2].position_y = _param_ca_mc_r2_py.get();
+		geometry.rotors[2].position_z = _param_ca_mc_r2_pz.get();
+		geometry.rotors[2].axis_x = _param_ca_mc_r2_ax.get();
+		geometry.rotors[2].axis_y = _param_ca_mc_r2_ay.get();
+		geometry.rotors[2].axis_z = _param_ca_mc_r2_az.get();
+		geometry.rotors[2].thrust_coef = _param_ca_mc_r2_ct.get();
+		geometry.rotors[2].moment_ratio = _param_ca_mc_r2_km.get();

-				// CA_MC_Rn_P{X,Y,Z}
-				sprintf(buffer, "CA_MC_R%u_P%c", n, axis_char);
-				param_get(param_find(buffer), &geometry.rotors[n].position(i));
+		geometry.rotors[3].position_x = _param_ca_mc_r3_px.get();
+		geometry.rotors[3].position_y = _param_ca_mc_r3_py.get();
+		geometry.rotors[3].position_z = _param_ca_mc_r3_pz.get();
+		geometry.rotors[3].axis_x = _param_ca_mc_r3_ax.get();
+		geometry.rotors[3].axis_y = _param_ca_mc_r3_ay.get();
+		geometry.rotors[3].axis_z = _param_ca_mc_r3_az.get();
+		geometry.rotors[3].thrust_coef = _param_ca_mc_r3_ct.get();
+		geometry.rotors[3].moment_ratio = _param_ca_mc_r3_km.get();

-				// CA_MC_Rn_A{X,Y,Z}
-				sprintf(buffer, "CA_MC_R%u_A%c", n, axis_char);
-				param_get(param_find(buffer), &geometry.rotors[n].axis(i));
-			}
+		geometry.rotors[4].position_x = _param_ca_mc_r4_px.get();
+		geometry.rotors[4].position_y = _param_ca_mc_r4_py.get();
+		geometry.rotors[4].position_z = _param_ca_mc_r4_pz.get();
+		geometry.rotors[4].axis_x = _param_ca_mc_r4_ax.get();
+		geometry.rotors[4].axis_y = _param_ca_mc_r4_ay.get();
+		geometry.rotors[4].axis_z = _param_ca_mc_r4_az.get();
+		geometry.rotors[4].thrust_coef = _param_ca_mc_r4_ct.get();
+		geometry.rotors[4].moment_ratio = _param_ca_mc_r4_km.get();

-			geometry.rotors[n].axis.normalize();
+		geometry.rotors[5].position_x = _param_ca_mc_r5_px.get();
+		geometry.rotors[5].position_y = _param_ca_mc_r5_py.get();
+		geometry.rotors[5].position_z = _param_ca_mc_r5_pz.get();
+		geometry.rotors[5].axis_x = _param_ca_mc_r5_ax.get();
+		geometry.rotors[5].axis_y = _param_ca_mc_r5_ay.get();
+		geometry.rotors[5].axis_z = _param_ca_mc_r5_az.get();
+		geometry.rotors[5].thrust_coef = _param_ca_mc_r5_ct.get();
+		geometry.rotors[5].moment_ratio = _param_ca_mc_r5_km.get();

-			// CA_MC_Rn_CT
-			sprintf(buffer, "CA_MC_R%u_CT", n);
-			param_get(param_find(buffer), &geometry.rotors[n].thrust_coef);
+		geometry.rotors[6].position_x = _param_ca_mc_r6_px.get();
+		geometry.rotors[6].position_y = _param_ca_mc_r6_py.get();
+		geometry.rotors[6].position_z = _param_ca_mc_r6_pz.get();
+		geometry.rotors[6].axis_x = _param_ca_mc_r6_ax.get();
+		geometry.rotors[6].axis_y = _param_ca_mc_r6_ay.get();
+		geometry.rotors[6].axis_z = _param_ca_mc_r6_az.get();
+		geometry.rotors[6].thrust_coef = _param_ca_mc_r6_ct.get();
+		geometry.rotors[6].moment_ratio = _param_ca_mc_r6_km.get();

-			// CA_MC_Rn_KM
-			sprintf(buffer, "CA_MC_R%u_KM", n);
-			param_get(param_find(buffer), &geometry.rotors[n].moment_ratio);
-		}
+		geometry.rotors[7].position_x = _param_ca_mc_r7_px.get();
+		geometry.rotors[7].position_y = _param_ca_mc_r7_py.get();
+		geometry.rotors[7].position_z = _param_ca_mc_r7_pz.get();
+		geometry.rotors[7].axis_x = _param_ca_mc_r7_ax.get();
+		geometry.rotors[7].axis_y = _param_ca_mc_r7_ay.get();
+		geometry.rotors[7].axis_z = _param_ca_mc_r7_az.get();
+		geometry.rotors[7].thrust_coef = _param_ca_mc_r7_ct.get();
+		geometry.rotors[7].moment_ratio = _param_ca_mc_r7_km.get();

 		_num_actuators = computeEffectivenessMatrix(geometry, matrix);
 		return true;
@@ -100,7 +145,11 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
 	for (size_t i = 0; i < NUM_ROTORS_MAX; i++) {

 		// Get rotor axis
-		matrix::Vector3f axis{geometry.rotors[i].axis};
+		matrix::Vector3f axis(
+			geometry.rotors[i].axis_x,
+			geometry.rotors[i].axis_y,
+			geometry.rotors[i].axis_z
+		);

 		// Normalize axis
 		float axis_norm = axis.norm();
@@ -114,7 +163,11 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
 		}

 		// Get rotor position
-		const matrix::Vector3f position{geometry.rotors[i].position};
+		matrix::Vector3f position(
+			geometry.rotors[i].position_x,
+			geometry.rotors[i].position_y,
+			geometry.rotors[i].position_z
+		);

 		// Get coefficients
 		float ct = geometry.rotors[i].thrust_coef;
@@ -125,10 +178,10 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
 		}

 		// Compute thrust generated by this rotor
-		const matrix::Vector3f thrust{ct * axis};
+		matrix::Vector3f thrust = ct * axis;

 		// Compute moment generated by this rotor
-		const matrix::Vector3f moment{ct * position.cross(axis) - ct *km * axis};
+		matrix::Vector3f moment = ct * position.cross(axis) - ct * km * axis;

 		// Fill corresponding items in effectiveness matrix
 		for (size_t j = 0; j < 3; j++) {
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -57,16 +57,20 @@ public:

 	static constexpr int NUM_ROTORS_MAX = 8;

-	struct RotorGeometry {
-		matrix::Vector3f position{};
-		matrix::Vector3f axis{};
-		float thrust_coef{0.f};
-		float moment_ratio{0.f};
-	};
+	typedef struct {
+		float position_x;
+		float position_y;
+		float position_z;
+		float axis_x;
+		float axis_y;
+		float axis_z;
+		float thrust_coef;
+		float moment_ratio;
+	} RotorGeometry;

-	struct MultirotorGeometry {
+	typedef struct {
 		RotorGeometry rotors[NUM_ROTORS_MAX];
-	};
+	} MultirotorGeometry;

 	static int computeEffectivenessMatrix(const MultirotorGeometry &geometry,
 					      matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &effectiveness);
@@ -77,4 +81,78 @@ public:
 private:
 	bool _updated{true};
 	int _num_actuators{0};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::CA_MC_R0_PX>) _param_ca_mc_r0_px,
+		(ParamFloat<px4::params::CA_MC_R0_PY>) _param_ca_mc_r0_py,
+		(ParamFloat<px4::params::CA_MC_R0_PZ>) _param_ca_mc_r0_pz,
+		(ParamFloat<px4::params::CA_MC_R0_AX>) _param_ca_mc_r0_ax,
+		(ParamFloat<px4::params::CA_MC_R0_AY>) _param_ca_mc_r0_ay,
+		(ParamFloat<px4::params::CA_MC_R0_AZ>) _param_ca_mc_r0_az,
+		(ParamFloat<px4::params::CA_MC_R0_CT>) _param_ca_mc_r0_ct,
+		(ParamFloat<px4::params::CA_MC_R0_KM>) _param_ca_mc_r0_km,
+
+		(ParamFloat<px4::params::CA_MC_R1_PX>) _param_ca_mc_r1_px,
+		(ParamFloat<px4::params::CA_MC_R1_PY>) _param_ca_mc_r1_py,
+		(ParamFloat<px4::params::CA_MC_R1_PZ>) _param_ca_mc_r1_pz,
+		(ParamFloat<px4::params::CA_MC_R1_AX>) _param_ca_mc_r1_ax,
+		(ParamFloat<px4::params::CA_MC_R1_AY>) _param_ca_mc_r1_ay,
+		(ParamFloat<px4::params::CA_MC_R1_AZ>) _param_ca_mc_r1_az,
+		(ParamFloat<px4::params::CA_MC_R1_CT>) _param_ca_mc_r1_ct,
+		(ParamFloat<px4::params::CA_MC_R1_KM>) _param_ca_mc_r1_km,
+
+		(ParamFloat<px4::params::CA_MC_R2_PX>) _param_ca_mc_r2_px,
+		(ParamFloat<px4::params::CA_MC_R2_PY>) _param_ca_mc_r2_py,
+		(ParamFloat<px4::params::CA_MC_R2_PZ>) _param_ca_mc_r2_pz,
+		(ParamFloat<px4::params::CA_MC_R2_AX>) _param_ca_mc_r2_ax,
+		(ParamFloat<px4::params::CA_MC_R2_AY>) _param_ca_mc_r2_ay,
+		(ParamFloat<px4::params::CA_MC_R2_AZ>) _param_ca_mc_r2_az,
+		(ParamFloat<px4::params::CA_MC_R2_CT>) _param_ca_mc_r2_ct,
+		(ParamFloat<px4::params::CA_MC_R2_KM>) _param_ca_mc_r2_km,
+
+		(ParamFloat<px4::params::CA_MC_R3_PX>) _param_ca_mc_r3_px,
+		(ParamFloat<px4::params::CA_MC_R3_PY>) _param_ca_mc_r3_py,
+		(ParamFloat<px4::params::CA_MC_R3_PZ>) _param_ca_mc_r3_pz,
+		(ParamFloat<px4::params::CA_MC_R3_AX>) _param_ca_mc_r3_ax,
+		(ParamFloat<px4::params::CA_MC_R3_AY>) _param_ca_mc_r3_ay,
+		(ParamFloat<px4::params::CA_MC_R3_AZ>) _param_ca_mc_r3_az,
+		(ParamFloat<px4::params::CA_MC_R3_CT>) _param_ca_mc_r3_ct,
+		(ParamFloat<px4::params::CA_MC_R3_KM>) _param_ca_mc_r3_km,
+
+		(ParamFloat<px4::params::CA_MC_R4_PX>) _param_ca_mc_r4_px,
+		(ParamFloat<px4::params::CA_MC_R4_PY>) _param_ca_mc_r4_py,
+		(ParamFloat<px4::params::CA_MC_R4_PZ>) _param_ca_mc_r4_pz,
+		(ParamFloat<px4::params::CA_MC_R4_AX>) _param_ca_mc_r4_ax,
+		(ParamFloat<px4::params::CA_MC_R4_AY>) _param_ca_mc_r4_ay,
+		(ParamFloat<px4::params::CA_MC_R4_AZ>) _param_ca_mc_r4_az,
+		(ParamFloat<px4::params::CA_MC_R4_CT>) _param_ca_mc_r4_ct,
+		(ParamFloat<px4::params::CA_MC_R4_KM>) _param_ca_mc_r4_km,
+
+		(ParamFloat<px4::params::CA_MC_R5_PX>) _param_ca_mc_r5_px,
+		(ParamFloat<px4::params::CA_MC_R5_PY>) _param_ca_mc_r5_py,
+		(ParamFloat<px4::params::CA_MC_R5_PZ>) _param_ca_mc_r5_pz,
+		(ParamFloat<px4::params::CA_MC_R5_AX>) _param_ca_mc_r5_ax,
+		(ParamFloat<px4::params::CA_MC_R5_AY>) _param_ca_mc_r5_ay,
+		(ParamFloat<px4::params::CA_MC_R5_AZ>) _param_ca_mc_r5_az,
+		(ParamFloat<px4::params::CA_MC_R5_CT>) _param_ca_mc_r5_ct,
+		(ParamFloat<px4::params::CA_MC_R5_KM>) _param_ca_mc_r5_km,
+
+		(ParamFloat<px4::params::CA_MC_R6_PX>) _param_ca_mc_r6_px,
+		(ParamFloat<px4::params::CA_MC_R6_PY>) _param_ca_mc_r6_py,
+		(ParamFloat<px4::params::CA_MC_R6_PZ>) _param_ca_mc_r6_pz,
+		(ParamFloat<px4::params::CA_MC_R6_AX>) _param_ca_mc_r6_ax,
+		(ParamFloat<px4::params::CA_MC_R6_AY>) _param_ca_mc_r6_ay,
+		(ParamFloat<px4::params::CA_MC_R6_AZ>) _param_ca_mc_r6_az,
+		(ParamFloat<px4::params::CA_MC_R6_CT>) _param_ca_mc_r6_ct,
+		(ParamFloat<px4::params::CA_MC_R6_KM>) _param_ca_mc_r6_km,
+
+		(ParamFloat<px4::params::CA_MC_R7_PX>) _param_ca_mc_r7_px,
+		(ParamFloat<px4::params::CA_MC_R7_PY>) _param_ca_mc_r7_py,
+		(ParamFloat<px4::params::CA_MC_R7_PZ>) _param_ca_mc_r7_pz,
+		(ParamFloat<px4::params::CA_MC_R7_AX>) _param_ca_mc_r7_ax,
+		(ParamFloat<px4::params::CA_MC_R7_AY>) _param_ca_mc_r7_ay,
+		(ParamFloat<px4::params::CA_MC_R7_AZ>) _param_ca_mc_r7_az,
+		(ParamFloat<px4::params::CA_MC_R7_CT>) _param_ca_mc_r7_ct,
+		(ParamFloat<px4::params::CA_MC_R7_KM>) _param_ca_mc_r7_km
+	)
 };
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -41,40 +41,15 @@

 #include "ActuatorEffectivenessStandardVTOL.hpp"

+ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL()
+{
+	setFlightPhase(FlightPhase::HOVER_FLIGHT);
+}
+
 bool
 ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
 		bool force)
 {
-	vehicle_status_s vehicle_status;
-
-	if (_vehicle_status_sub.update(&vehicle_status)) {
-
-		FlightPhase flight_phase{FlightPhase::HOVER_FLIGHT};
-
-		// Check if the current flight phase is HOVER or FIXED_WING
-		if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-			flight_phase = FlightPhase::HOVER_FLIGHT;
-
-		} else {
-			flight_phase = FlightPhase::FORWARD_FLIGHT;
-		}
-
-		// Special cases for VTOL in transition
-		if (vehicle_status.is_vtol && vehicle_status.in_transition_mode) {
-			if (vehicle_status.in_transition_to_fw) {
-				flight_phase = FlightPhase::TRANSITION_HF_TO_FF;
-
-			} else {
-				flight_phase = FlightPhase::TRANSITION_FF_TO_HF;
-			}
-		}
-
-		if (flight_phase != _flight_phase) {
-			_flight_phase = flight_phase;
-			_updated = true;
-		}
-	}
-
 	if (!(_updated || force)) {
 		return false;
 	}
@@ -124,3 +99,11 @@ ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float,
 	_updated = false;
 	return true;
 }
+
+void
+ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
+{
+	ActuatorEffectiveness::setFlightPhase(flight_phase);
+	_updated = true;
+
+}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -43,30 +43,22 @@

 #include "ActuatorEffectiveness.hpp"

-#include <uORB/Subscription.hpp>
-#include <uORB/topics/vehicle_status.h>
-
 class ActuatorEffectivenessStandardVTOL: public ActuatorEffectiveness
 {
 public:
-	ActuatorEffectivenessStandardVTOL() = default;
+	ActuatorEffectivenessStandardVTOL();
 	virtual ~ActuatorEffectivenessStandardVTOL() = default;

 	bool getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix, bool force) override;

+	/**
+	 * Set the current flight phase
+	 *
+	 * @param Flight phase
+	 */
+	void setFlightPhase(const FlightPhase &flight_phase) override;
+
 	int numActuators() const override { return 7; }
 protected:
-
-	enum class FlightPhase {
-		HOVER_FLIGHT = 0,
-		FORWARD_FLIGHT = 1,
-		TRANSITION_HF_TO_FF = 2,
-		TRANSITION_FF_TO_HF = 3
-	};
-
-	FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};
-
-	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-
 	bool _updated{true};
 };
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -41,40 +41,14 @@

 #include "ActuatorEffectivenessTiltrotorVTOL.hpp"

+ActuatorEffectivenessTiltrotorVTOL::ActuatorEffectivenessTiltrotorVTOL()
+{
+	setFlightPhase(FlightPhase::HOVER_FLIGHT);
+}
 bool
 ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
 		bool force)
 {
-	vehicle_status_s vehicle_status;
-
-	if (_vehicle_status_sub.update(&vehicle_status)) {
-
-		FlightPhase flight_phase{FlightPhase::HOVER_FLIGHT};
-
-		// Check if the current flight phase is HOVER or FIXED_WING
-		if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-			flight_phase = FlightPhase::HOVER_FLIGHT;
-
-		} else {
-			flight_phase = FlightPhase::FORWARD_FLIGHT;
-		}
-
-		// Special cases for VTOL in transition
-		if (vehicle_status.is_vtol && vehicle_status.in_transition_mode) {
-			if (vehicle_status.in_transition_to_fw) {
-				flight_phase = FlightPhase::TRANSITION_HF_TO_FF;
-
-			} else {
-				flight_phase = FlightPhase::TRANSITION_FF_TO_HF;
-			}
-		}
-
-		if (flight_phase != _flight_phase) {
-			_flight_phase = flight_phase;
-			_updated = true;
-		}
-	}
-
 	if (!(_updated || force)) {
 		return false;
 	}
@@ -132,3 +106,11 @@ ActuatorEffectivenessTiltrotorVTOL::getEffectivenessMatrix(matrix::Matrix<float,
 	_updated = false;
 	return true;
 }
+
+void
+ActuatorEffectivenessTiltrotorVTOL::setFlightPhase(const FlightPhase &flight_phase)
+{
+	ActuatorEffectiveness::setFlightPhase(flight_phase);
+
+	_updated = true;
+}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -43,30 +43,22 @@

 #include "ActuatorEffectiveness.hpp"

-#include <uORB/Subscription.hpp>
-#include <uORB/topics/vehicle_status.h>
-
 class ActuatorEffectivenessTiltrotorVTOL: public ActuatorEffectiveness
 {
 public:
-	ActuatorEffectivenessTiltrotorVTOL() = default;
+	ActuatorEffectivenessTiltrotorVTOL();
 	virtual ~ActuatorEffectivenessTiltrotorVTOL() = default;

 	bool getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix, bool force) override;

+	/**
+	 * Set the current flight phase
+	 *
+	 * @param Flight phase
+	 */
+	void setFlightPhase(const FlightPhase &flight_phase) override;
+
 	int numActuators() const override { return 10; }
 protected:
-
-	enum class FlightPhase {
-		HOVER_FLIGHT = 0,
-		FORWARD_FLIGHT = 1,
-		TRANSITION_HF_TO_FF = 2,
-		TRANSITION_FF_TO_HF = 3
-	};
-
-	FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};
-
-	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-
 	bool _updated{true};
 };
@@ -0,0 +1,52 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+px4_add_library(ActuatorEffectiveness
+	ActuatorEffectiveness.hpp
+	ActuatorEffectivenessMultirotor.cpp
+	ActuatorEffectivenessMultirotor.hpp
+	ActuatorEffectivenessStandardVTOL.cpp
+	ActuatorEffectivenessStandardVTOL.hpp
+	ActuatorEffectivenessTiltrotorVTOL.cpp
+	ActuatorEffectivenessTiltrotorVTOL.hpp
+)
+
+target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(ActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(ActuatorEffectiveness
+	PRIVATE
+		mathlib
+		ControlAllocation
+)
+
+# px4_add_unit_gtest(SRC ActuatorEffectivenessMultirotorTest.cpp LINKLIBS ActuatorEffectiveness)
@@ -31,45 +31,22 @@
 #
 ############################################################################

+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+add_subdirectory(ActuatorEffectiveness)
+add_subdirectory(ControlAllocation)
+
 px4_add_module(
 	MODULE modules__control_allocator
 	MAIN control_allocator
 	COMPILE_FLAGS
 		${MAX_CUSTOM_OPT_LEVEL}
-	INCLUDES
-		${CMAKE_CURRENT_SOURCE_DIR}
 	SRCS
-		ActuatorEffectiveness/ActuatorEffectiveness.hpp
-		ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
-		ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
-		ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
-		ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
-		ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
-		ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
-		ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
-		ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
-
-		ControlAllocation/ControlAllocation.cpp
-		ControlAllocation/ControlAllocation.hpp
-		ControlAllocation/ControlAllocationPseudoInverse.cpp
-		ControlAllocation/ControlAllocationPseudoInverse.hpp
-		ControlAllocation/ControlAllocationSequentialDesaturation.cpp
-		ControlAllocation/ControlAllocationSequentialDesaturation.hpp
-
 		ControlAllocator.cpp
 		ControlAllocator.hpp
 	DEPENDS
 		mathlib
+		ActuatorEffectiveness
+		ControlAllocation
+		mixer
 		px4_work_queue
-	MODULE_CONFIG
-		module.yaml
 )
-
-px4_add_library(ControlAllocation_testing
-	ControlAllocation/ControlAllocation.cpp
-	ControlAllocation/ControlAllocationPseudoInverse.cpp
-)
-target_link_libraries(ControlAllocation_testing PRIVATE mathlib)
-
-px4_add_unit_gtest(SRC ControlAllocation/ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation_testing)
-# px4_add_unit_gtest(SRC ActuatorEffectivenessMultirotorTest.cpp LINKLIBS ActuatorEffectiveness)
@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+px4_add_library(ControlAllocation
+	ControlAllocation.cpp
+	ControlAllocation.hpp
+	ControlAllocationPseudoInverse.cpp
+	ControlAllocationPseudoInverse.hpp
+	ControlAllocationSequentialDesaturation.cpp
+	ControlAllocationSequentialDesaturation.hpp
+)
+target_compile_options(ControlAllocation PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(ControlAllocation PRIVATE mathlib)
+
+px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
@@ -70,6 +70,7 @@
 #pragma once

 #include <matrix/matrix/math.hpp>
+#include <uORB/topics/vehicle_actuator_setpoint.h>

 class ControlAllocation
 {
@@ -80,7 +81,7 @@ public:
 	static constexpr uint8_t NUM_ACTUATORS = 16;
 	static constexpr uint8_t NUM_AXES = 6;

-	using ActuatorVector = matrix::Vector<float, NUM_ACTUATORS>;
+	typedef matrix::Vector<float, NUM_ACTUATORS> ActuatorVector;

 	enum ControlAxis {
 		ROLL = 0,
@@ -40,8 +40,7 @@
 */

 #include <gtest/gtest.h>
-
-#include "ControlAllocationPseudoInverse.hpp"
+#include <ControlAllocationPseudoInverse.hpp>

 using namespace matrix;

@@ -212,10 +212,6 @@ ControlAllocator::update_effectiveness_source()
 			tmp = new ActuatorEffectivenessTiltrotorVTOL();
 			break;

-		case EffectivenessSource::CUSTOM:
-			tmp = new ActuatorEffectivenessCustom(this);
-			break;
-
 		default:
 			PX4_ERR("Unknown airframe");
 			break;
@@ -264,6 +260,34 @@ ControlAllocator::Run()
 		return;
 	}

+	vehicle_status_s vehicle_status;
+
+	if (_vehicle_status_sub.update(&vehicle_status)) {
+
+		ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};
+
+		// Check if the current flight phase is HOVER or FIXED_WING
+		if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+			flight_phase = ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT;
+
+		} else {
+			flight_phase = ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
+		}
+
+		// Special cases for VTOL in transition
+		if (vehicle_status.is_vtol && vehicle_status.in_transition_mode) {
+			if (vehicle_status.in_transition_to_fw) {
+				flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_HF_TO_FF;
+
+			} else {
+				flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_FF_TO_HF;
+			}
+		}
+
+		// Forward to effectiveness source
+		_actuator_effectiveness->setFlightPhase(flight_phase);
+	}
+
 	// Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
 	const hrt_abstime now = hrt_absolute_time();
 	const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f);
@@ -488,10 +512,6 @@ 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
@@ -41,15 +41,14 @@

 #pragma once

-#include <ActuatorEffectiveness/ActuatorEffectiveness.hpp>
-#include <ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp>
-#include <ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp>
-#include <ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp>
-#include <ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp>
+#include <ActuatorEffectiveness.hpp>
+#include <ActuatorEffectivenessMultirotor.hpp>
+#include <ActuatorEffectivenessStandardVTOL.hpp>
+#include <ActuatorEffectivenessTiltrotorVTOL.hpp>

-#include <ControlAllocation/ControlAllocation.hpp>
-#include <ControlAllocation/ControlAllocationPseudoInverse.hpp>
-#include <ControlAllocation/ControlAllocationSequentialDesaturation.hpp>
+#include <ControlAllocation.hpp>
+#include <ControlAllocationPseudoInverse.hpp>
+#include <ControlAllocationSequentialDesaturation.hpp>

 #include <lib/matrix/matrix/math.hpp>
 #include <lib/perf/perf_counter.h>
@@ -69,6 +68,7 @@
 #include <uORB/topics/vehicle_torque_setpoint.h>
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_actuator_setpoint.h>
+#include <uORB/topics/vehicle_status.h>

 class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
 {
@@ -124,11 +124,10 @@ 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};
@@ -148,6 +147,7 @@ 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;
@@ -50,7 +50,6 @@
 * @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);
@@ -1,72 +0,0 @@
-__max_num_config_instances: &max_num_config_instances 16
-
-module_name: control_allocator
-
-parameters:
-    - group: Control Allocator
-      definitions:
-        CA_ACT${i}_TRQ_R:
-            description:
-                short: actuator ${i} roll
-                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
-                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
-                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}_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 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
@@ -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
@@ -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
@@ -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;
+	}
+}
@@ -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
@@ -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()
@@ -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++;
+		}
+	}
+}
@@ -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);
+}
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@@ -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)
@@ -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
Author	SHA1	Message	Date
Daniel Agar	7827555e6d	NuttX: increase default optimization to ${MAX_CUSTOM_OPT_LEVEL} - ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained	2021-11-01 13:50:00 -04:00
bresch	1317b1a6e1	[AUTO COMMIT] update change indication	2021-11-01 13:59:34 +01:00
bresch	9e54c6d1aa	ekf2: move generic functions to control.cpp these functions aren't specific to GPS fusion	2021-11-01 13:59:34 +01:00
bresch	e90734881b	ekf2_test: add more GPS fusion control tests	2021-11-01 13:59:34 +01:00
bresch	8aae39e82a	ekf2: move GPS control logic to separate source file	2021-11-01 13:59:34 +01:00
bresch	689ab12845	ekf2: refactor gps vel/pos fusion control logic	2021-11-01 13:59:34 +01:00
bresch	9afc390552	ekf2: move gps yaw reset in starting function	2021-11-01 13:59:34 +01:00
Daniel Agar	1461eb0e32	logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} - ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained	2021-11-01 09:13:12 +01:00
Thomas Debrunner	32be88404a	commander: Only run estimator navigation checks when armed	2021-10-28 12:06:31 -04:00
PX4 BuildBot	7006b0aee9	Update submodule jMAVSim to latest Thu Oct 28 12:38:55 UTC 2021 - jMAVSim in PX4/Firmware (`c9b89ee869`): https://github.com/PX4/jMAVSim/commit/0a5a8c6d9da05bee5f82faa25430213d97d396b0 - jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/b23dc53d558e801b214fbcb605a061c9773105e0 - Changes: https://github.com/PX4/jMAVSim/compare/0a5a8c6d9da05bee5f82faa25430213d97d396b0...b23dc53d558e801b214fbcb605a061c9773105e0 b23dc53 2021-10-08 Ilya Petrov - Use low resolution texture also on Windows	2021-10-28 11:41:02 -04:00
Harrison MG	c9b89ee869	fixed ulanding_radar autostart command	2021-10-28 00:01:37 -04:00
Daniel Agar	be5c5856e7	cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned	2021-10-27 23:00:40 -04:00