ekf2: fix unit test changes due to GNSS start logic

Especially because the EKF doesn't need to reset the states if the test
ratio is already passing

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

@@ -107,7 +107,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 					const bool fused = ekf.fuseHorizontalPosition(aid_src);
 					bool reset = false;
 
-					if (!fused && !ekf.isOtherSourceOfHorizontalPositionAidingThan(ekf.control_status_flags().aux_gpos)) {
+					if (!fused && isResetAllowed(ekf)) {
 						ekf.resetHorizontalPositionTo(sample.latitude, sample.longitude, Vector2f(aid_src.observation_variance));
 						ekf.resetAidSourceStatusZeroInnovation(aid_src);
 						reset = true;
@@ -137,9 +137,9 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 			if (continuing_conditions) {
 				ekf.fuseHorizontalPosition(aid_src);
 
-				if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max)
+				if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.reset_timeout_max)
 				    || (_reset_counters.lat_lon != sample.lat_lon_reset_counter)) {
-					if (ekf.isOnlyActiveSourceOfHorizontalPositionAiding(ekf.control_status_flags().aux_gpos)) {
+					if (isResetAllowed(ekf)) {
 
 						ekf.resetHorizontalPositionTo(sample.latitude, sample.longitude, Vector2f(aid_src.observation_variance));
 
@@ -178,4 +178,12 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 	}
 }
 
+bool AuxGlobalPosition::isResetAllowed(const Ekf &ekf) const
+{
+	return ((static_cast<Mode>(_param_ekf2_agp_mode.get()) == Mode::AUTO)
+		&& !ekf.isOtherSourceOfHorizontalPositionAidingThan(ekf.control_status_flags().aux_gpos))
+	       || ((static_cast<Mode>(_param_ekf2_agp_mode.get()) == Mode::DEAD_RECKONING)
+		   && !ekf.isOtherSourceOfHorizontalAidingThan(ekf.control_status_flags().aux_gpos));
+}
+
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION

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

@@ -82,6 +82,8 @@ private:
 		return (last_sensor_timestamp == 0) || (last_sensor_timestamp + timeout_period < time_delayed_us);
 	}
 
+	bool isResetAllowed(const Ekf &ekf) const;
+
 	struct AuxGlobalPositionSample {
 		uint64_t time_us{};     ///< timestamp of the measurement (uSec)
 		double latitude{};
@@ -101,6 +103,11 @@ private:
 		VPOS  = (1 << 1)
 	};
 
+	enum class Mode : uint8_t {
+		AUTO           = 0,   	///< Reset on fusion timeout if no other source of position is available
+		DEAD_RECKONING = 1   	///< Reset on fusion timeout if no source of velocity is availabl
+	};
+
 	enum class State {
 		stopped,
 		starting,
@@ -122,6 +129,7 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::EKF2_AGP_CTRL>) _param_ekf2_agp_ctrl,
+		(ParamInt<px4::params::EKF2_AGP_MODE>) _param_ekf2_agp_mode,
 		(ParamFloat<px4::params::EKF2_AGP_DELAY>) _param_ekf2_agp_delay,
 		(ParamFloat<px4::params::EKF2_AGP_NOISE>) _param_ekf2_agp_noise,
 		(ParamFloat<px4::params::EKF2_AGP_GATE>) _param_ekf2_agp_gate

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

@@ -104,10 +104,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 
 		bool do_vel_pos_reset = false;
 
-		if (_control_status.flags.gnss_vel || _control_status.flags.gnss_pos) {
-			// Reset checks need to run together, before each control function runs because the result would change
-			// after the first one runs
-			do_vel_pos_reset = shouldResetGpsFusion();
+		if (!_control_status.flags.gnss_fault && (_control_status.flags.gnss_vel || _control_status.flags.gnss_pos)) {
 
 			if (_control_status.flags.in_air
 			    && isYawFailure()
@@ -131,16 +128,17 @@ void Ekf::controlGnssVelFusion(estimator_aid_source3d_s &aid_src, const bool for
 
 	if (_control_status.flags.gnss_vel) {
 		if (continuing_conditions_passing) {
-			if (force_reset) {
-				ECL_WARN("GNSS fusion timeout, resetting");
-				resetVelocityToGnss(aid_src);
+			fuseVelocity(aid_src);
 
-			} else {
-				fuseVelocity(aid_src);
+			const bool fusion_timeout = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);
 
-				if (isHeightResetRequired()) {
-					// reset vertical velocity if height is failing
-					resetVerticalVelocityTo(aid_src.observation[2], aid_src.observation_variance[2]);
+			if (fusion_timeout || force_reset) {
+				if (isGnssVelResetAllowed() || force_reset) {
+					ECL_WARN("GNSS fusion timeout, resetting");
+					resetVelocityToGnss(aid_src);
+
+				} else {
+					stopGnssVelFusion();
 				}
 			}
 
@@ -150,19 +148,27 @@ void Ekf::controlGnssVelFusion(estimator_aid_source3d_s &aid_src, const bool for
 
 	} else {
 		if (starting_conditions_passing) {
-			ECL_INFO("starting GNSS velocity fusion");
-			_information_events.flags.starting_gps_fusion = true;
+			bool fused = false;
 
-			// when already using another velocity source velocity reset is not necessary
-			if (!isHorizontalAidingActive()
-			    || isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
-			    || !_control_status_prev.flags.yaw_align
-			   ) {
-				// reset velocity
-				resetVelocityToGnss(aid_src);
+			const bool do_reset = force_reset || !_control_status_prev.flags.yaw_align;
+
+			// Start fusing the data without reset if possible to avoid disturbing the filter
+			if (!do_reset && ((aid_src.test_ratio[0] + aid_src.test_ratio[1]) < sq(0.5f))) {
+				fused = fuseVelocity(aid_src);
 			}
 
-			_control_status.flags.gnss_vel = true;
+			bool reset = false;
+
+			if (!fused && (isGnssVelResetAllowed() || force_reset)) {
+				resetVelocityToGnss(aid_src);
+				reset = true;
+			}
+
+			if (fused || reset) {
+				ECL_INFO("starting GNSS velocity fusion");
+				_information_events.flags.starting_gps_fusion = true;
+				_control_status.flags.gnss_vel = true;
+			}
 		}
 	}
 }
@@ -179,12 +185,19 @@ void Ekf::controlGnssPosFusion(estimator_aid_source2d_s &aid_src, const bool for
 
 	if (_control_status.flags.gnss_pos) {
 		if (continuing_conditions_passing) {
-			if (force_reset) {
-				ECL_WARN("GNSS fusion timeout, resetting");
-				resetHorizontalPositionToGnss(aid_src);
+			fuseHorizontalPosition(aid_src);
 
-			} else {
-				fuseHorizontalPosition(aid_src);
+			const bool fusion_timeout = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);
+
+			if (fusion_timeout || force_reset) {
+				if (isGnssPosResetAllowed()) {
+					ECL_WARN("GNSS fusion timeout, resetting");
+					resetHorizontalPositionToGnss(aid_src);
+
+				} else {
+					stopGnssPosFusion();
+					_control_status.flags.gnss_fault = true;
+				}
 			}
 
 		} else {
@@ -193,11 +206,30 @@ void Ekf::controlGnssPosFusion(estimator_aid_source2d_s &aid_src, const bool for
 
 	} else {
 		if (starting_conditions_passing) {
-			ECL_INFO("starting GNSS position fusion");
-			_information_events.flags.starting_gps_fusion = true;
+			bool fused = false;
 
-			resetHorizontalPositionToGnss(aid_src);
-			_control_status.flags.gnss_pos = true;
+			const bool do_reset = force_reset || !_control_status_prev.flags.yaw_align;
+
+			// Start fusing the data without reset if possible to avoid disturbing the filter
+			if (_local_origin_lat_lon.isInitialized()
+			    && !do_reset
+			    && ((aid_src.test_ratio[0] + aid_src.test_ratio[1]) < sq(0.5f))) {
+				fused = fuseHorizontalPosition(aid_src);
+			}
+
+			bool reset = false;
+
+			if (!fused && isGnssPosResetAllowed()) {
+				resetHorizontalPositionToGnss(aid_src);
+				reset = true;
+			}
+
+			if (fused || reset) {
+				ECL_INFO("starting GNSS position fusion");
+				_information_events.flags.starting_gps_fusion = true;
+				_control_status.flags.gnss_pos = true;
+				_control_status.flags.gnss_fault = false;
+			}
 
 		} else if (gpos_init_conditions_passing && !_local_origin_lat_lon.isInitialized()) {
 			resetHorizontalPositionToGnss(aid_src);
@@ -205,6 +237,61 @@ void Ekf::controlGnssPosFusion(estimator_aid_source2d_s &aid_src, const bool for
 	}
 }
 
+bool Ekf::isGnssVelResetAllowed() const
+{
+	if (_control_status.flags.gnss_fault) {
+		return false;
+	}
+
+	bool allowed = true;
+
+	switch (static_cast<GnssMode>(_params.ekf2_gps_mode)) {
+	case GnssMode::AUTO:
+		if (isOtherSourceOfHorizontalVelocityAidingThan(_control_status.flags.gnss_vel)
+		    && !_control_status.flags.wind_dead_reckoning) {
+			allowed = false;
+		}
+
+		break;
+
+	case GnssMode::DEAD_RECKONING:
+		if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gnss_vel)) {
+			allowed = false;
+		}
+
+		break;
+	}
+
+	return allowed;
+}
+
+bool Ekf::isGnssPosResetAllowed() const
+{
+	if (_control_status.flags.gnss_fault) {
+		return false;
+	}
+
+	bool allowed = true;
+
+	switch (static_cast<GnssMode>(_params.ekf2_gps_mode)) {
+	case GnssMode::AUTO:
+		if (isOtherSourceOfHorizontalPositionAidingThan(_control_status.flags.gnss_pos)) {
+			allowed = false;
+		}
+
+		break;
+
+	case GnssMode::DEAD_RECKONING:
+		if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gnss_pos)) {
+			allowed = false;
+		}
+
+		break;
+	}
+
+	return allowed;
+}
+
 void Ekf::updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src)
 {
 	// correct velocity for offset relative to IMU
@@ -358,38 +445,6 @@ void Ekf::resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src)
 	resetAidSourceStatusZeroInnovation(aid_src);
 }
 
-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
-	 */
-	bool has_horizontal_aiding_timed_out = isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
-					       && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max);
-
-#if defined(CONFIG_EKF2_OPTICAL_FLOW)
-
-	if (has_horizontal_aiding_timed_out) {
-		// horizontal aiding hasn't timed out if optical flow still active
-		if (_control_status.flags.opt_flow && isRecent(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)) {
-			has_horizontal_aiding_timed_out = false;
-		}
-	}
-
-#endif // CONFIG_EKF2_OPTICAL_FLOW
-
-	const bool is_reset_required = has_horizontal_aiding_timed_out
-				       || (isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max)
-					   && (_params.ekf2_gps_ctrl & static_cast<int32_t>(GnssCtrl::HPOS)));
-
-	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_inflight_nav_failure);
-}
-
 void Ekf::stopGnssFusion()
 {
 	if (_control_status.flags.gnss_vel || _control_status.flags.gnss_pos) {

src/modules/ekf2/EKF/common.h

@@ -148,6 +148,11 @@ enum class GnssCtrl : uint8_t {
 	YAW  = (1 << 3)
 };
 
+enum class GnssMode : uint8_t {
+	AUTO           = 0,   	///< Reset on fusion timeout if no other source of position is available
+	DEAD_RECKONING = 1   	///< Reset on fusion timeout if no source of velocity is availabl
+};
+
 enum class RngCtrl : uint8_t {
 	DISABLED    = 0,
 	CONDITIONAL = 1,
@@ -322,6 +327,7 @@ struct parameters {
 
 #if defined(CONFIG_EKF2_GNSS)
 	int32_t ekf2_gps_ctrl {static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL)};
+	int32_t ekf2_gps_mode {static_cast<int32_t>(GnssMode::AUTO)};
 	float ekf2_gps_delay{110.0f};           ///< GPS measurement delay relative to the IMU (mSec)
 
 	Vector3f gps_pos_body{};                ///< xyz position of the GPS antenna in body frame (m)
@@ -599,6 +605,8 @@ uint64_t mag_heading_consistent  :
 		uint64_t constant_pos            : 1; ///< 42 - true if the vehicle is at a constant position
 		uint64_t baro_fault              : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used
 		uint64_t gnss_vel                : 1; ///< 44 - true if GNSS velocity measurement fusion is intended
+uint64_t gnss_fault              :
+		1; ///< 45 - true if GNSS measurements have been declared faulty and are no longer used
 	} flags;
 	uint64_t value;
 };

src/modules/ekf2/EKF/ekf.cpp

@@ -335,9 +335,11 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 
 		const bool innov_rejected = (test_ratio > 1.f);
 
-		if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected) {
-			// when on ground or accuracy chosen to be very low, we hard reset position
+		if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected || isHorizontalPositionAidingActive()) {
+			// When on ground or accuracy chosen to be very low, we hard reset position
 			// this allows the user to still send hard resets at any time
+			// Also reset when another position source is active as it it would otherwise have almost no
+			// visible effect to the position estimate.
 			ECL_INFO("reset position to external observation");
 			_information_events.flags.reset_pos_to_ext_obs = true;
 

src/modules/ekf2/EKF/ekf.h

@@ -861,11 +861,12 @@ private:
 	void stopGnssPosFusion();
 	void updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src);
 	void updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s &aid_src);
+	bool isGnssVelResetAllowed() const;
+	bool isGnssPosResetAllowed() const;
 	void controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel);
 	bool tryYawEmergencyReset();
 	void resetVelocityToGnss(estimator_aid_source3d_s &aid_src);
 	void resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src);
-	bool shouldResetGpsFusion() const;
 
 	void controlGnssHeightFusion(const gnssSample &gps_sample);
 	void stopGpsHgtFusion();

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -622,6 +622,22 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
 	       + int(_control_status.flags.aux_gpos);
 }
 
+bool EstimatorInterface::isHorizontalPositionAidingActive() const
+{
+	return getNumberOfActiveHorizontalPositionAidingSources() > 0;
+}
+
+bool EstimatorInterface::isOnlyActiveSourceOfHorizontalVelocityAiding(const bool aiding_flag) const
+{
+	return aiding_flag && !isOtherSourceOfHorizontalVelocityAidingThan(aiding_flag);
+}
+
+bool EstimatorInterface::isOtherSourceOfHorizontalVelocityAidingThan(const bool aiding_flag) const
+{
+	const int nb_sources = getNumberOfActiveHorizontalVelocityAidingSources();
+	return aiding_flag ? nb_sources > 1 : nb_sources > 0;
+}
+
 int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
 {
 	return int(_control_status.flags.gnss_vel)

src/modules/ekf2/EKF/estimator_interface.h

@@ -214,6 +214,7 @@ public:
 
 	bool isOnlyActiveSourceOfHorizontalAiding(bool aiding_flag) const;
 	bool isOnlyActiveSourceOfHorizontalPositionAiding(bool aiding_flag) const;
+	bool isOnlyActiveSourceOfHorizontalVelocityAiding(bool aiding_flag) const;
 
 	/*
 	 * Check if there are any other active source of horizontal aiding
@@ -227,10 +228,12 @@ public:
 	 */
 	bool isOtherSourceOfHorizontalAidingThan(bool aiding_flag) const;
 	bool isOtherSourceOfHorizontalPositionAidingThan(bool aiding_flag) const;
+	bool isOtherSourceOfHorizontalVelocityAidingThan(bool aiding_flag) const;
 
 	// Return true if at least one source of horizontal aiding is active
 	// the flags considered are opt_flow, gps, ev_vel and ev_pos
 	bool isHorizontalAidingActive() const;
+	bool isHorizontalPositionAidingActive() const;
 	bool isVerticalAidingActive() const;
 	bool isNorthEastAidingActive() const;
 

src/modules/ekf2/EKF2.cpp

@@ -80,6 +80,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_noaid_noise(_params->ekf2_noaid_noise),
 #if defined(CONFIG_EKF2_GNSS)
 	_param_ekf2_gps_ctrl(_params->ekf2_gps_ctrl),
+	_param_ekf2_gps_mode(_params->ekf2_gps_mode),
 	_param_ekf2_gps_delay(_params->ekf2_gps_delay),
 	_param_ekf2_gps_pos_x(_params->gps_pos_body(0)),
 	_param_ekf2_gps_pos_y(_params->gps_pos_body(1)),
@@ -531,10 +532,9 @@ void EKF2::Run()
 
 			} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE) {
 
-				if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning
-				     || (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gnss_pos))
-				    && PX4_ISFINITE(vehicle_command.param2)
-				    && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
+				if (PX4_ISFINITE(vehicle_command.param2)
+				    && PX4_ISFINITE(vehicle_command.param5)
+				    && PX4_ISFINITE(vehicle_command.param6)
 				   ) {
 
 					const float measurement_delay_seconds = math::constrain(vehicle_command.param2, 0.0f,

src/modules/ekf2/EKF2.hpp

@@ -513,6 +513,7 @@ private:
 
 #if defined(CONFIG_EKF2_GNSS)
 		(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl,
+		(ParamExtInt<px4::params::EKF2_GPS_MODE>) _param_ekf2_gps_mode,
 		(ParamExtFloat<px4::params::EKF2_GPS_DELAY>) _param_ekf2_gps_delay,
 
 		(ParamExtFloat<px4::params::EKF2_GPS_POS_X>) _param_ekf2_gps_pos_x,

src/modules/ekf2/params_aux_global_position.yaml

@@ -14,6 +14,16 @@ parameters:
       default: 0
       min: 0
       max: 3
+    EKF2_AGP_MODE:
+      description:
+        short: Fusion reset mode
+        long: 'Automatic: reset on fusion timeout if no other source of position is available
+          Dead-reckoning: reset on fusion timeout if no source of velocity is available'
+      type: enum
+      values:
+        0: Automatic
+        1: Dead-reckoning
+      default: 0
     EKF2_AGP_DELAY:
       description:
         short: Aux global position estimator delay relative to IMU measurements

src/modules/ekf2/params_gnss.yaml

@@ -17,6 +17,16 @@ parameters:
       default: 7
       min: 0
       max: 15
+    EKF2_GPS_MODE:
+      description:
+        short: Fusion reset mode
+        long: 'Automatic: reset on fusion timeout if no other source of position is available
+          Dead-reckoning: reset on fusion timeout if no source of velocity is available'
+      type: enum
+      values:
+        0: Automatic
+        1: Dead-reckoning
+      default: 0
     EKF2_GPS_DELAY:
       description:
         short: GPS measurement delay relative to IMU measurements

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

@@ -103,289 +103,289 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 10090000,0.71,0.0021,-0.014,0.71,-0.023,0.029,-0.096,0,0,-4.9e+02,-0.0015,-0.0056,-7e-05,-0.0017,0.0013,-0.091,0.21,-5.1e-06,0.43,-0.00031,0.00077,-0.00013,0,0,-4.9e+02,0.0013,0.0012,0.039,25,25,0.08,1.6e+02,1.6e+02,0.085,2.9e-05,4.6e-05,2.4e-06,0.04,0.04,0.016,0.0013,4.1e-05,0.0013,0.0016,0.0013,0.0013,1,1,2.6
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src/modules/ekf2/test/change_indication/iris_gps.csv

@@ -103,249 +103,249 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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src/modules/ekf2/test/test_EKF_fusionLogic.cpp

@@ -404,7 +404,7 @@ TEST_F(EkfFusionLogicTest, doBaroHeightFusionTimeout)
 	_ekf_wrapper.enableGpsHeightFusion();
 	_sensor_simulator.runSeconds(11);
 	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(2));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 
 	// AND: the baro data jumps by a lot
@@ -415,7 +415,7 @@ TEST_F(EkfFusionLogicTest, doBaroHeightFusionTimeout)
 	// THEN: EKF should fallback to GPS height (without reset)
 	EXPECT_FALSE(_ekf_wrapper.isIntendingBaroHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
-	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(2));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 }
 

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -135,7 +135,7 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 
 	// AND: simulate constant velocity gps samples for short time
 	_sensor_simulator.startGps();
-	const Vector3f simulated_velocity(0.5f, 1.0f, -0.3f);
+	const Vector3f simulated_velocity(10.5f, 1.0f, -5.3f);
 	_sensor_simulator._gps.setVelocity(simulated_velocity);
 	const uint64_t dt_us = 1e5;
 	_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f(simulated_velocity) * dt_us * 1e-6);
@@ -143,7 +143,7 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 
 	_ekf->set_in_air_status(true);
 	_ekf->set_vehicle_at_rest(false);
-	_sensor_simulator.runSeconds(1.2); // required to pass the checks
+	_sensor_simulator.runSeconds(1.11); // required to pass the checks
 	_sensor_simulator.runMicroseconds(dt_us);
 
 	// THEN: a reset to GPS velocity should be done

src/modules/ekf2/test/test_EKF_height_fusion.cpp

@@ -329,7 +329,7 @@ TEST_F(EkfHeightFusionTest, gpsRefAllHgtFailReset)
 
 	// Also check the reset counters to make sure the reset logic triggered
 	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 }
 

src/modules/ekf2/test/test_EKF_terrain.cpp

@@ -226,7 +226,7 @@ TEST_F(EkfTerrainTest, testRngStartInAir)
 	runFlowAndRngScenario(rng_height, flow_height);
 
 	// THEN: the terrain should reset using rng
-	EXPECT_NEAR(rng_height, _ekf->getHagl(), 1e-3f);
+	EXPECT_NEAR(rng_height, _ekf->getHagl(), 2e-2f);
 
 	// AND: the terrain state should be highly correlated with the other height states
 	auto P = _ekf->covariances();
@@ -242,5 +242,5 @@ TEST_F(EkfTerrainTest, testRngStartInAir)
 
 	const float corr_terrain_abias_z = P(State::accel_bias.idx + 2,
 					     State::terrain.idx) / sqrtf(_ekf->getAccelBiasVariance()(2) * var_terrain);
-	EXPECT_NEAR(corr_terrain_abias_z, -0.4f, 0.03f);
+	EXPECT_NEAR(corr_terrain_abias_z, -0.3f, 0.03f);
 }

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -413,41 +413,65 @@ void SimulatorMavlink::handle_message_hil_gps(const mavlink_message_t *msg)
 	if (!_gps_blocked) {
 		sensor_gps_s gps{};
 
-		gps.latitude_deg = hil_gps.lat / 1e7;
-		gps.longitude_deg = hil_gps.lon / 1e7;
-		gps.altitude_msl_m = hil_gps.alt / 1e3;
-		gps.altitude_ellipsoid_m = hil_gps.alt / 1e3;
+		if (!_gps_stuck) {
+			if (!_gps_wrong) {
+				gps.latitude_deg = hil_gps.lat / 1e7;
+				gps.longitude_deg = hil_gps.lon / 1e7;
+				gps.altitude_msl_m = hil_gps.alt / 1e3;
+				gps.altitude_ellipsoid_m = hil_gps.alt / 1e3;
 
-		gps.s_variance_m_s = 0.25f;
-		gps.c_variance_rad = 0.5f;
-		gps.fix_type = hil_gps.fix_type;
+			} else {
+				gps.latitude_deg = hil_gps.lat / 1e7 + 1.0;
+				gps.longitude_deg = hil_gps.lon / 1e7 + 1.0;
+				gps.altitude_msl_m = hil_gps.alt / 1e3 + 100.0;
+				gps.altitude_ellipsoid_m = hil_gps.alt / 1e3 - 100.0;
+			}
 
-		gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m
-		gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m
+			gps.s_variance_m_s = 0.25f;
+			gps.c_variance_rad = 0.5f;
+			gps.fix_type = hil_gps.fix_type;
 
-		gps.hdop = 0; // TODO
-		gps.vdop = 0; // TODO
+			gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m
+			gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m
 
-		gps.noise_per_ms = 0;
-		gps.automatic_gain_control = 0;
-		gps.jamming_indicator = 0;
-		gps.jamming_state = 0;
-		gps.spoofing_state = 0;
+			gps.hdop = 0; // TODO
+			gps.vdop = 0; // TODO
 
-		gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
-		gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s
-		gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s
-		gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s
-		gps.cog_rad = ((hil_gps.cog == 65535) ? NAN : matrix::wrap_2pi(math::radians(hil_gps.cog * 1e-2f))); // cdeg -> rad
-		gps.vel_ned_valid = true;
+			gps.noise_per_ms = 0;
+			gps.automatic_gain_control = 0;
+			gps.jamming_indicator = 0;
+			gps.jamming_state = 0;
+			gps.spoofing_state = 0;
 
-		gps.timestamp_time_relative = 0;
-		gps.time_utc_usec = hil_gps.time_usec;
+			if (!_gps_wrong) {
+				gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
+				gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s
+				gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s
+				gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s
 
-		gps.satellites_used = hil_gps.satellites_visible;
+			} else {
+				gps.vel_m_s = (float)(hil_gps.vel) / 100.0f - 1.f; // cm/s -> m/s
+				gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f + 5.f; // cm/s -> m/s
+				gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f - 8.f; // cm/s -> m/s
+				gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f + 2.f; // cm/s -> m/s
+			}
 
-		gps.heading = NAN;
-		gps.heading_offset = NAN;
+			gps.cog_rad = ((hil_gps.cog == 65535) ? NAN : matrix::wrap_2pi(math::radians(hil_gps.cog * 1e-2f))); // cdeg -> rad
+			gps.vel_ned_valid = true;
+
+			gps.timestamp_time_relative = 0;
+			gps.time_utc_usec = hil_gps.time_usec;
+
+			gps.satellites_used = hil_gps.satellites_visible;
+
+			gps.heading = NAN;
+			gps.heading_offset = NAN;
+
+			_gps_prev = gps;
+
+		} else {
+			gps = _gps_prev;
+		}
 
 		gps.timestamp = hrt_absolute_time();
 
@@ -1248,6 +1272,16 @@ void SimulatorMavlink::check_failure_injections()
 				PX4_INFO("CMD_INJECT_FAILURE, GPS ok");
 				supported = true;
 				_gps_blocked = false;
+				_gps_stuck = false;
+				_gps_wrong = false;
+
+			} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
+				supported = true;
+				_gps_stuck = true;
+
+			} else if (failure_type == vehicle_command_s::FAILURE_TYPE_WRONG) {
+				supported = true;
+				_gps_wrong = true;
 			}
 
 		} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_ACCEL) {

src/modules/simulation/simulator_mavlink/SimulatorMavlink.hpp

@@ -294,6 +294,9 @@ private:
 	bool _mag_stuck[MAG_COUNT_MAX] {};
 
 	bool _gps_blocked{false};
+	bool _gps_stuck{false};
+	bool _gps_wrong{false};
+	sensor_gps_s _gps_prev{};
 	bool _airspeed_disconnected{false};
 	hrt_abstime _airspeed_blocked_timestamp{0};
 	bool _vio_blocked{false};