ekf2: increase yaw estimator heading fusion rate

ekf2: magless mode increase yaw estimator yaw fusion rate
ekf2: magless fixes and improvements
2026-06-24 14:20:34 +08:00 · 2022-04-25 10:26:49 -04:00 · 2022-04-23 11:56:33 -04:00 · 2022-04-21 11:31:46 -04:00 · 2022-04-06 10:50:20 -04:00 · 2022-04-04 13:14:31 -04:00
27 changed files with 1506 additions and 1295 deletions
@@ -16,6 +16,7 @@ bool starting_vision_pos_fusion         #  9 - true when the filter starts using
 bool starting_vision_vel_fusion         # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
 bool starting_vision_yaw_fusion         # 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
 bool yaw_aligned_to_imu_gps             # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
+bool yaw_aligned_to_param               # 13 - true when the filter resets the yaw to initial heading parameter

 # warning events
 uint32 warning_event_changes            # number of warning event changes
@@ -3,6 +3,7 @@ uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

 float32 yaw_composite	# composite yaw from GSF (rad)
 float32 yaw_variance	# composite yaw variance from GSF (rad^2)
+bool yaw_composite_valid

 float32[5] yaw		# yaw estimate for each model in the filter bank (rad)
 float32[5] innov_vn	# North velocity innovation for each model in the filter bank (m/s)
@@ -71,6 +71,7 @@ px4_add_module(
 		EKF/terrain_estimator.cpp
 		EKF/utils.cpp
 		EKF/vel_pos_fusion.cpp
+		EKF/zero_innovation_heading_update.cpp
 		EKF/zero_velocity_update.cpp

 		EKF2.cpp
@@ -56,6 +56,7 @@ add_library(ecl_EKF
 	terrain_estimator.cpp
 	utils.cpp
 	vel_pos_fusion.cpp
+	zero_innovation_heading_update.cpp
 	zero_velocity_update.cpp
 )

@@ -1,3 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 "EKFGSF_yaw.h"
 #include <cstdlib>

@@ -23,7 +56,6 @@ void EKFGSF_yaw::update(const imuSample &imu_sample,
 	_delta_vel = imu_sample.delta_vel;
 	_delta_ang_dt = imu_sample.delta_ang_dt;
 	_delta_vel_dt = imu_sample.delta_vel_dt;
-	_run_ekf_gsf = run_EKF;
 	_true_airspeed = airspeed;

 	// to reduce effect of vibration, filter using an LPF whose time constant is 1/10 of the AHRS tilt correction time constant
@@ -60,7 +92,7 @@ void EKFGSF_yaw::update(const imuSample &imu_sample,
 	}

 	// The 3-state EKF models only run when flying to avoid corrupted estimates due to operator handling and GPS interference
-	if (_run_ekf_gsf && _vel_data_updated) {
+	if (run_EKF && _vel_data_updated) {
 		if (!_ekf_gsf_vel_fuse_started) {
 			initialiseEKFGSF();
 			ahrsAlignYaw();
@@ -111,7 +143,7 @@ void EKFGSF_yaw::update(const imuSample &imu_sample,
 			}
 		}

-	} else if (_ekf_gsf_vel_fuse_started && !_run_ekf_gsf) {
+	} else if (_ekf_gsf_vel_fuse_started && !run_EKF) {
 		// wait to fly again
 		_ekf_gsf_vel_fuse_started = false;
 	}
@@ -1,3 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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.
+ *
+ ****************************************************************************/
+
 #ifndef EKF_EKFGSF_YAW_H
 #define EKF_EKFGSF_YAW_H

@@ -108,7 +141,6 @@ private:
 	} _ekf_gsf[N_MODELS_EKFGSF] {};

 	bool _vel_data_updated{};	// true when velocity data has been updated
-	bool _run_ekf_gsf{};		// true when operating condition is suitable for to run the GSF and EKF models and fuse velocity data
 	Vector2f _vel_NE{};        // NE velocity observations (m/s)
 	float _vel_accuracy{};     // 1-sigma accuracy of velocity observations (m/s)
 	bool _ekf_gsf_vel_fuse_started{}; // true when the EKF's have started fusing velocity data and the prediction and update processing is active
@@ -270,6 +270,7 @@ struct parameters {
 	float gnd_effect_max_hgt{0.5f};		///< Height above ground at which baro ground effect becomes insignificant (m)

 	// magnetometer fusion
+	float heading_init_deg{0.f};		///< initial heading to use when no yaw aiding source is available
 	float mag_heading_noise{3.0e-1f};	///< measurement noise used for simple heading fusion (rad)
 	float mag_noise{5.0e-2f};		///< measurement noise used for 3-axis magnetoemeter fusion (Gauss)
 	float mag_declination_deg{0.0f};	///< magnetic declination (degrees)
@@ -382,7 +383,7 @@ struct parameters {
 	float EKFGSF_tas_default{15.0f};	///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s)
 	const unsigned EKFGSF_reset_delay{1000000};	///< Number of uSec of bad innovations on main filter in immediate post-takeoff phase before yaw is reset to EKF-GSF value
 	const float EKFGSF_yaw_err_max{0.262f}; 	///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad)
-	const unsigned EKFGSF_reset_count_limit{3};	///< Maximum number of times the yaw can be reset to the EKF-GSF yaw estimator value
+	const unsigned EKFGSF_reset_count_limit{5};	///< Maximum number of times the yaw can be reset to the EKF-GSF yaw estimator value
 };

 struct stateSample {
@@ -540,6 +541,7 @@ union information_event_status_u {
 		bool starting_vision_vel_fusion	: 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
 		bool starting_vision_yaw_fusion	: 1; ///< 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
 		bool yaw_aligned_to_imu_gps	: 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
+		bool yaw_aligned_to_param	: 1; ///< 13 - true when the filter resets the yaw to initial heading parameter
 	} flags;
 	uint32_t value;
 };
@@ -56,6 +56,11 @@ void Ekf::controlFusionModes()
 		// Once the tilt variances have reduced to equivalent of 3deg uncertainty
 		// and declare the tilt alignment complete
 		if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(math::radians(3.0f))) {
+
+			if (!yawAidingAvailable()) {
+				resetYawToParameter();
+			}
+
 			_control_status.flags.tilt_align = true;

 			// send alignment status message to the console
@@ -181,6 +186,8 @@ void Ekf::controlFusionModes()
 	// Additional horizontal velocity data from an auxiliary sensor can be fused
 	controlAuxVelFusion();

+	controlZeroInnovationHeadingUpdate();
+
 	controlZeroVelocityUpdate();

 	// Fake position measurement for constraining drift when no other velocity or position measurements
@@ -201,7 +208,9 @@ void Ekf::controlExternalVisionFusion()
 			reset = true;
 		}

-		if (_inhibit_ev_yaw_use) {
+		bool inhibit_ev_yaw_use = _control_status.flags.gps || _control_status.flags.gps_yaw;
+
+		if (inhibit_ev_yaw_use) {
 			stopEvYawFusion();
 		}

@@ -232,7 +241,7 @@ void Ekf::controlExternalVisionFusion()
 		}

 		// external vision yaw aiding selection logic
-		if (!_inhibit_ev_yaw_use && (_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw
+		if (!inhibit_ev_yaw_use && (_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw
 		    && _control_status.flags.tilt_align) {

 			// don't start using EV data unless data is arriving frequently
@@ -355,14 +364,11 @@ void Ekf::controlExternalVisionFusion()
 				resetYawToEv();
 			}

-			if (shouldUse321RotationSequence(_R_to_earth)) {
-				float measured_hdg = getEuler321Yaw(_ev_sample_delayed.quat);
-				fuseYaw321(measured_hdg, _ev_sample_delayed.angVar);
+			float measured_hdg = shouldUse321RotationSequence(_R_to_earth) ? getEuler321Yaw(_ev_sample_delayed.quat) : getEuler312Yaw(_ev_sample_delayed.quat);

-			} else {
-				float measured_hdg = getEuler312Yaw(_ev_sample_delayed.quat);
-				fuseYaw312(measured_hdg, _ev_sample_delayed.angVar);
-			}
+			float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg);
+			float obs_var = fmaxf(_ev_sample_delayed.angVar, 1.e-4f);
+			fuseYaw(innovation, obs_var);
 		}

 		// record observation and estimate for use next time
@@ -1046,13 +1052,12 @@ void Ekf::controlBetaFusion()
 void Ekf::controlDragFusion()
 {
 	if ((_params.fusion_mode & MASK_USE_DRAG) && _drag_buffer &&
-	    !_using_synthetic_position && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) {
+	    !_using_synthetic_position && _control_status.flags.in_air) {

 		if (!_control_status.flags.wind) {
 			// reset the wind states and covariances when starting drag accel fusion
 			_control_status.flags.wind = true;
 			resetWind();
-
 		}


@@ -1021,7 +1021,8 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)

 	// magnetic field states
 	if (!_control_status.flags.mag_3D) {
-		zeroMagCov();
+		P.uncorrelateCovarianceSetVariance<3>(16, 0.0f);
+		P.uncorrelateCovarianceSetVariance<3>(19, 0.0f);

 	} else {
 		// constrain variances
@@ -1101,29 +1102,13 @@ void Ekf::resetMagCov()
 {
 	// reset the corresponding rows and columns in the covariance matrix and
 	// set the variances on the magnetic field states to the measurement variance
-	clearMagCov();
+	_mag_decl_cov_reset = false;

 	P.uncorrelateCovarianceSetVariance<3>(16, sq(_params.mag_noise));
 	P.uncorrelateCovarianceSetVariance<3>(19, sq(_params.mag_noise));

-	if (!_control_status.flags.mag_3D) {
-		// save covariance data for re-use when auto-switching between heading and 3-axis fusion
-		// if already in 3-axis fusion mode, the covariances are automatically saved when switching out
-		// of this mode
-		saveMagCovData();
-	}
-}
-
-void Ekf::clearMagCov()
-{
-	zeroMagCov();
-	_mag_decl_cov_reset = false;
-}
-
-void Ekf::zeroMagCov()
-{
-	P.uncorrelateCovarianceSetVariance<3>(16, 0.0f);
-	P.uncorrelateCovarianceSetVariance<3>(19, 0.0f);
+	// save covariance data for re-use when auto-switching between heading and 3-axis fusion
+	saveMagCovData();
 }

 void Ekf::resetZDeltaAngBiasCov()
@@ -196,7 +196,24 @@ bool Ekf::initialiseFilter()
 	// calculate the initial magnetic field and yaw alignment
 	// but do not mark the yaw alignement complete as it needs to be
 	// reset once the leveling phase is done
-	resetMagHeading(false, false);
+	if ((_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) && (_mag_counter != 0)) {
+		// rotate the magnetometer measurements into earth frame using a zero yaw angle
+		// the angle of the projection onto the horizontal gives the yaw angle
+		const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
+		float yaw_new = wrap_pi(-atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination());
+
+		// update quaternion states and corresponding covarainces
+		resetQuatStateYaw(yaw_new, 0.f, false);
+
+		// set the earth magnetic field states using the updated rotation
+		_state.mag_I = _R_to_earth * _mag_lpf.getState();
+		_state.mag_B.zero();
+
+	} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
+
+		float yaw_new = wrap_pi(math::radians(_params.heading_init_deg));
+		resetQuatStateYaw(yaw_new, 0.f, false);
+	}

 	// initialise the state covariance matrix now we have starting values for all the states
 	initialiseCovariance();
@@ -264,11 +281,6 @@ void Ekf::predictState()
 	const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
 	const Vector3f corrected_delta_vel_ef = _R_to_earth * corrected_delta_vel;

-	// calculate a filtered horizontal acceleration with a 1 sec time constant
-	// this are used for manoeuvre detection elsewhere
-	const float alpha = 1.0f - _imu_sample_delayed.delta_vel_dt;
-	_accel_lpf_NE = _accel_lpf_NE * alpha + corrected_delta_vel_ef.xy();
-
 	// save the previous value of velocity so we can use trapzoidal integration
 	const Vector3f vel_last = _state.vel;

@@ -319,15 +331,6 @@ void Ekf::calculateOutputStates(const imuSample &imu)
 	// Apply corrections to the delta angle required to track the quaternion states at the EKF fusion time horizon
 	const Vector3f delta_angle(imu.delta_ang - _state.delta_ang_bias * dt_scale_correction + _delta_angle_corr);

-	// calculate a yaw change about the earth frame vertical
-	const float spin_del_ang_D = delta_angle.dot(Vector3f(_R_to_earth_now.row(2)));
-	_yaw_delta_ef += spin_del_ang_D;
-
-	// Calculate filtered yaw rate to be used by the magnetometer fusion type selection logic
-	// Note fixed coefficients are used to save operations. The exact time constant is not important.
-	_yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / imu.delta_ang_dt;
-
-
 	_output_new.time_us = imu.time_us;
 	_output_vert_new.time_us = imu.time_us;

@@ -340,13 +343,13 @@ void Ekf::calculateOutputStates(const imuSample &imu)
 	_output_new.quat_nominal.normalize();

 	// calculate the rotation matrix from body to earth frame
-	_R_to_earth_now = Dcmf(_output_new.quat_nominal);
+	const Dcmf R_to_earth_now{_output_new.quat_nominal};

 	// correct delta velocity for bias offsets
 	const Vector3f delta_vel_body{imu.delta_vel - _state.delta_vel_bias * dt_scale_correction};

 	// rotate the delta velocity to earth frame
-	Vector3f delta_vel_earth{_R_to_earth_now * delta_vel_body};
+	Vector3f delta_vel_earth{R_to_earth_now * delta_vel_body};

 	// correct for measured acceleration due to gravity
 	delta_vel_earth(2) += CONSTANTS_ONE_G * imu.delta_vel_dt;
@@ -382,7 +385,7 @@ void Ekf::calculateOutputStates(const imuSample &imu)
 		const Vector3f vel_imu_rel_body = ang_rate % _params.imu_pos_body;

 		// rotate the relative velocity into earth frame
-		_vel_imu_rel_body_ned = _R_to_earth_now * vel_imu_rel_body;
+		_vel_imu_rel_body_ned = R_to_earth_now * vel_imu_rel_body;
 	}

 	// store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer
@@ -222,9 +222,11 @@ public:
 	bool isYawFinalAlignComplete() const
 	{
 		const bool is_using_mag = (_control_status.flags.mag_3D || _control_status.flags.mag_hdg);
+
 		const bool is_mag_alignment_in_flight_complete = is_using_mag
 				&& _control_status.flags.mag_aligned_in_flight
 				&& ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)1e6);
+
 		return _control_status.flags.yaw_align
 		       && (is_mag_alignment_in_flight_complete || !is_using_mag);
 	}
@@ -253,7 +255,7 @@ public:
 			return Vector3f{P(19, 19), P(20, 20), P(21, 21)};
 		}

-		return _saved_mag_bf_variance;
+		return _saved_mag_bf_covmat.diag();
 	}

 	bool accel_bias_inhibited() const { return _accel_bias_inhibit[0] || _accel_bias_inhibit[1] || _accel_bias_inhibit[2]; }
@@ -330,6 +332,9 @@ public:
 	bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
 			   float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);

+	// Returns true if the output of the yaw emergency estimator can be used for a reset
+	bool isYawEmergencyEstimateAvailable() const;
+
 	const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }

 private:
@@ -368,7 +373,6 @@ private:
 	Vector2f _hpos_pred_prev{};		///< previous value of NE position state used by odometry fusion (m)
 	bool _hpos_prev_available{false};	///< true when previous values of the estimate and measurement are available for use
 	Dcmf _R_ev_to_ekf;			///< transformation matrix that rotates observations from the EV to the EKF navigation frame, initialized with Identity
-	bool _inhibit_ev_yaw_use{false};	///< true when the vision yaw data should not be used (e.g.: NE fusion requires true North)

 	// booleans true when fresh sensor data is available at the fusion time horizon
 	bool _gps_data_ready{false};	///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
@@ -386,6 +390,8 @@ private:
 	uint64_t _time_last_hgt_fuse{0};	///< time the last fusion of vertical position measurements was performed (uSec)
 	uint64_t _time_last_hor_vel_fuse{0};	///< time the last fusion of horizontal velocity measurements was performed (uSec)
 	uint64_t _time_last_ver_vel_fuse{0};	///< time the last fusion of verticalvelocity measurements was performed (uSec)
+	uint64_t _time_last_heading_fuse{0};
+
 	uint64_t _time_last_of_fuse{0};		///< time the last fusion of optical flow measurements were performed (uSec)
 	uint64_t _time_last_flow_terrain_fuse{0}; ///< time the last fusion of optical flow measurements for terrain estimation were performed (uSec)
 	uint64_t _time_last_arsp_fuse{0};	///< time the last fusion of airspeed measurements were performed (uSec)
@@ -394,6 +400,8 @@ private:
 	uint64_t _time_last_zero_velocity_fuse{0}; ///< last time of zero velocity update (uSec)
 	uint64_t _time_last_gps_yaw_fuse{0};	///< time the last fusion of GPS yaw measurements were performed (uSec)
 	uint64_t _time_last_gps_yaw_data{0};	///< time the last GPS yaw measurement was available (uSec)
+	uint64_t _time_last_mag_heading_fuse{0};
+	uint64_t _time_last_mag_3d_fuse{0};
 	uint64_t _time_last_healthy_rng_data{0};
 	uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source

@@ -408,20 +416,15 @@ private:

 	// used by magnetometer fusion mode selection
 	Vector2f _accel_lpf_NE{};			///< Low pass filtered horizontal earth frame acceleration (m/sec**2)
-	float _yaw_delta_ef{0.0f};		///< Recent change in yaw angle measured about the earth frame D axis (rad)
 	float _yaw_rate_lpf_ef{0.0f};		///< Filtered angular rate about earth frame D axis (rad/sec)
 	bool _mag_bias_observable{false};	///< true when there is enough rotation to make magnetometer bias errors observable
 	bool _yaw_angle_observable{false};	///< true when there is enough horizontal acceleration to make yaw observable
 	uint64_t _time_yaw_started{0};		///< last system time in usec that a yaw rotation manoeuvre was detected
 	uint8_t _num_bad_flight_yaw_events{0};	///< number of times a bad heading has been detected in flight and required a yaw reset
-	uint64_t _mag_use_not_inhibit_us{0};	///< last system time in usec before magnetometer use was inhibited
 	float _last_static_yaw{NAN};		///< last yaw angle recorded when on ground motion checks were passing (rad)

-	bool _mag_inhibit_yaw_reset_req{false};	///< true when magnetometer inhibit has been active for long enough to require a yaw reset when conditions improve.
-	bool _mag_yaw_reset_req{false};		///< true when a reset of the yaw using the magnetometer data has been requested
 	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
 	bool _synthetic_mag_z_active{false};	///< true if we are generating synthetic magnetometer Z measurements
-	bool _non_mag_yaw_aiding_running_prev{false};  ///< true when heading is being fused from other sources that are not the magnetometer (for example EV or GPS).
 	bool _is_yaw_fusion_inhibited{false};		///< true when yaw sensor use is being inhibited

 	SquareMatrix24f P{};	///< state covariance matrix
@@ -526,9 +529,10 @@ private:
 	float _last_on_ground_posD{0.0f};	///< last vertical position when the in_air status was false (m)
 	uint64_t _flt_mag_align_start_time{0};	///< time that inflight magnetic field alignment started (uSec)
 	uint64_t _time_last_mov_3d_mag_suitable{0};	///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)
-	Vector3f _saved_mag_bf_variance {}; ///< magnetic field state variances that have been saved for use at the next initialisation (Gauss**2)
-	Matrix2f _saved_mag_ef_ne_covmat{}; ///< NE magnetic field state covariance sub-matrix saved for use at the next initialisation (Gauss**2)
-	float _saved_mag_ef_d_variance{};   ///< D magnetic field state variance saved for use at the next initialisation (Gauss**2)
+	Matrix3f _saved_mag_bf_covmat{}; ///< magnetometer bias state covariance sub-matrix saved for use at the next initialisation (Gauss**2)
+	Matrix3f _saved_mag_ef_covmat{}; ///< NED magnetic field state covariance sub-matrix saved for use at the next initialisation (Gauss**2)
+
+	float _mag_heading_last_declination{NAN};

 	gps_check_fail_status_u _gps_check_fail_status{};

@@ -581,30 +585,12 @@ private:
 	void predictCovariance();

 	// ekf sequential fusion of magnetometer measurements
-	void fuseMag(const Vector3f &mag);
+	bool fuseMag(const Vector3f &mag, bool update_all_states = true);

-	// fuse the first euler angle from either a 321 or 312 rotation sequence as the observation (currently measures yaw using the magnetometer)
-	void fuseHeading(float measured_hdg = NAN, float obs_var = NAN);
-
-	// fuse the yaw angle defined as the first rotation in a 321 Tait-Bryan rotation sequence
-	// yaw : angle observation defined as the first rotation in a 321 Tait-Bryan rotation sequence (rad)
-	// yaw_variance : variance of the yaw angle observation (rad^2)
-	// zero_innovation : Fuse data with innovation set to zero
-	bool fuseYaw321(const float yaw, const float yaw_variance, bool zero_innovation = false);
-
-	// fuse the yaw angle defined as the first rotation in a 312 Tait-Bryan rotation sequence
-	// yaw : angle observation defined as the first rotation in a 312 Tait-Bryan rotation sequence (rad)
-	// yaw_variance : variance of the yaw angle observation (rad^2)
-	// zero_innovation : Fuse data with innovation set to zero
-	bool fuseYaw312(const float yaw, const float yaw_variance, bool zero_innovation = false);
-
-	// update quaternion states and covariances using an innovation, observation variance and Jacobian vector
+	// update quaternion states and covariances using a yaw innovation and yaw observation variance
 	// innovation : prediction - measurement
 	// variance : observaton variance
-	// gate_sigma : innovation consistency check gate size (Sigma)
-	// jacobian : 4x1 vector of partial derivatives of observation wrt each quaternion state
-	bool updateQuaternion(const float innovation, const float variance, const float gate_sigma,
-			      const Vector4f &yaw_jacobian);
+	bool fuseYaw(const float innovation, const float variance);

 	// fuse the yaw angle obtained from a dual antenna GPS unit
 	void fuseGpsYaw();
@@ -615,7 +601,7 @@ private:

 	// fuse magnetometer declination measurement
 	// argument passed in is the declination uncertainty in radians
-	void fuseDeclination(float decl_sigma);
+	bool fuseDeclination(float decl_sigma);

 	// apply sensible limits to the declination and length of the NE mag field states estimates
 	void limitDeclination();
@@ -710,7 +696,7 @@ private:

 	// reset the heading and magnetic field states using the declination and magnetometer measurements
 	// return true if successful
-	bool resetMagHeading(bool increase_yaw_var = true, bool update_buffer = true);
+	bool resetMagHeading();

 	// reset the heading using the external vision measurements
 	// return true if successful
@@ -718,7 +704,7 @@ private:

 	// Do a forced re-alignment of the yaw angle to align with the horizontal velocity vector from the GPS.
 	// It is used to align the yaw angle after launch or takeoff for fixed wing vehicle.
-	bool realignYawGPS(const Vector3f &mag);
+	bool realignYawGPS(bool force = false);

 	// Return the magnetic declination in radians to be used by the alignment and fusion processing
 	float getMagDeclination();
@@ -831,41 +817,33 @@ private:
 	void controlGpsFusion();
 	bool shouldResetGpsFusion() const;
 	bool hasHorizontalAidingTimedOut() const;
-	bool isYawFailure() const;
+
+	bool isYawError(float error_threshold = math::radians(10.f)) const;
+	bool isYawFailure() const { return isYawError(math::radians(25.f)); }

 	void controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing);

 	// control fusion of magnetometer observations
 	void controlMagFusion();

-	bool noOtherYawAidingThanMag() const;
-	bool otherHeadingSourcesHaveStopped();
-
-	void checkHaglYawResetReq();
+	bool haglYawResetReq() const;
 	float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }

-	void runOnGroundYawReset();
-	bool isYawResetAuthorized() const { return !_is_yaw_fusion_inhibited; }
-	bool canResetMagHeading() const;
-	void runInAirYawReset(const Vector3f &mag);
+	void runYawReset();

-	void selectMagAuto();
-	void check3DMagFusionSuitability();
 	void checkYawAngleObservability();
 	void checkMagBiasObservability();
-	bool isYawAngleObservable() const { return _yaw_angle_observable; }
-	bool isMagBiasObservable() const { return _mag_bias_observable; }
 	bool canUse3DMagFusion() const;

 	void checkMagDeclRequired();
-	void checkMagInhibition();
 	bool shouldInhibitMag() const;
-	void checkMagFieldStrength(const Vector3f &mag);
-	bool isStrongMagneticDisturbance() const { return _control_status.flags.mag_field_disturbed; }
+	bool magFieldStrengthDisturbed(const Vector3f &mag) const;
 	static bool isMeasuredMatchingExpected(float measured, float expected, float gate);
 	void runMagAndMagDeclFusions(const Vector3f &mag);
 	void run3DMagAndDeclFusions(const Vector3f &mag);

+	bool resetMagStates();
+
 	// control fusion of range finder observations
 	void controlRangeFinderFusion();

@@ -886,6 +864,8 @@ private:

 	void controlZeroVelocityUpdate();

+	void controlZeroInnovationHeadingUpdate();
+
 	// control fusion of auxiliary velocity observations
 	void controlAuxVelFusion();

@@ -966,10 +946,7 @@ private:
 	void increaseQuatYawErrVariance(float yaw_variance);

 	// load and save mag field state covariance data for re-use
-	void loadMagCovData();
 	void saveMagCovData();
-	void clearMagCov();
-	void zeroMagCov();

 	void resetZDeltaAngBiasCov();

@@ -1025,7 +1002,18 @@ private:
 	// yaw : Euler yaw angle (rad)
 	// yaw_variance : yaw error variance (rad^2)
 	// update_buffer : true if the state change should be also applied to the output observer buffer
-	void resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer);
+	void resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer = true);
+
+	bool resetYawToParameter();
+
+	bool yawAidingAvailable() const
+	{
+		const bool mag = (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D);
+		const bool gps_yaw = (_params.fusion_mode & MASK_USE_GPSYAW);
+		const bool ev_yaw = _params.fusion_mode & MASK_USE_EVYAW;
+
+		return mag || gps_yaw || ev_yaw;
+	}

 	// Declarations used to control use of the EKF-GSF yaw estimator

@@ -1044,10 +1032,8 @@ private:
 	// Returns true if the reset was successful
 	bool resetYawToEKFGSF();

-	// Returns true if the output of the yaw emergency estimator can be used for a reset
-	bool isYawEmergencyEstimateAvailable() const;
-
 	void resetGpsDriftCheckFilters();
+
 };

 #endif // !EKF_EKF_H
@@ -338,51 +338,60 @@ void Ekf::alignOutputFilter()

 // Do a forced re-alignment of the yaw angle to align with the horizontal velocity vector from the GPS.
 // It is used to align the yaw angle after launch or takeoff for fixed wing vehicle only.
-bool Ekf::realignYawGPS(const Vector3f &mag)
+bool Ekf::realignYawGPS(bool force)
 {
+	if (!_control_status.flags.in_air || !_control_status.flags.fixed_wing) {
+		return false;
+	}
+
 	const float gpsSpeed = sqrtf(sq(_gps_sample_delayed.vel(0)) + sq(_gps_sample_delayed.vel(1)));

 	// Need at least 5 m/s of GPS horizontal speed and
 	// ratio of velocity error to velocity < 0.15  for a reliable alignment
-	const bool gps_yaw_alignment_possible = (gpsSpeed > 5.0f) && (_gps_sample_delayed.sacc < (0.15f * gpsSpeed));
+	const bool gps_yaw_alignment_possible = (gpsSpeed > 5.f) && (_gps_sample_delayed.sacc < (0.15f * gpsSpeed));

 	if (!gps_yaw_alignment_possible) {
 		// attempt a normal alignment using the magnetometer
-		return resetMagHeading();
+		return false;
 	}

 	// check for excessive horizontal GPS velocity innovations
-	const bool badVelInnov = (_gps_vel_test_ratio(0) > 1.0f) && _control_status.flags.gps;
+	const bool bad_vel_innov = (_gps_vel_test_ratio(0) > 1.f) && _control_status.flags.gps;

 	// calculate GPS course over ground angle
-	const float gpsCOG = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));
+	const float gps_cog = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));

 	// calculate course yaw angle
-	const float ekfCOG = atan2f(_state.vel(1), _state.vel(0));
+	const float ekf_cog = atan2f(_state.vel(1), _state.vel(0));

 	// Check the EKF and GPS course over ground for consistency
-	const float courseYawError = wrap_pi(gpsCOG - ekfCOG);
+	const float course_yaw_error = wrap_pi(gps_cog - ekf_cog);

 	// If the angles disagree and horizontal GPS velocity innovations are large or no previous yaw alignment, we declare the magnetic yaw as bad
-	const bool badYawErr = fabsf(courseYawError) > 0.5f;
-	const bool badMagYaw = (badYawErr && badVelInnov);
+	const bool bad_yaw_error = fabsf(course_yaw_error) > math::radians(25.f);
+	const bool bad_mag_yaw = (bad_yaw_error && bad_vel_innov);

-	if (badMagYaw) {
+	if (bad_mag_yaw) {
 		_num_bad_flight_yaw_events++;
-	}

-	// correct yaw angle using GPS ground course if compass yaw bad or yaw is previously not aligned
-	if (badMagYaw || !_control_status.flags.yaw_align) {
 		_warning_events.flags.bad_yaw_using_gps_course = true;
 		ECL_WARN("bad yaw, using GPS course");

 		// declare the magnetometer as failed if a bad yaw has occurred more than once
-		if (_control_status.flags.mag_aligned_in_flight && (_num_bad_flight_yaw_events >= 2)
+		if (_control_status.flags.mag_aligned_in_flight
+		    && (_num_bad_flight_yaw_events >= 2)
 		    && !_control_status.flags.mag_fault) {
+
 			_warning_events.flags.stopping_mag_use = true;
 			ECL_WARN("stopping mag use");
 			_control_status.flags.mag_fault = true;
 		}
+	}
+
+	// correct yaw angle using GPS ground course if compass yaw bad or yaw is previously not aligned
+	if (bad_mag_yaw || !_control_status.flags.yaw_align || force) {
+
+		ECL_INFO("realign yaw GPS resetting yaw");

 		// calculate new yaw estimate
 		float yaw_new;
@@ -391,7 +400,7 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
 			// This is our first flight alignment so we can assume that the recent change in velocity has occurred due to a
 			// forward direction takeoff or launch and therefore the inertial and GPS ground course discrepancy is due to yaw error
 			const float current_yaw = getEulerYaw(_R_to_earth);
-			yaw_new = current_yaw + courseYawError;
+			yaw_new = current_yaw + course_yaw_error;
 			_control_status.flags.mag_aligned_in_flight = true;

 		} else if (_control_status.flags.wind) {
@@ -402,8 +411,7 @@ bool Ekf::realignYawGPS(const Vector3f &mag)

 		} else {
 			// we don't have wind estimates, so align yaw to the GPS velocity vector
-			yaw_new = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));
-
+			yaw_new = gps_cog;
 		}

 		// use the combined EKF and GPS speed variance to calculate a rough estimate of the yaw error after alignment
@@ -412,95 +420,73 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
 		const float yaw_variance_new = sq(asinf(sineYawError));

 		// Apply updated yaw and yaw variance to states and covariances
-		resetQuatStateYaw(yaw_new, yaw_variance_new, true);
-
-		// Use the last magnetometer measurements to reset the field states
-		_state.mag_B.zero();
-		_state.mag_I = _R_to_earth * mag;
-
-		resetMagCov();
-
-		// record the start time for the magnetic field alignment
-		_flt_mag_align_start_time = _imu_sample_delayed.time_us;
+		resetQuatStateYaw(yaw_new, yaw_variance_new);
+		_control_status.flags.yaw_align = true;

 		// If heading was bad, then we also need to reset the velocity and position states
-		if (badMagYaw) {
+		if (bad_mag_yaw && _control_status.flags.gps) {
 			resetVelocityToGps(_gps_sample_delayed);
 			resetHorizontalPositionToGps(_gps_sample_delayed);
 		}

-		return true;
-
-	} else {
-		// align mag states only
-
-		// calculate initial earth magnetic field states
-		_state.mag_I = _R_to_earth * mag;
-
-		resetMagCov();
-
-		// record the start time for the magnetic field alignment
-		_flt_mag_align_start_time = _imu_sample_delayed.time_us;
+		resetMagStates();

 		return true;
 	}
+
+	return false;
 }

 // Reset heading and magnetic field states
-bool Ekf::resetMagHeading(bool increase_yaw_var, bool update_buffer)
+bool Ekf::resetMagHeading()
 {
 	// prevent a reset being performed more than once on the same frame
 	if (_imu_sample_delayed.time_us == _flt_mag_align_start_time) {
 		return true;
 	}

+	const bool mag_available = (_mag_counter != 0) && isRecent(_time_last_mag, 500000)
+				   && !magFieldStrengthDisturbed(_mag_lpf.getState());
+
 	// low pass filtered mag required
-	if (_mag_counter == 0) {
+	if (!mag_available) {
 		return false;
 	}

-	const Vector3f mag_init = _mag_lpf.getState();
-
-	// calculate the observed yaw angle and yaw variance
-	float yaw_new;
-	float yaw_new_variance = 0.0f;
-
-	const bool heading_required_for_navigation = _control_status.flags.gps || _control_status.flags.ev_pos;
+	const bool heading_required_for_navigation = _control_status.flags.gps;

 	if ((_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) || ((_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR) && heading_required_for_navigation)) {

+		ECL_INFO("reset mag heading resetting yaw");
+
+		const Vector3f mag_init = _mag_lpf.getState();
+
 		// rotate the magnetometer measurements into earth frame using a zero yaw angle
 		const Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth);

 		// the angle of the projection onto the horizontal gives the yaw angle
 		const Vector3f mag_earth_pred = R_to_earth * mag_init;
-		yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();

-		if (increase_yaw_var) {
-			yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
-		}
+		// calculate the observed yaw angle and yaw variance
+		float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
+		float yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.e-2f));
+
+		// update quaternion states and corresponding covarainces
+		resetQuatStateYaw(yaw_new, yaw_new_variance);
+
+		// set the earth magnetic field states using the updated rotation
+		_state.mag_I = _R_to_earth * mag_init;
+
+		resetMagCov();
+
+		// record the time for the magnetic field alignment event
+		_flt_mag_align_start_time = _imu_sample_delayed.time_us;
+		_time_last_mag_heading_fuse = _time_last_imu;

-	} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR) {
-		// we are operating temporarily without knowing the earth frame yaw angle
 		return true;
-
-	} else {
-		// there is no magnetic yaw observation
-		return false;
 	}

-	// update quaternion states and corresponding covarainces
-	resetQuatStateYaw(yaw_new, yaw_new_variance, update_buffer);
-
-	// set the earth magnetic field states using the updated rotation
-	_state.mag_I = _R_to_earth * mag_init;
-
-	resetMagCov();
-
-	// record the time for the magnetic field alignment event
-	_flt_mag_align_start_time = _imu_sample_delayed.time_us;
-
-	return true;
+	return false;
 }

 bool Ekf::resetYawToEv()
@@ -879,7 +865,9 @@ void Ekf::resetMagBias()
 	P.uncorrelateCovarianceSetVariance<3>(19, sq(_params.mag_noise));

 	// reset any saved covariance data for re-use when auto-switching between heading and 3-axis fusion
-	_saved_mag_bf_variance.zero();
+	_saved_mag_bf_covmat.zero();
+
+	_mag_counter = 0;
 }

 // get EKF innovation consistency check status information comprising of:
@@ -1210,35 +1198,68 @@ void Ekf::stopMagFusion()
 {
 	stopMag3DFusion();
 	stopMagHdgFusion();
-	clearMagCov();
+
+	P.uncorrelateCovarianceSetVariance<3>(16, 0.0f);
+	P.uncorrelateCovarianceSetVariance<3>(19, 0.0f);
+
+	_mag_decl_cov_reset = false;
 }

 void Ekf::stopMag3DFusion()
 {
 	// save covariance data for re-use if currently doing 3-axis fusion
 	if (_control_status.flags.mag_3D) {
+
 		saveMagCovData();
 		_control_status.flags.mag_3D = false;
+		_control_status.flags.mag_dec = false;
+
+		_mag_innov.zero();
+		_mag_innov_var.zero();
+		_mag_test_ratio.zero();
+
+		_fault_status.flags.bad_mag_x = false;
+		_fault_status.flags.bad_mag_y = false;
+		_fault_status.flags.bad_mag_z = false;
+
+		_fault_status.flags.bad_mag_decl = false;
 	}
 }

 void Ekf::stopMagHdgFusion()
 {
-	_control_status.flags.mag_hdg = false;
+	if (_control_status.flags.mag_hdg) {
+		_control_status.flags.mag_hdg = false;
+
+		_fault_status.flags.bad_hdg = false;
+
+		_yaw_test_ratio = 0.f;
+	}
 }

 void Ekf::startMagHdgFusion()
 {
-	stopMag3DFusion();
-	_control_status.flags.mag_hdg = true;
+	if (!_control_status.flags.mag_hdg) {
+		stopMag3DFusion();
+		ECL_INFO("starting mag heading fusion");
+		_control_status.flags.mag_hdg = true;
+	}
 }

 void Ekf::startMag3DFusion()
 {
 	if (!_control_status.flags.mag_3D) {
+
 		stopMagHdgFusion();
-		zeroMagCov();
-		loadMagCovData();
+
+		_yaw_test_ratio = 0.0f;
+
+		// re-instate the NE axis covariance sub-matrix
+		P.slice<3, 3>(16, 16) = _saved_mag_ef_covmat;
+
+		// re-instate variances for the XYZ body axis field
+		P.slice<3, 3>(19, 19) = _saved_mag_bf_covmat;
+
 		_control_status.flags.mag_3D = true;
 	}
 }
@@ -1484,30 +1505,11 @@ void Ekf::increaseQuatYawErrVariance(float yaw_variance)
 // save covariance data for re-use when auto-switching between heading and 3-axis fusion
 void Ekf::saveMagCovData()
 {
-	// save variances for XYZ body axis field
-	_saved_mag_bf_variance(0) = P(19, 19);
-	_saved_mag_bf_variance(1) = P(20, 20);
-	_saved_mag_bf_variance(2) = P(21, 21);
-
 	// save the NE axis covariance sub-matrix
-	_saved_mag_ef_ne_covmat = P.slice<2, 2>(16, 16);
+	_saved_mag_ef_covmat = P.slice<3, 3>(16, 16);

-	// save variance for the D earth axis
-	_saved_mag_ef_d_variance = P(18, 18);
-}
-
-void Ekf::loadMagCovData()
-{
-	// re-instate variances for the XYZ body axis field
-	P(19, 19) = _saved_mag_bf_variance(0);
-	P(20, 20) = _saved_mag_bf_variance(1);
-	P(21, 21) = _saved_mag_bf_variance(2);
-
-	// re-instate the NE axis covariance sub-matrix
-	P.slice<2, 2>(16, 16) = _saved_mag_ef_ne_covmat;
-
-	// re-instate the D earth axis variance
-	P(18, 18) = _saved_mag_ef_d_variance;
+	// save variances for XYZ body axis field
+	_saved_mag_bf_covmat = P.slice<3, 3>(19, 19);
 }

 void Ekf::startAirspeedFusion()
@@ -1531,6 +1533,40 @@ void Ekf::stopAirspeedFusion()
 void Ekf::startGpsFusion()
 {
 	if (!_control_status.flags.gps) {
+
+		bool yaw_reset_needed = false;
+
+		if (_control_status.flags.ev_yaw) {
+			// Stop the vision for yaw fusion and do not allow it to start again
+			stopEvYawFusion();
+
+			yaw_reset_needed = true;
+		}
+
+		if (isYawEmergencyEstimateAvailable() && isYawError(math::radians(10.f))) {
+			yaw_reset_needed = true;
+		}
+
+		// yaw needs to be defined relative to an NED reference frame
+		if (yaw_reset_needed) {
+			if (resetYawToEKFGSF()) {
+				ECL_INFO("starting GPS, reset yaw using yaw estimator");
+
+			} else if (resetYawToGps()) {
+				ECL_INFO("starting GPS, reset yaw to GPS");
+
+			} else if (realignYawGPS(true)) {
+				ECL_INFO("starting GPS, reset yaw using GPS course");
+
+			} else if (resetMagHeading()) {
+				ECL_INFO("starting GPS, reset yaw using mag");
+
+			} else {
+				// all failed
+				ECL_ERR("starting GPS, yaw reset failed");
+			}
+		}
+
 		resetHorizontalPositionToGps(_gps_sample_delayed);

 		// when already using another velocity source velocity reset is not necessary
@@ -1554,10 +1590,6 @@ void Ekf::stopGpsFusion()
 	if (_control_status.flags.gps_yaw) {
 		stopGpsYawFusion();
 	}
-
-	// We do not need to know the true North anymore
-	// EV yaw can start again
-	_inhibit_ev_yaw_use = false;
 }

 void Ekf::stopGpsPosFusion()
@@ -1590,12 +1622,14 @@ void Ekf::startGpsYawFusion()
 		stopMag3DFusion();
 		_control_status.flags.gps_yaw = true;
 	}
-
 }

 void Ekf::stopGpsYawFusion()
 {
-	_control_status.flags.gps_yaw = false;
+	if (_control_status.flags.gps_yaw) {
+		ECL_INFO("stopping GPS yaw fusion");
+		_control_status.flags.gps_yaw = false;
+	}
 }

 void Ekf::startEvPosFusion()
@@ -1652,7 +1686,10 @@ void Ekf::stopEvVelFusion()

 void Ekf::stopEvYawFusion()
 {
-	_control_status.flags.ev_yaw = false;
+	if (_control_status.flags.ev_yaw) {
+		ECL_INFO("stopping EV yaw fusion");
+		_control_status.flags.ev_yaw = false;
+	}
 }

 void Ekf::stopAuxVelFusion()
@@ -1707,11 +1744,31 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
 		// apply the change in attitude quaternion to our newest quaternion estimate
 		// which was already taken out from the output buffer
 		_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
-
 	}

+	_last_static_yaw = NAN;
+
 	// capture the reset event
 	_state_reset_status.quat_counter++;
+
+	_time_last_heading_fuse = _time_last_imu;
+}
+
+bool Ekf::resetYawToParameter()
+{
+	if (!_control_status.flags.yaw_align && PX4_ISFINITE(_params.heading_init_deg)) {
+
+		float yaw_new = wrap_pi(math::radians(_params.heading_init_deg));
+		resetQuatStateYaw(yaw_new, 0.f);
+
+		_control_status.flags.yaw_align = true;
+		_information_events.flags.yaw_aligned_to_param = true;
+		ECL_INFO("Yaw aligned using parameter");
+
+		return true;
+	}
+
+	return false;
 }

 // Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
@@ -1719,33 +1776,25 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
 // Returns true if the reset was successful
 bool Ekf::resetYawToEKFGSF()
 {
-	if (!isYawEmergencyEstimateAvailable()) {
+	// 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 (!isYawEmergencyEstimateAvailable()
+	|| !isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000)
+	|| _ekfgsf_yaw_reset_count > _params.EKFGSF_reset_count_limit) {
+
 		return false;
 	}

 	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar(), true);

-	// record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight
-	_flt_mag_align_start_time = _imu_sample_delayed.time_us;
 	_control_status.flags.yaw_align = true;
-
-	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
-		// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
-		// and cause another navigation failure
-		_control_status.flags.mag_fault = true;
-		_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
-
-	} else if (_control_status.flags.gps_yaw) {
-		_control_status.flags.gps_yaw_fault = true;
-		_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
-
-	} else if (_control_status.flags.ev_yaw) {
-		_inhibit_ev_yaw_use = true;
-	}
+	_information_events.flags.yaw_aligned_to_imu_gps = true;

 	_ekfgsf_yaw_reset_time = _time_last_imu;
 	_ekfgsf_yaw_reset_count++;

+	resetMagStates();
+
 	return true;
 }

@@ -1779,8 +1828,10 @@ void Ekf::runYawEKFGSF()
 		}
 	}

+	const bool run_yaw_estimator = _control_status.flags.in_air || !_control_status.flags.vehicle_at_rest;
 	const Vector3f imu_gyro_bias = getGyroBias();
-	_yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
+
+	_yawEstimator.update(_imu_sample_delayed, run_yaw_estimator, TAS, imu_gyro_bias);

 	// basic sanity check on GPS velocity data
 	if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&
@@ -195,7 +195,7 @@ public:
 	Vector3f getPosition() const
 	{
 		// rotate the position of the IMU relative to the boy origin into earth frame
-		const Vector3f pos_offset_earth = _R_to_earth_now * _params.imu_pos_body;
+		const Vector3f pos_offset_earth = Dcmf(_output_new.quat_nominal) * _params.imu_pos_body;
 		// subtract from the EKF position (which is at the IMU) to get position at the body origin
 		return _output_new.pos - pos_offset_earth;
 	}
@@ -308,7 +308,6 @@ protected:
 	outputSample _output_new{};		// filter output on the non-delayed time horizon
 	outputVert _output_vert_new{};		// vertical filter output on the non-delayed time horizon
 	imuSample _newest_high_rate_imu_sample{};		// imu sample capturing the newest imu data
-	Matrix3f _R_to_earth_now{};		// rotation matrix from body to earth frame at current time
 	Vector3f _vel_imu_rel_body_ned{};		// velocity of IMU relative to body origin in NED earth frame
 	Vector3f _vel_deriv{};		// velocity derivative at the IMU in NED earth frame (m/s/s)

@@ -84,19 +84,11 @@ bool Ekf::collect_gps(const gps_message &gps)
 		_earth_rate_NED = calcEarthRateNED((float)math::radians(_pos_ref.getProjectionReferenceLat()));
 		_last_gps_origin_time_us = _time_last_imu;

-		const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps);
-
 		// set the magnetic field data returned by the geo library using the current GPS position
 		_mag_declination_gps = get_mag_declination_radians(lat, lon);
 		_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
 		_mag_strength_gps = get_mag_strength_gauss(lat, lon);

-		// request a reset of the yaw using the new declination
-		if ((_params.mag_fusion_type != MAG_FUSE_TYPE_NONE)
-		     && !declination_was_valid) {
-			_mag_yaw_reset_req = true;
-		}
-
 		// save the horizontal and vertical position uncertainty of the origin
 		_gps_origin_eph = gps.eph;
 		_gps_origin_epv = gps.epv;
@@ -108,8 +100,6 @@ bool Ekf::collect_gps(const gps_message &gps)
 		// a rough 2D fix is still sufficient to lookup declination
 		if ((gps.fix_type >= 2) && (gps.eph < 1000)) {

-			const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps);
-
 			// If we have good GPS data set the origin's WGS-84 position to the last gps fix
 			const double lat = gps.lat * 1.0e-7;
 			const double lon = gps.lon * 1.0e-7;
@@ -119,13 +109,6 @@ bool Ekf::collect_gps(const gps_message &gps)
 			_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
 			_mag_strength_gps = get_mag_strength_gauss(lat, lon);

-			// request mag yaw reset if there's a mag declination for the first time
-			if (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE) {
-				if (!declination_was_valid && PX4_ISFINITE(_mag_declination_gps)) {
-					_mag_yaw_reset_req = true;
-				}
-			}
-
 			_earth_rate_NED = calcEarthRateNED((float)math::radians(lat));
 		}
 	}
@@ -53,6 +53,30 @@ void Ekf::controlGpsFusion()

 		controlGpsYawFusion(gps_checks_passing, gps_checks_failing);

+		if (gps_checks_passing && !gps_checks_failing && isYawEmergencyEstimateAvailable()) {
+
+			bool perform_yaw_align = !_control_status.flags.yaw_align && _control_status.flags.tilt_align;
+
+			if (perform_yaw_align) {
+				if (resetYawToEKFGSF()) {
+					ECL_INFO("Yaw aligned using IMU and GPS");
+					resetVelocityToGps(_gps_sample_delayed);
+					resetHorizontalPositionToGps(_gps_sample_delayed);
+				}
+			}
+
+			// periodically fuse yaw estimate if necessary
+			if (isYawEmergencyEstimateAvailable()
+			    && _control_status.flags.yaw_align
+			    && isTimedOut(_ekfgsf_yaw_reset_time, 500'000)
+			    && isTimedOut(_time_last_heading_fuse, (uint64_t)300'000)) {
+
+				float innovation = wrap_pi(getEulerYaw(_R_to_earth) - _yawEstimator.getYaw());
+				float obs_var = _yawEstimator.getYawVar();
+				fuseYaw(innovation, obs_var);
+			}
+		}
+
 		// 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
@@ -76,28 +100,49 @@ void Ekf::controlGpsFusion()
 						 * because the timeout could have been caused by bad GPS.
 						 * The total number of resets allowed per boot cycle is limited.
 						 */
-						if (isYawFailure()
+						if (isYawEmergencyEstimateAvailable()
+						    && !yawAidingAvailable()
+						    && isYawError(math::radians(10.f))
 						    && _control_status.flags.in_air
 						    && !was_gps_signal_lost
-						    && _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit
-						    && isTimedOut(_ekfgsf_yaw_reset_time, 5000000)) {
-							// The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
-							// to improve its estimate if the previous reset was not successful.
-							if (resetYawToEKFGSF()) {
-								ECL_WARN("GPS emergency yaw reset");
+						    && resetYawToEKFGSF()) {
+
+							ECL_WARN("GPS emergency yaw reset");
+
+						} else if (isYawFailure()
+							   && _control_status.flags.in_air
+							   && !was_gps_signal_lost
+							   && resetYawToEKFGSF()) {
+
+							ECL_WARN("GPS emergency yaw reset");
+
+							if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
+								// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
+								// and cause another navigation failure
+								_control_status.flags.mag_fault = true;
+								_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
+								stopMagFusion();
+
+							} else if (_control_status.flags.gps_yaw) {
+								_control_status.flags.gps_yaw_fault = true;
+								_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
+								stopGpsYawFusion();
+
+							} else if (_control_status.flags.ev_yaw) {
+								stopEvYawFusion();
 							}

 						} else {
+							ECL_WARN("GPS fusion timeout - resetting");
+
 							// 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
-								_mag_yaw_reset_req = true;
+								realignYawGPS();
 							}
-
-							_warning_events.flags.gps_fusion_timout = true;
-							ECL_WARN("GPS fusion timeout - resetting");
 						}

+						_warning_events.flags.gps_fusion_timout = true;
 						resetVelocityToGps(_gps_sample_delayed);
 						resetHorizontalPositionToGps(_gps_sample_delayed);
 					}
@@ -120,30 +165,7 @@ void Ekf::controlGpsFusion()

 		} 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 (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE)) {
-				// If no mag is used, align using the yaw estimator (if available)
-				if (resetYawToEKFGSF()) {
-					_information_events.flags.yaw_aligned_to_imu_gps = true;
-					ECL_INFO("Yaw aligned using IMU and GPS");
-					resetVelocityToGps(_gps_sample_delayed);
-					resetHorizontalPositionToGps(_gps_sample_delayed);
-				}
+				startGpsFusion();
 			}
 		}

@@ -171,7 +193,7 @@ bool Ekf::shouldResetGpsFusion() const
 				       || 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.
+	 * navigation caused 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,
@@ -193,7 +215,7 @@ bool Ekf::shouldResetGpsFusion() const
 	return (is_reset_required || is_recent_takeoff_nav_failure || is_inflight_nav_failure);
 }

-bool Ekf::isYawFailure() const
+bool Ekf::isYawError(float error_threshold) const
 {
 	if (!isYawEmergencyEstimateAvailable()) {
 		return false;
@@ -202,5 +224,5 @@ bool Ekf::isYawFailure() const
 	const float euler_yaw = getEulerYaw(_R_to_earth);
 	const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw());

-	return fabsf(yaw_error) > math::radians(25.f);
+	return fabsf(yaw_error) > error_threshold;
 }
@@ -146,9 +146,6 @@ void Ekf::fuseGpsYaw()
 	// innovation test ratio
 	_yaw_test_ratio = sq(_heading_innov) / (sq(innov_gate) * _heading_innov_var);

-	// we are no longer using 3-axis fusion so set the reported test levels to zero
-	_mag_test_ratio.setZero();
-
 	if (_yaw_test_ratio > 1.0f) {
 		_innov_check_fail_status.flags.reject_yaw = true;
 		return;
@@ -159,8 +156,8 @@ void Ekf::fuseGpsYaw()

 	_yaw_signed_test_ratio_lpf.update(matrix::sign(_heading_innov) * _yaw_test_ratio);

-	if (!_control_status.flags.in_air
-	    && fabsf(_yaw_signed_test_ratio_lpf.getState()) > 0.2f) {
+	if ((fabsf(_yaw_signed_test_ratio_lpf.getState()) > 0.2f)
+		&& !_control_status.flags.in_air && isTimedOut(_time_last_heading_fuse, (uint64_t)1e6)) {

 		// A constant large signed test ratio is a sign of wrong gyro bias
 		// Reset the yaw gyro variance to converge faster and avoid
@@ -192,6 +189,7 @@ void Ekf::fuseGpsYaw()

 	if (is_fused) {
 		_time_last_gps_yaw_fuse = _time_last_imu;
+		_time_last_heading_fuse = _time_last_imu;
 	}
 }

@@ -209,11 +207,17 @@ bool Ekf::resetYawToGps()
 	// GPS yaw measurement is alreday compensated for antenna offset in the driver
 	const float measured_yaw = _gps_sample_delayed.yaw;

-	const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
-	resetQuatStateYaw(measured_yaw, yaw_variance, true);
+	if (PX4_ISFINITE(measured_yaw) && !_control_status.flags.gps_yaw_fault) {
+		const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
+		resetQuatStateYaw(measured_yaw, yaw_variance, true);

-	_time_last_gps_yaw_fuse = _time_last_imu;
-	_yaw_signed_test_ratio_lpf.reset(0.f);
+		_time_last_gps_yaw_fuse = _time_last_imu;
+		_yaw_signed_test_ratio_lpf.reset(0.f);

-	return true;
+		resetMagStates();
+
+		return true;
+	}
+
+	return false;
 }
@@ -64,11 +64,9 @@ void Ekf::controlMagFusion()
 			} else {
 				_control_status.flags.synthetic_mag_z = false;
 			}
-		}
-	}

-	if (mag_data_ready) {
-		checkMagFieldStrength(mag_sample.mag);
+			_control_status.flags.mag_field_disturbed = magFieldStrengthDisturbed(mag_sample.mag);
+		}
 	}

 	// If we are on ground, reset the flight alignment flag so that the mag fields will be
@@ -78,41 +76,43 @@ void Ekf::controlMagFusion()
 		_num_bad_flight_yaw_events = 0;
 	}

-	// When operating without a magnetometer and no other source of yaw aiding is active,
-	// yaw fusion is run selectively to enable yaw gyro bias learning when stationary on
-	// ground and to prevent uncontrolled yaw variance growth
-	// Also fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low
+	checkYawAngleObservability();
+	checkMagBiasObservability();
+
+	if (_mag_bias_observable || _yaw_angle_observable) {
+		_time_last_mov_3d_mag_suitable = _imu_sample_delayed.time_us;
+	}
+
 	if (_params.mag_fusion_type >= MAG_FUSE_TYPE_NONE
 	    || _control_status.flags.mag_fault
 	    || !_control_status.flags.tilt_align) {

 		stopMagFusion();
-
-		if (noOtherYawAidingThanMag()) {
-			// TODO: setting _is_yaw_fusion_inhibited to true is required to tell
-			// fuseHeading to perform a "zero innovation heading fusion"
-			// We should refactor it to avoid using this flag here
-			_is_yaw_fusion_inhibited = true;
-			fuseHeading();
-			_is_yaw_fusion_inhibited = false;
-		}
-
 		return;
 	}

-	_mag_yaw_reset_req |= otherHeadingSourcesHaveStopped();
-	_mag_yaw_reset_req |= !_control_status.flags.yaw_align;
-	_mag_yaw_reset_req |= _mag_inhibit_yaw_reset_req;
+	if (mag_data_ready && !_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw) {
+
+		const bool mag_enabled_previously = _control_status_prev.flags.mag_hdg || _control_status_prev.flags.mag_3D;

-	if (noOtherYawAidingThanMag() && mag_data_ready) {
 		// Determine if we should use simple magnetic heading fusion which works better when
 		// there are large external disturbances or the more accurate 3-axis fusion
 		switch (_params.mag_fusion_type) {
 		default:

-		/* fallthrough */
+		// FALLTHROUGH
 		case MAG_FUSE_TYPE_AUTO:
-			selectMagAuto();
+			// Use of 3D fusion requires an in-air heading alignment but it should not
+			// be used when the heading and mag biases are not observable for more than 2 seconds
+			if (_control_status.flags.mag_aligned_in_flight
+			    && ((_imu_sample_delayed.time_us - _time_last_mov_3d_mag_suitable) < (uint64_t)2e6)
+			   ) {
+				startMag3DFusion();
+
+			} else {
+				startMagHdgFusion();
+			}
+
 			break;

 		case MAG_FUSE_TYPE_INDOOR:
@@ -127,12 +127,23 @@ void Ekf::controlMagFusion()
 			break;
 		}

-		if (_control_status.flags.in_air) {
-			checkHaglYawResetReq();
-			runInAirYawReset(mag_sample.mag);
+		const bool mag_enabled = _control_status.flags.mag_hdg || _control_status.flags.mag_3D;

-		} else {
-			runOnGroundYawReset();
+		const bool declination_changed = _control_status.flags.mag_hdg && (fabsf(_mag_heading_last_declination - getMagDeclination()) > math::radians(1.f));
+
+		bool mag_fuse_recent = !isTimedOut(_time_last_mag_heading_fuse, (uint64_t)5e6) || !isTimedOut(_time_last_mag_3d_fuse, (uint64_t)5e6);
+
+		if (!_control_status.flags.yaw_align
+		    || !mag_fuse_recent
+		    || declination_changed
+		    || haglYawResetReq()
+		    || (!mag_enabled_previously && mag_enabled)) {
+
+			runYawReset();
+		}
+
+		if (_control_status.flags.mag_hdg) {
+			_mag_heading_last_declination = getMagDeclination();
 		}

 		if (!_control_status.flags.yaw_align) {
@@ -141,115 +152,101 @@ void Ekf::controlMagFusion()
 		}

 		checkMagDeclRequired();
-		checkMagInhibition();
+
+		_is_yaw_fusion_inhibited = shouldInhibitMag();

 		runMagAndMagDeclFusions(mag_sample.mag);
 	}
 }

-bool Ekf::noOtherYawAidingThanMag() const
-{
-	// If we are using external vision data or GPS-heading for heading then no magnetometer fusion is used
-	return !_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw;
-}
-
-void Ekf::checkHaglYawResetReq()
+bool Ekf::haglYawResetReq() const
 {
 	// We need to reset the yaw angle after climbing away from the ground to enable
 	// recovery from ground level magnetic interference.
-	if (!_control_status.flags.mag_aligned_in_flight) {
+	if (_control_status.flags.in_air && !_control_status.flags.mag_aligned_in_flight) {
 		// Check if height has increased sufficiently to be away from ground magnetic anomalies
 		// and request a yaw reset if not already requested.
 		static constexpr float mag_anomalies_max_hagl = 1.5f;
-		const bool above_mag_anomalies = (getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl;
-		_mag_yaw_reset_req = _mag_yaw_reset_req || above_mag_anomalies;
-	}
-}

-void Ekf::runOnGroundYawReset()
-{
-	if (_mag_yaw_reset_req && isYawResetAuthorized()) {
-		const bool has_realigned_yaw = canResetMagHeading() ? resetMagHeading() : false;
-
-		if (has_realigned_yaw) {
-			_mag_yaw_reset_req = false;
-			_control_status.flags.yaw_align = true;
-
-			// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
-			// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
-			if (_mag_inhibit_yaw_reset_req) {
-				_mag_inhibit_yaw_reset_req = false;
-				// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
-				P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
-			}
+		if ((getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl) {
+			return true;
 		}
 	}
+
+	return false;
 }

-bool Ekf::canResetMagHeading() const
+void Ekf::runYawReset()
 {
-	return !isStrongMagneticDisturbance() && (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE);
-}
+	bool has_realigned_yaw = false;

-void Ekf::runInAirYawReset(const Vector3f &mag_sample)
-{
-	if (_mag_yaw_reset_req && isYawResetAuthorized()) {
-		bool has_realigned_yaw = false;
+	if (_control_status.flags.gps && _control_status.flags.fixed_wing) {
+		has_realigned_yaw = realignYawGPS();
+	}

-		if (_control_status.flags.gps && _control_status.flags.fixed_wing) {
-			has_realigned_yaw = realignYawGPS(mag_sample);
+	if (!has_realigned_yaw) {
+		has_realigned_yaw = resetMagHeading();
+	}

-		} else if (canResetMagHeading()) {
-			has_realigned_yaw = resetMagHeading();
-		}
+	if (has_realigned_yaw) {
+		_control_status.flags.yaw_align = true;

-		if (has_realigned_yaw) {
-			_mag_yaw_reset_req = false;
-			_control_status.flags.yaw_align = true;
+		if (_control_status.flags.in_air) {
 			_control_status.flags.mag_aligned_in_flight = true;
-
-			// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
-			// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
-			if (_mag_inhibit_yaw_reset_req) {
-				_mag_inhibit_yaw_reset_req = false;
-				// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
-				P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
-			}
 		}

-	}
-}
+		// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
+		// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
+		bool mag_fuse_recent = !isTimedOut(_time_last_mag_heading_fuse, (uint64_t)5e6) || !isTimedOut(_time_last_mag_3d_fuse, (uint64_t)5e6);

-void Ekf::selectMagAuto()
-{
-	check3DMagFusionSuitability();
-	canUse3DMagFusion() ? startMag3DFusion() : startMagHdgFusion();
-}
+		if (!mag_fuse_recent) {
+			// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
+			P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
+		}

-void Ekf::check3DMagFusionSuitability()
-{
-	checkYawAngleObservability();
-	checkMagBiasObservability();
-
-	if (isMagBiasObservable() || isYawAngleObservable()) {
-		_time_last_mov_3d_mag_suitable = _imu_sample_delayed.time_us;
+		// reset
+		_time_last_mag_heading_fuse = _time_last_imu;
 	}
 }

 void Ekf::checkYawAngleObservability()
 {
+	// calculate a filtered horizontal acceleration with a 1 sec time constant
+
+	// Calculate an earth frame delta velocity
+	const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
+	const Vector3f corrected_delta_vel_ef = _R_to_earth * corrected_delta_vel;
+
+	const float alpha = 1.0f - _imu_sample_delayed.delta_vel_dt;
+	_accel_lpf_NE = _accel_lpf_NE * alpha + corrected_delta_vel_ef.xy();
+
 	// Check if there has been enough change in horizontal velocity to make yaw observable
 	// Apply hysteresis to check to avoid rapid toggling
-	_yaw_angle_observable = _yaw_angle_observable
-				? _accel_lpf_NE.norm() > _params.mag_acc_gate
-				: _accel_lpf_NE.norm() > 2.0f * _params.mag_acc_gate;
+	if (_control_status.flags.gps) {
+		if (_yaw_angle_observable) {
+			_yaw_angle_observable = _accel_lpf_NE.norm() > _params.mag_acc_gate;

-	_yaw_angle_observable = _yaw_angle_observable
-				&& (_control_status.flags.gps || _control_status.flags.ev_pos); // Do we have to add ev_vel here?
+		} else {
+			_yaw_angle_observable = _accel_lpf_NE.norm() > _params.mag_acc_gate * 2.f;
+		}
+
+	} else {
+		_yaw_angle_observable = false;
+	}
 }

 void Ekf::checkMagBiasObservability()
 {
+	// calculate a yaw change about the earth frame vertical
+	const Vector3f delta_angle = _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
+
+	const float spin_del_ang_D = delta_angle.dot(Vector3f(_R_to_earth.row(2)));
+	float yaw_delta_ef = spin_del_ang_D;
+
+	// Calculate filtered yaw rate to be used by the magnetometer fusion type selection logic
+	// Note fixed coefficients are used to save operations. The exact time constant is not important.
+	_yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / _imu_sample_delayed.delta_ang_dt;
+
 	// check if there is enough yaw rotation to make the mag bias states observable
 	if (!_mag_bias_observable && (fabsf(_yaw_rate_lpf_ef) > _params.mag_yaw_rate_gate)) {
 		// initial yaw motion is detected
@@ -258,22 +255,13 @@ void Ekf::checkMagBiasObservability()
 	} else if (_mag_bias_observable) {
 		// require sustained yaw motion of 50% the initial yaw rate threshold
 		const float yaw_dt = 1e-6f * (float)(_imu_sample_delayed.time_us - _time_yaw_started);
-		const float min_yaw_change_req =  0.5f * _params.mag_yaw_rate_gate * yaw_dt;
-		_mag_bias_observable = fabsf(_yaw_delta_ef) > min_yaw_change_req;
+		const float min_yaw_change_req = 0.5f * _params.mag_yaw_rate_gate * yaw_dt;
+		_mag_bias_observable = fabsf(yaw_delta_ef) > min_yaw_change_req;
 	}

-	_yaw_delta_ef = 0.0f;
 	_time_yaw_started = _imu_sample_delayed.time_us;
 }

-bool Ekf::canUse3DMagFusion() const
-{
-	// Use of 3D fusion requires an in-air heading alignment but it should not
-	// be used when the heading and mag biases are not observable for more than 2 seconds
-	return _control_status.flags.mag_aligned_in_flight
-	       && ((_imu_sample_delayed.time_us - _time_last_mov_3d_mag_suitable) < (uint64_t)2e6);
-}
-
 void Ekf::checkMagDeclRequired()
 {
 	// if we are using 3-axis magnetometer fusion, but without external NE aiding,
@@ -285,20 +273,6 @@ void Ekf::checkMagDeclRequired()
 	_control_status.flags.mag_dec = (_control_status.flags.mag_3D && (not_using_ne_aiding || user_selected));
 }

-void Ekf::checkMagInhibition()
-{
-	_is_yaw_fusion_inhibited = shouldInhibitMag();
-
-	if (!_is_yaw_fusion_inhibited) {
-		_mag_use_not_inhibit_us = _imu_sample_delayed.time_us;
-	}
-
-	// If magnetometer use has been inhibited continuously then a yaw reset is required for a valid heading
-	if (uint32_t(_imu_sample_delayed.time_us - _mag_use_not_inhibit_us) > (uint32_t)5e6) {
-		_mag_inhibit_yaw_reset_req = true;
-	}
-}
-
 bool Ekf::shouldInhibitMag() const
 {
 	// If the user has selected auto protection against indoor magnetic field errors, only use the magnetometer
@@ -312,28 +286,26 @@ bool Ekf::shouldInhibitMag() const
 			&& !_control_status.flags.ev_pos
 			&& !_control_status.flags.ev_vel;

-	return (user_selected && heading_not_required_for_navigation)
-	       || isStrongMagneticDisturbance();
+	return (user_selected && heading_not_required_for_navigation) || _control_status.flags.mag_field_disturbed;
 }

-void Ekf::checkMagFieldStrength(const Vector3f &mag_sample)
+bool Ekf::magFieldStrengthDisturbed(const Vector3f &mag_sample) const
 {
 	if (_params.check_mag_strength
 	    && ((_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) || (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _control_status.flags.gps))) {

 		if (PX4_ISFINITE(_mag_strength_gps)) {
 			constexpr float wmm_gate_size = 0.2f; // +/- Gauss
-			_control_status.flags.mag_field_disturbed = !isMeasuredMatchingExpected(mag_sample.length(), _mag_strength_gps, wmm_gate_size);
+			return !isMeasuredMatchingExpected(mag_sample.length(), _mag_strength_gps, wmm_gate_size);

 		} else {
 			constexpr float average_earth_mag_field_strength = 0.45f; // Gauss
 			constexpr float average_earth_mag_gate_size = 0.40f; // +/- Gauss
-			_control_status.flags.mag_field_disturbed = !isMeasuredMatchingExpected(mag_sample.length(), average_earth_mag_field_strength, average_earth_mag_gate_size);
+			return !isMeasuredMatchingExpected(mag_sample.length(), average_earth_mag_field_strength, average_earth_mag_gate_size);
 		}
-
-	} else {
-		_control_status.flags.mag_field_disturbed = false;
 	}
+
+	return false;
 }

 bool Ekf::isMeasuredMatchingExpected(const float measured, const float expected, const float gate)
@@ -354,14 +326,27 @@ void Ekf::runMagAndMagDeclFusions(const Vector3f &mag)
 		Vector3f mag_earth_pred = R_to_earth * (mag - _state.mag_B);

 		// the angle of the projection onto the horizontal gives the yaw angle
-		float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
+		// calculate the yaw innovation and wrap to the interval between +-pi
+		float measured_hdg = wrap_pi(-atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination());

-		fuseHeading(measured_hdg, sq(_params.mag_heading_noise));
+		float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg);
+
+		float obs_var = fmaxf(sq(_params.mag_heading_noise), 1.e-4f);
+
+		// Update the quaternion states and covariance matrix
+		if (fuseYaw(innovation, obs_var)) {
+			_time_last_mag_heading_fuse = _time_last_imu;
+		}
 	}
 }

 void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
 {
+	// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
+	// before they are used to constrain heading drift
+	const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6)
+			&& !_control_status.flags.mag_fault && !_control_status.flags.mag_field_disturbed;
+
 	if (!_mag_decl_cov_reset) {
 		// After any magnetic field covariance reset event the earth field state
 		// covariances need to be corrected to incorporate knowledge of the declination
@@ -369,13 +354,13 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
 		// states for the first few observations.
 		fuseDeclination(0.02f);
 		_mag_decl_cov_reset = true;
-		fuseMag(mag);
+		fuseMag(mag, update_all_states);

 	} else {
 		// The normal sequence is to fuse the magnetometer data first before fusing
 		// declination angle at a higher uncertainty to allow some learning of
 		// declination angle over time.
-		fuseMag(mag);
+		fuseMag(mag, update_all_states);

 		if (_control_status.flags.mag_dec) {
 			fuseDeclination(0.5f);
@@ -383,12 +368,58 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
 	}
 }

-bool Ekf::otherHeadingSourcesHaveStopped()
+bool Ekf::resetMagStates()
 {
-	// detect rising edge of noOtherYawAidingThanMag()
-	bool result = noOtherYawAidingThanMag() && _non_mag_yaw_aiding_running_prev;
+	bool reset = false;

-	_non_mag_yaw_aiding_running_prev = !noOtherYawAidingThanMag();
+	// reinit mag states
+	const bool mag_available = (_mag_counter != 0) && isRecent(_time_last_mag, 500000);

-	return  result;
+	// if world magnetic model (inclination, declination, strength) available then use it to reset mag states
+	if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) {
+		// use predicted earth field to reset states
+		const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0);
+		_state.mag_I = mag_earth_pred;
+
+		ECL_DEBUG("resetting mag I to [%.3f, %.3f, %.3f]", (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2));
+
+		if (mag_available) {
+			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
+			_state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred);
+
+			ECL_DEBUG("resetting mag B to [%.3f, %.3f, %.3f]", (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2));
+
+		} else {
+			_state.mag_B.zero();
+		}
+
+		reset = true;
+
+	} else if (mag_available && !magFieldStrengthDisturbed(_mag_lpf.getState())) {
+		// Use the last magnetometer measurements to reset the field states
+
+		// calculate initial earth magnetic field states
+		_state.mag_I = _R_to_earth * _mag_lpf.getState();
+		_state.mag_B.zero();
+
+		ECL_DEBUG("resetting mag I to [%.3f, %.3f, %.3f]", (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2));
+
+		reset = true;
+	}
+
+	if (reset) {
+		resetMagCov();
+
+		if (mag_available) {
+			// record the start time for the magnetic field alignment
+			_flt_mag_align_start_time = _imu_sample_delayed.time_us;
+			_control_status.flags.mag_aligned_in_flight = true;
+			_time_last_mag_heading_fuse = _time_last_imu;
+			_time_last_mag_3d_fuse = _time_last_imu;
+		}
+
+		return true;
+	}
+
+	return false;
 }
@@ -45,7 +45,7 @@

 #include <mathlib/mathlib.h>

-void Ekf::fuseMag(const Vector3f &mag)
+bool Ekf::fuseMag(const Vector3f &mag, bool update_all_states)
 {
 	// assign intermediate variables
 	const float &q0 = _state.quat_nominal(0);
@@ -96,7 +96,7 @@ void Ekf::fuseMag(const Vector3f &mag)
 		// we need to re-initialise covariances and abort this fusion step
 		resetMagRelatedCovariances();
 		ECL_ERR("magX %s", numerical_error_covariance_reset_string);
-		return;
+		return false;
 	}

 	_fault_status.flags.bad_mag_x = false;
@@ -138,7 +138,7 @@ void Ekf::fuseMag(const Vector3f &mag)
 		// we need to re-initialise covariances and abort this fusion step
 		resetMagRelatedCovariances();
 		ECL_ERR("magY %s", numerical_error_covariance_reset_string);
-		return;
+		return false;
 	}

 	_fault_status.flags.bad_mag_y = false;
@@ -150,7 +150,7 @@ void Ekf::fuseMag(const Vector3f &mag)
 		// we need to re-initialise covariances and abort this fusion step
 		resetMagRelatedCovariances();
 		ECL_ERR("magZ %s", numerical_error_covariance_reset_string);
-		return;
+		return false;
 	}

 	_fault_status.flags.bad_mag_z = false;
@@ -174,27 +174,32 @@ void Ekf::fuseMag(const Vector3f &mag)
 	for (uint8_t index = 0; index <= 2; index++) {
 		_mag_test_ratio(index) = sq(_mag_innov(index)) / (sq(math::max(_params.mag_innov_gate, 1.0f)) * _mag_innov_var(index));

-		if (_mag_test_ratio(index) > 1.0f) {
-			all_innovation_checks_passed = false;
-			_innov_check_fail_status.value |= (1 << (index + 3));
+		bool rejected = (_mag_test_ratio(index) > 1.f);

-		} else {
-			_innov_check_fail_status.value &= ~(1 << (index + 3));
+		switch (index) {
+		case 0:
+			_innov_check_fail_status.flags.reject_mag_x = rejected;
+			break;
+
+		case 1:
+			_innov_check_fail_status.flags.reject_mag_y = rejected;
+			break;
+
+		case 2:
+			_innov_check_fail_status.flags.reject_mag_z = rejected;
+			break;
+		}
+
+		if (rejected) {
+			all_innovation_checks_passed = false;
 		}
 	}

-	// we are no longer using heading fusion so set the reported test level to zero
-	_yaw_test_ratio = 0.0f;
-
 	// if any axis fails, abort the mag fusion
 	if (!all_innovation_checks_passed) {
-		return;
+		return false;
 	}

-	// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
-	// before they are used to constrain heading drift
-	const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6);
-
 	// Observation jacobian and Kalman gain vectors
 	SparseVector24f<0,1,2,3,16,17,18,19,20,21> Hfusion;
 	Vector24f Kfusion;
@@ -276,7 +281,7 @@ void Ekf::fuseMag(const Vector3f &mag)
 				// we need to re-initialise covariances and abort this fusion step
 				resetMagRelatedCovariances();
 				ECL_ERR("magY %s", numerical_error_covariance_reset_string);
-				return;
+				return false;
 			}
 			const float HKY24 = 1.0F/_mag_innov_var(1);

@@ -356,7 +361,7 @@ void Ekf::fuseMag(const Vector3f &mag)
 				// we need to re-initialise covariances and abort this fusion step
 				resetMagRelatedCovariances();
 				ECL_ERR("magZ %s", numerical_error_covariance_reset_string);
-				return;
+				return false;
 			}

 			const float HKZ24 = 1.0F/_mag_innov_var(2);
@@ -419,93 +424,17 @@ void Ekf::fuseMag(const Vector3f &mag)
 			limitDeclination();
 		}
 	}
+
+	if (!_fault_status.flags.bad_mag_x && !_fault_status.flags.bad_mag_y && !_fault_status.flags.bad_mag_z) {
+		_time_last_mag_3d_fuse = _time_last_imu;
+		return true;
+	}
+
+	return false;
 }

-bool Ekf::fuseYaw321(float yaw, float yaw_variance, bool zero_innovation)
-{
-	// assign intermediate state variables
-	const float &q0 = _state.quat_nominal(0);
-	const float &q1 = _state.quat_nominal(1);
-	const float &q2 = _state.quat_nominal(2);
-	const float &q3 = _state.quat_nominal(3);
-
-	const float R_YAW = fmaxf(yaw_variance, 1.0e-4f);
-	const float measurement = wrap_pi(yaw);
-
-	// calculate 321 yaw observation matrix
-	// choose A or B computational paths to avoid singularity in derivation at +-90 degrees yaw
-	bool canUseA = false;
-	const float SA0 = 2*q3;
-	const float SA1 = 2*q2;
-	const float SA2 = SA0*q0 + SA1*q1;
-	const float SA3 = sq(q0) + sq(q1) - sq(q2) - sq(q3);
-	float SA4, SA5_inv;
-
-	if (sq(SA3) > 1e-6f) {
-		SA4 = 1.0F/sq(SA3);
-		SA5_inv = sq(SA2)*SA4 + 1;
-		canUseA = fabsf(SA5_inv) > 1e-6f;
-	}
-
-	bool canUseB = false;
-	const float SB0 = 2*q0;
-	const float SB1 = 2*q1;
-	const float SB2 = SB0*q3 + SB1*q2;
-	const float SB4 = sq(q0) + sq(q1) - sq(q2) - sq(q3);
-	float SB3, SB5_inv;
-
-	if (sq(SB2) > 1e-6f) {
-		SB3 = 1.0F/sq(SB2);
-		SB5_inv = SB3*sq(SB4) + 1;
-		canUseB = fabsf(SB5_inv) > 1e-6f;
-	}
-
-	Vector4f H_YAW;
-
-	if (canUseA && (!canUseB || fabsf(SA5_inv) >= fabsf(SB5_inv))) {
-		const float SA5 = 1.0F/SA5_inv;
-		const float SA6 = 1.0F/SA3;
-		const float SA7 = SA2*SA4;
-		const float SA8 = 2*SA7;
-		const float SA9 = 2*SA6;
-
-		H_YAW(0) = SA5*(SA0*SA6 - SA8*q0);
-		H_YAW(1) = SA5*(SA1*SA6 - SA8*q1);
-		H_YAW(2) = SA5*(SA1*SA7 + SA9*q1);
-		H_YAW(3) = SA5*(SA0*SA7 + SA9*q0);
-	} else if (canUseB && (!canUseA || fabsf(SB5_inv) > fabsf(SA5_inv))) {
-		const float SB5 = 1.0F/SB5_inv;
-		const float SB6 = 1.0F/SB2;
-		const float SB7 = SB3*SB4;
-		const float SB8 = 2*SB7;
-		const float SB9 = 2*SB6;
-
-		H_YAW(0) = -SB5*(SB0*SB6 - SB8*q3);
-		H_YAW(1) = -SB5*(SB1*SB6 - SB8*q2);
-		H_YAW(2) = -SB5*(-SB1*SB7 - SB9*q2);
-		H_YAW(3) = -SB5*(-SB0*SB7 - SB9*q3);
-	} else {
-		return false;
-	}
-
-	// calculate the yaw innovation and wrap to the interval between +-pi
-	float innovation;
-
-	if (zero_innovation) {
-		innovation = 0.0f;
-
-	} else {
-		innovation = wrap_pi(atan2f(_R_to_earth(1, 0), _R_to_earth(0, 0)) - measurement);
-	}
-
-	// define the innovation gate size
-	float innov_gate = math::max(_params.heading_innov_gate, 1.0f);
-
-	// Update the quaternion states and covariance matrix
-	return updateQuaternion(innovation, R_YAW, innov_gate, H_YAW);
-}
-
-bool Ekf::fuseYaw312(float yaw, float yaw_variance, bool zero_innovation)
+// update quaternion states and covariances using the yaw innovation and yaw observation variance
+bool Ekf::fuseYaw(const float innovation, const float variance)
 {
 	// assign intermediate state variables
 	const float q0 = _state.quat_nominal(0);
@@ -513,86 +442,113 @@ bool Ekf::fuseYaw312(float yaw, float yaw_variance, bool zero_innovation)
 	const float q2 = _state.quat_nominal(2);
 	const float q3 = _state.quat_nominal(3);

-	const float R_YAW = fmaxf(yaw_variance, 1.0e-4f);
-	const float measurement = wrap_pi(yaw);
-
-	// calculate 312 yaw observation matrix
 	// choose A or B computational paths to avoid singularity in derivation at +-90 degrees yaw
 	bool canUseA = false;
-	const float SA0 = 2*q3;
-	const float SA1 = 2*q2;
-	const float SA2 = SA0*q0 - SA1*q1;
-	const float SA3 = sq(q0) - sq(q1) + sq(q2) - sq(q3);
-	float SA4, SA5_inv;
+	bool canUseB = false;
+
+	float SA0;
+	float SA1;
+	float SA2;
+	float SA3;
+	float SA4;
+	float SA5_inv;
+
+	float SB0;
+	float SB1;
+	float SB2;
+	float SB3;
+	float SB4;
+	float SB5_inv;
+
+	const bool fuse_yaw_321 = shouldUse321RotationSequence(_R_to_earth);
+
+	if (fuse_yaw_321) {
+		// calculate 321 yaw observation matrix
+		SA0 = 2*q3;
+		SA1 = 2*q2;
+		SA2 = SA0*q0 + SA1*q1;
+		SA3 = sq(q0) + sq(q1) - sq(q2) - sq(q3);
+
+		SB0 = 2*q0;
+		SB1 = 2*q1;
+		SB2 = SB0*q3 + SB1*q2;
+		SB4 = sq(q0) + sq(q1) - sq(q2) - sq(q3);
+
+	} else {
+		// calculate 312 yaw observation matrix
+		SA0 = 2*q3;
+		SA1 = 2*q2;
+		SA2 = SA0*q0 - SA1*q1;
+		SA3 = sq(q0) - sq(q1) + sq(q2) - sq(q3);
+
+		SB0 = 2*q0;
+		SB1 = 2*q1;
+		SB2 = -SB0*q3 + SB1*q2;
+		SB4 = -sq(q0) + sq(q1) - sq(q2) + sq(q3);
+	}

 	if (sq(SA3) > 1e-6f) {
-		SA4 = 1.0F/sq(SA3);
-		SA5_inv = sq(SA2)*SA4 + 1;
+		SA4 = 1.f/sq(SA3);
+		SA5_inv = sq(SA2)*SA4 + 1.f;
 		canUseA = fabsf(SA5_inv) > 1e-6f;
 	}

-	bool canUseB = false;
-	const float SB0 = 2*q0;
-	const float SB1 = 2*q1;
-	const float SB2 = -SB0*q3 + SB1*q2;
-	const float SB4 = -sq(q0) + sq(q1) - sq(q2) + sq(q3);
-	float SB3, SB5_inv;
-
 	if (sq(SB2) > 1e-6f) {
-		SB3 = 1.0F/sq(SB2);
-		SB5_inv = SB3*sq(SB4) + 1;
+		SB3 = 1.f/sq(SB2);
+		SB5_inv = SB3*sq(SB4) + 1.f;
 		canUseB = fabsf(SB5_inv) > 1e-6f;
 	}

 	Vector4f H_YAW;

 	if (canUseA && (!canUseB || fabsf(SA5_inv) >= fabsf(SB5_inv))) {
-		const float SA5 = 1.0F/SA5_inv;
-		const float SA6 = 1.0F/SA3;
+		const float SA5 = 1.f/SA5_inv;
+		const float SA6 = 1.f/SA3;
 		const float SA7 = SA2*SA4;
 		const float SA8 = 2*SA7;
 		const float SA9 = 2*SA6;

-		H_YAW(0) = SA5*(SA0*SA6 - SA8*q0);
-		H_YAW(1) = SA5*(-SA1*SA6 + SA8*q1);
-		H_YAW(2) = SA5*(-SA1*SA7 - SA9*q1);
-		H_YAW(3) = SA5*(SA0*SA7 + SA9*q0);
+		if (fuse_yaw_321) {
+			// calculate 321 yaw observation matrix
+			H_YAW(0) = SA5*(SA0*SA6 - SA8*q0);
+			H_YAW(1) = SA5*(SA1*SA6 - SA8*q1);
+			H_YAW(2) = SA5*(SA1*SA7 + SA9*q1);
+			H_YAW(3) = SA5*(SA0*SA7 + SA9*q0);
+
+		} else {
+			// calculate 312 yaw observation matrix
+			H_YAW(0) = SA5*(SA0*SA6 - SA8*q0);
+			H_YAW(1) = SA5*(-SA1*SA6 + SA8*q1);
+			H_YAW(2) = SA5*(-SA1*SA7 - SA9*q1);
+			H_YAW(3) = SA5*(SA0*SA7 + SA9*q0);
+		}
+
 	} else if (canUseB && (!canUseA || fabsf(SB5_inv) > fabsf(SA5_inv))) {
-		const float SB5 = 1.0F/SB5_inv;
-		const float SB6 = 1.0F/SB2;
+		const float SB5 = 1.f/SB5_inv;
+		const float SB6 = 1.f/SB2;
 		const float SB7 = SB3*SB4;
 		const float SB8 = 2*SB7;
 		const float SB9 = 2*SB6;

-		H_YAW(0) = -SB5*(-SB0*SB6 + SB8*q3);
-		H_YAW(1) = -SB5*(SB1*SB6 - SB8*q2);
-		H_YAW(2) = -SB5*(-SB1*SB7 - SB9*q2);
-		H_YAW(3) = -SB5*(SB0*SB7 + SB9*q3);
+		if (fuse_yaw_321) {
+			// calculate 321 yaw observation matrix
+			H_YAW(0) = -SB5*(SB0*SB6 - SB8*q3);
+			H_YAW(1) = -SB5*(SB1*SB6 - SB8*q2);
+			H_YAW(2) = -SB5*(-SB1*SB7 - SB9*q2);
+			H_YAW(3) = -SB5*(-SB0*SB7 - SB9*q3);
+
+		} else {
+			// calculate 312 yaw observation matrix
+			H_YAW(0) = -SB5*(-SB0*SB6 + SB8*q3);
+			H_YAW(1) = -SB5*(SB1*SB6 - SB8*q2);
+			H_YAW(2) = -SB5*(-SB1*SB7 - SB9*q2);
+			H_YAW(3) = -SB5*(SB0*SB7 + SB9*q3);
+		}
+
 	} else {
 		return false;
 	}

-	float innovation;
-
-	if (zero_innovation) {
-		innovation = 0.0f;
-
-	} else {
-		// calculate the the innovation and wrap to the interval between +-pi
-		innovation = wrap_pi(atan2f(-_R_to_earth(0, 1), _R_to_earth(1, 1)) - measurement);
-	}
-
-	// define the innovation gate size
-	float innov_gate = math::max(_params.heading_innov_gate, 1.0f);
-
-	// Update the quaternion states and covariance matrix
-	return updateQuaternion(innovation, R_YAW, innov_gate, H_YAW);
-}
-
-// update quaternion states and covariances using the yaw innovation, yaw observation variance and yaw Jacobian
-bool Ekf::updateQuaternion(const float innovation, const float variance, const float gate_sigma,
-			   const Vector4f &yaw_jacobian)
-{
 	// Calculate innovation variance and Kalman gains, taking advantage of the fact that only the first 4 elements in H are non zero
 	// calculate the innovation variance
 	_heading_innov_var = variance;
@@ -601,10 +557,10 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f
 		float tmp = 0.0f;

 		for (uint8_t col = 0; col <= 3; col++) {
-			tmp += P(row, col) * yaw_jacobian(col);
+			tmp += P(row, col) * H_YAW(col);
 		}

-		_heading_innov_var += yaw_jacobian(row) * tmp;
+		_heading_innov_var += H_YAW(row) * tmp;
 	}

 	float heading_innov_var_inv;
@@ -621,7 +577,7 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f

 		// we reinitialise the covariance matrix and abort this fusion step
 		initialiseCovariance();
-		ECL_ERR("mag yaw fusion numerical error - covariance reset");
+		ECL_ERR("yaw fusion numerical error - covariance reset");
 		return false;
 	}

@@ -631,7 +587,7 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f

 	for (uint8_t row = 0; row <= 15; row++) {
 		for (uint8_t col = 0; col <= 3; col++) {
-			Kfusion(row) += P(row, col) * yaw_jacobian(col);
+			Kfusion(row) += P(row, col) * H_YAW(col);
 		}

 		Kfusion(row) *= heading_innov_var_inv;
@@ -640,19 +596,19 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f
 	if (_control_status.flags.wind) {
 		for (uint8_t row = 22; row <= 23; row++) {
 			for (uint8_t col = 0; col <= 3; col++) {
-				Kfusion(row) += P(row, col) * yaw_jacobian(col);
+				Kfusion(row) += P(row, col) * H_YAW(col);
 			}

 			Kfusion(row) *= heading_innov_var_inv;
 		}
 	}

+	// define the innovation gate size
+	float gate_sigma = math::max(_params.heading_innov_gate, 1.f);
+
 	// innovation test ratio
 	_yaw_test_ratio = sq(innovation) / (sq(gate_sigma) * _heading_innov_var);

-	// we are no longer using 3-axis fusion so set the reported test levels to zero
-	_mag_test_ratio.setZero();
-
 	// set the magnetometer unhealthy if the test fails
 	if (_yaw_test_ratio > 1.0f) {
 		_innov_check_fail_status.flags.reject_yaw = true;
@@ -660,7 +616,10 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f
 		// if we are in air we don't want to fuse the measurement
 		// we allow to use it when on the ground because the large innovation could be caused
 		// by interference or a large initial gyro bias
-		if (!_control_status.flags.in_air && isTimedOut(_time_last_in_air, (uint64_t)5e6)) {
+		if (!_control_status.flags.in_air
+		&& isTimedOut(_time_last_in_air, (uint64_t)5e6)
+		&& isTimedOut(_time_last_heading_fuse, (uint64_t)1e6)
+		) {
 			// constrain the innovation to the maximum set by the gate
 			// we need to delay this forced fusion to avoid starting it
 			// immediately after touchdown, when the drone is still armed
@@ -688,10 +647,10 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f

 	for (unsigned row = 0; row < _k_num_states; row++) {

-		KH[0] = Kfusion(row) * yaw_jacobian(0);
-		KH[1] = Kfusion(row) * yaw_jacobian(1);
-		KH[2] = Kfusion(row) * yaw_jacobian(2);
-		KH[3] = Kfusion(row) * yaw_jacobian(3);
+		KH[0] = Kfusion(row) * H_YAW(0);
+		KH[1] = Kfusion(row) * H_YAW(1);
+		KH[2] = Kfusion(row) * H_YAW(2);
+		KH[3] = Kfusion(row) * H_YAW(3);

 		for (unsigned column = 0; column < _k_num_states; column++) {
 			float tmp = KH[0] * P(0, column);
@@ -715,68 +674,15 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f
 		// apply the state corrections
 		fuse(Kfusion, _heading_innov);

+		_time_last_heading_fuse = _time_last_imu;
+
 		return true;
 	}

 	return false;
 }

-void Ekf::fuseHeading(float measured_hdg, float obs_var)
-{
-	// observation variance
-	float R_YAW = PX4_ISFINITE(obs_var) ? obs_var : 0.01f;
-
-	// update transformation matrix from body to world frame using the current state estimate
-	const float predicted_hdg = getEulerYaw(_R_to_earth);
-
-	if (!PX4_ISFINITE(measured_hdg)) {
-		measured_hdg = predicted_hdg;
-	}
-
-	// handle special case where yaw measurement is unavailable
-	bool fuse_zero_innov = false;
-
-	if (_is_yaw_fusion_inhibited) {
-		// The yaw measurement cannot be trusted but we need to fuse something to prevent a badly
-		// conditioned covariance matrix developing over time.
-		if (!_control_status.flags.vehicle_at_rest) {
-			// Vehicle is not at rest so fuse a zero innovation if necessary to prevent
-			// unconstrained quaternion variance growth and record the predicted heading
-			// to use as an observation when movement ceases.
-			// TODO a better way of determining when this is necessary
-			const float sumQuatVar = P(0, 0) + P(1, 1) + P(2, 2) + P(3, 3);
-
-			if (sumQuatVar > _params.quat_max_variance) {
-				fuse_zero_innov = true;
-				R_YAW = 0.25f;
-			}
-
-			_last_static_yaw = predicted_hdg;
-
-		} else {
-			// Vehicle is at rest so use the last moving prediction as an observation
-			// to prevent the heading from drifting and to enable yaw gyro bias learning
-			// before takeoff.
-			if (!PX4_ISFINITE(_last_static_yaw)) {
-				_last_static_yaw = predicted_hdg;
-			}
-
-			measured_hdg = _last_static_yaw;
-		}
-
-	} else {
-		_last_static_yaw = predicted_hdg;
-	}
-
-	if (shouldUse321RotationSequence(_R_to_earth)) {
-		fuseYaw321(measured_hdg, R_YAW, fuse_zero_innov);
-
-	} else {
-		fuseYaw312(measured_hdg, R_YAW, fuse_zero_innov);
-	}
-}
-
-void Ekf::fuseDeclination(float decl_sigma)
+bool Ekf::fuseDeclination(float decl_sigma)
 {
 	// assign intermediate state variables
 	const float &magN = _state.mag_I(0);
@@ -791,7 +697,7 @@ void Ekf::fuseDeclination(float decl_sigma)
 	// Calculate intermediate variables
 	if (fabsf(magN) < sq(N_field_min)) {
 		// calculation is badly conditioned close to +-90 deg declination
-		return;
+		return false;
 	}

 	const float HK0 = ecl::powf(magN, -2);
@@ -810,7 +716,7 @@ void Ekf::fuseDeclination(float decl_sigma)
 		HK9 = HK4/innovation_variance;
 	} else {
 		// variance calculation is badly conditioned
-		return;
+		return false;
 	}

 	// Calculate the observation Jacobian
@@ -843,6 +749,8 @@ void Ekf::fuseDeclination(float decl_sigma)
 	if (is_fused) {
 		limitDeclination();
 	}
+
+	return is_fused;
 }

 void Ekf::limitDeclination()
@@ -1,3 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 "utils.hpp"

 matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312)
@@ -1,3 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 <matrix/math.hpp>

 #ifndef EKF_UTILS_HPP
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file zero_innovation_heading_update.cpp
+ * Control function for ekf heading update when at rest or no other heading source available
+ */
+
+#include "ekf.h"
+
+void Ekf::controlZeroInnovationHeadingUpdate()
+{
+	// When at rest or no source of yaw aiding is active yaw fusion is run selectively to enable yaw gyro
+	// bias learning when stationary on ground and to prevent uncontrolled yaw variance growth
+	if (_control_status.flags.vehicle_at_rest && _control_status.flags.tilt_align) {
+
+		const float euler_yaw = getEulerYaw(_R_to_earth);
+
+		// record static yaw when transitioning to at rest
+		if (!PX4_ISFINITE(_last_static_yaw)) {
+			_last_static_yaw = euler_yaw;
+		}
+
+		// fuse last static yaw at a limited rate (every 1000 milliseconds)
+		if (isTimedOut(_time_last_heading_fuse, (uint64_t)1'000'000)) {
+			float innovation = wrap_pi(euler_yaw - _last_static_yaw);
+			float obs_var = 0.001f;
+			fuseYaw(innovation, obs_var);
+		}
+
+	} else {
+		// vehicle moving or tilt alignment not yet completed
+
+		const float sumQuatVar = P(0, 0) + P(1, 1) + P(2, 2) + P(3, 3);
+
+		if (sumQuatVar > _params.quat_max_variance) {
+			// if necessary fuse zero innovation to prevent unconstrained quaternion variance growth
+			float innovation = 0.f;
+			float obs_var = 0.25f;
+			fuseYaw(innovation, obs_var);
+
+		} else if (!_control_status.flags.tilt_align) {
+			// fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low
+			float innovation = 0.f;
+			float obs_var = 0.01f;
+			fuseYaw(innovation, obs_var);
+		}
+
+		_last_static_yaw = getEulerYaw(_R_to_earth);
+	}
+}
@@ -92,6 +92,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_beta_noise(_params->beta_noise),
 	_param_ekf2_mag_decl(_params->mag_declination_deg),
 	_param_ekf2_hdg_gate(_params->heading_innov_gate),
+	_param_ekf2_hdg_init(_params->heading_init_deg),
 	_param_ekf2_mag_gate(_params->mag_innov_gate),
 	_param_ekf2_decl_type(_params->mag_declination_source),
 	_param_ekf2_mag_type(_params->mag_fusion_type),
@@ -690,6 +691,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 		event_flags.starting_vision_vel_fusion          = _ekf.information_event_flags().starting_vision_vel_fusion;
 		event_flags.starting_vision_yaw_fusion          = _ekf.information_event_flags().starting_vision_yaw_fusion;
 		event_flags.yaw_aligned_to_imu_gps              = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
+		event_flags.yaw_aligned_to_param                = _ekf.information_event_flags().yaw_aligned_to_param;

 		event_flags.warning_event_changes               = _filter_warning_event_changes;
 		event_flags.gps_quality_poor                    = _ekf.warning_event_flags().gps_quality_poor;
@@ -1334,6 +1336,7 @@ void EKF2::PublishYawEstimatorStatus(const hrt_abstime &timestamp)
 			       yaw_est_test_data.innov_vn, yaw_est_test_data.innov_ve,
 			       yaw_est_test_data.weight)) {

+		yaw_est_test_data.yaw_composite_valid = _ekf.isYawEmergencyEstimateAvailable();
 		yaw_est_test_data.timestamp_sample = _ekf.get_imu_sample_delayed().time_us;
 		yaw_est_test_data.timestamp = _replay_mode ? timestamp : hrt_absolute_time();

@@ -385,6 +385,7 @@ private:
 		(ParamExtFloat<px4::params::EKF2_MAG_DECL>) _param_ekf2_mag_decl,///< magnetic declination (degrees)
 		(ParamExtFloat<px4::params::EKF2_HDG_GATE>)
 		_param_ekf2_hdg_gate,///< heading fusion innovation consistency gate size (STD)
+		(ParamExtFloat<px4::params::EKF2_HDG_INIT>) _param_ekf2_hdg_init,
 		(ParamExtFloat<px4::params::EKF2_MAG_GATE>)
 		_param_ekf2_mag_gate,	///< magnetometer fusion innovation consistency gate size (STD)
 		(ParamExtInt<px4::params::EKF2_DECL_TYPE>)
@@ -442,6 +442,19 @@ PARAM_DEFINE_FLOAT(EKF2_BETA_NOISE, 0.3f);
 */
 PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 2.6f);

+/**
+ * Initial heading angle
+ *
+ * Initial heading angle to use when no yaw source is available (magnetometer, GPS yaw, vision yaw)
+ *
+ * @group EKF2
+ * @min 0
+ * @max 359
+ * @unit deg
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_HDG_INIT, 2.6f);
+
 /**
 * Gate size for magnetometer XYZ component fusion
 *
@@ -68,324 +68,324 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 6590000,1,-0.00939,-0.0109,-0.0169,0.00352,0.00841,-0.0946,0.0017,0.00262,-365,-1.61e-05,-5.73e-05,2.58e-07,-1.13e-07,1.43e-07,1.72e-06,0.192,0.00189,0.404,0,0,0,0,0,2.18e-07,0.000442,0.000442,0.000377,0.248,0.248,1.03,0.143,0.143,0.229,1.2e-08,1.2e-08,1.05e-08,3.86e-06,3.86e-06,3.99e-06,0,0,0,0,0,0,0,0
 6690000,1,-0.0094,-0.0109,-0.017,0.00346,0.00674,-0.0733,0.0013,0.00216,-365,-1.58e-05,-5.74e-05,2.52e-07,-3.26e-07,-4.56e-08,-1.49e-06,0.192,0.00189,0.404,0,0,0,0,0,2.03e-07,0.000378,0.000378,0.000371,0.196,0.196,0.746,0.108,0.108,0.206,9.76e-09,9.77e-09,1e-08,3.86e-06,3.86e-06,3.99e-06,0,0,0,0,0,0,0,0
 6790000,1,-0.00938,-0.0109,-0.017,0.00318,0.00814,-0.11,0.00165,0.0029,-365,-1.58e-05,-5.74e-05,2.52e-07,-2.73e-07,-9.32e-08,9.41e-07,0.192,0.00189,0.404,0,0,0,0,0,2.04e-07,0.000394,0.000394,0.000366,0.225,0.225,0.577,0.136,0.136,0.196,9.76e-09,9.77e-09,9.57e-09,3.86e-06,3.86e-06,3.99e-06,0,0,0,0,0,0,0,0
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@@ -106,10 +106,10 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
 	EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
 	EXPECT_LT(yaw_est_var, tolerance_rad);

-	// 2 resets: 1 after IMU+GNSS yaw alignment and 1 when starting GNSS aiding
+	// 1 reset after IMU+GNSS yaw alignment
 	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(2));
-	EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(2));
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));

 	EXPECT_TRUE(_ekf->local_position_is_valid());
 	EXPECT_TRUE(_ekf->global_position_is_valid());
Author	SHA1	Message	Date
Daniel Agar	34a911fa18	ekf2: increase yaw estimator heading fusion rate	2022-04-25 10:26:49 -04:00
Daniel Agar	7553aec3e0	ekf2: magless mode increase yaw estimator yaw fusion rate	2022-04-23 11:56:33 -04:00
Daniel Agar	fd9a1a8b1c	ekf2: magless fixes and improvements - periodically fuse yaw estimator yaw if valid and no other heading sources available - initial yaw align from yaw estimator also include GPS vel/pos reset - fix resetYawToEKFGSF() logic to prevent excessive resets - GPS fusion timeout use lower threshold for yaw estimator heading reset if no other heading source available	2022-04-21 11:31:46 -04:00
Daniel Agar	4084beaa53	ekf2: wrap_pi fixes and fuseYaw() renaming - to stay consistent with https://github.com/PX4/PX4-Autopilot/pull/19434	2022-04-06 10:50:20 -04:00
Daniel Agar	b8315ea72a	WIP: ekf2 add new initial heading parameter (EKF2_HDG_INIT) - used only when all yaw aid sources are disabled	2022-04-04 13:14:31 -04:00
Daniel Agar	becffa3441	ekf2: cleanup zero innovation heading fusion	2022-04-04 10:42:57 -04:00
Daniel Agar	1a5ff0bae4	ekf2: save full covariance sub-matrix for mag I/B	2022-04-04 10:42:57 -04:00
Daniel Agar	0df8443f2f	ekf2: simplify mag auto (3d select)	2022-04-04 10:42:57 -04:00
Daniel Agar	ad1a35f7a4	ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed	2022-04-04 10:42:57 -04:00
Daniel Agar	0546f4082b	ekf2: replace mag reset request flags with timeout checks	2022-04-04 10:42:56 -04:00
Daniel Agar	ca893e55a5	ekf2: allow yaw estimator to run on ground (not at rest) and init yaw align - add a common resetMagStates() that uses the WMM to reinit mag states (I & B) if possible	2022-04-04 10:42:56 -04:00
Daniel Agar	2f0c2fa126	ekf2: replace _inhibit_ev_yaw_use with local flag	2022-04-04 10:42:56 -04:00
Daniel Agar	cdf9e6d35a	ekf2: merge runOnGroundYawReset() and runInAirYawReset()	2022-04-04 10:42:55 -04:00
Daniel Agar	6e363b0e76	ekf2: EKFGSF_yaw delete unnecessary internal state	2022-04-04 10:42:55 -04:00
Daniel Agar	db138d4480	ekf2: yaw estimator add yaw_composite_valid boolean	2022-04-04 10:42:55 -04:00
Daniel Agar	f8a33e551c	ekf2: allow yaw estimator to run when disarmed (if not at rest)	2022-04-04 10:42:55 -04:00
Daniel Agar	741310bc36	ekf2: reset mag_lpf (by zeroing _mag_counter) when resetting mag bias (or changing mags) - so that there's new filtered data avaiable for reset	2022-04-04 10:42:54 -04:00
Daniel Agar	9a929e0857	ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails	2022-04-04 10:42:54 -04:00
Daniel Agar	4234e9a390	ekf2: clear test ratios, flags, etc when stopping mag fusion	2022-04-04 10:42:54 -04:00
Daniel Agar	521fefc155	ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed	2022-04-04 10:42:53 -04:00
Daniel Agar	a8824b4e60	ekf2: resetMagHeading() split out simple init case	2022-04-04 10:42:53 -04:00
Daniel Agar	25a3ee0232	ekf2: move checkMagFieldStrength() to magFieldStrengthDisturbed() const method	2022-04-04 10:42:53 -04:00
Daniel Agar	9ee4bf9bf5	ekf2: delete isStrongMagneticDisturbance()	2022-04-04 10:42:53 -04:00
Daniel Agar	8643a8b4b3	ekf2: delete isYawResetAuthorized()	2022-04-04 10:42:52 -04:00
Daniel Agar	d71d6568e5	ekf2: delete isMagBiasObservable()	2022-04-04 10:42:52 -04:00
Daniel Agar	e898e29af3	ekf2: delete isYawAngleObservable()	2022-04-04 10:42:52 -04:00
Daniel Agar	e7621649bc	ekf2: add copyright header to EKFGSF_yaw and utils	2022-04-04 10:42:52 -04:00
Daniel Agar	2916ae4030	ekf2: simplify mag yaw reset request when transitioning to mag enabled	2022-04-04 10:42:51 -04:00
Daniel Agar	dedecce39f	ekf2: add mag fusion timestamps	2022-04-04 10:42:51 -04:00