Makefile: add target for unit tests

qurt: update for functional logger
Qurt platform/common dependency fixes
2026-06-10 17:10:06 +08:00 · 2022-10-26 19:40:31 +02:00 · 2022-10-25 21:07:15 -04:00 · 2022-10-25 21:06:00 -04:00 · 2022-10-25 09:20:01 -04:00 · 2022-10-25 08:02:47 +02:00
70 changed files with 7261 additions and 6841 deletions
@@ -410,7 +410,7 @@ if(BUILD_TESTING)
 	include(gtest)

 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R \"${TESTFILTER}\" USES_TERMINAL
 			DEPENDS
 				px4
 				examples__dyn_hello
@@ -386,6 +386,8 @@ tests_coverage:
 	@mkdir -p coverage
 	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info

+test_unit:
+	@$(MAKE) tests TESTFILTER="unit\|functional"

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -550,21 +552,6 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
-
 .PHONY: failsafe_web run_failsafe_web_server
 failsafe_web:
 	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
@@ -144,7 +144,6 @@ function(px4_add_common_flags)
 	list(APPEND c_flags
 		-fno-common

-		-Wbad-function-cast
 		-Wnested-externs
 		-Wstrict-prototypes
 	)
@@ -1,4 +1,4 @@
-## Used to command an actuation in the gripper, which is mapped to a specific output in the mixer module
+## Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module

 uint64 timestamp

@@ -44,12 +44,7 @@
 #include <stdint.h>
 #include <unistd.h>
 #include <fcntl.h>
-
-#if defined(__PX4_QURT)
-#include <dspal_types.h>
-#else
 #include <sys/types.h>
-#endif

 #include "sem.h"

@@ -43,7 +43,7 @@

 #include <stdint.h>
 #include <queue.h>
-#include <px4_platform_types.h>
+#include <sys/types.h>

 __BEGIN_DECLS

@@ -69,6 +69,8 @@ function(px4_os_add_flags)

 	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-fno-sized-deallocation>)

+	add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wbad-function-cast>)
+
 	add_definitions(
 		-D__PX4_NUTTX

@@ -238,6 +238,8 @@ function(px4_os_add_flags)

 	endif()

+	add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wbad-function-cast>)
+
 endfunction()

 #=============================================================================
@@ -1,3 +0,0 @@
-#ifdef __PX4_QURT
-#include <dspal_types.h>
-#endif
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+//Defining hap_debug
+void HAP_debug(const char *msg, int level, const char *filename, int line);
+
+static __inline void qurt_log(int level, const char *file, int line,
+			      const char *format, ...)
+{
+	char buf[256];
+	va_list args;
+	va_start(args, format);
+	vsnprintf(buf, sizeof(buf), format, args);
+	va_end(args);
+	HAP_debug(buf, level, file, line);
+}
+
+__END_DECLS
@@ -25,6 +25,10 @@ param set IMU_GYRO_FFT_SNR 10
 #param set IMU_GYRO_DNF_EN 2
 param set IMU_GYRO_DNF_EN 3

+param set IMU_GYRO_DNF_BW 15
+param set IMU_GYRO_DNF_HMC 3
+param set IMU_GYRO_DNF_MIN 25
+
 # test values
 param set IMU_GYRO_CUTOFF 60
 param set IMU_DGYRO_CUTOFF 40
@@ -76,6 +76,7 @@ px4_add_module(
 		SagetechMXS.cpp
 		SagetechMXS.hpp
 	DEPENDS
+		adsb
 		px4_work_queue
 	MODULE_CONFIG
 		module.yaml
@@ -39,168 +39,6 @@
 * @author Check Faber chuck.faber@sagetech.com
 */

-/**
- * ADSB-Out squawk code configuration
- *
- * This parameter defines the squawk code. Value should be between 0000 and 7777.
- *
- * @reboot_required false
- * @min 0
- * @max 7777
- * @group Transponder
- *
- */
-PARAM_DEFINE_INT32(ADSB_SQUAWK, 1200);
-
-/**
- * ADSB-Out Ident Configuration
- *
- * Enable Identification of Position feature
- *
- * @boolean
- * @reboot_required false
- * @group Transponder
- */
-PARAM_DEFINE_INT32(ADSB_IDENT, 0);
-
-/**
- * ADSB-In Vehicle List Size
- *
- * Change number of targets to track
- *
- * @min 0
- * @max 50
- * @reboot_required true
- * @group Transponder
- */
-PARAM_DEFINE_INT32(ADSB_LIST_MAX, 25);
-
-/**
- * ADSB-Out ICAO configuration
- *
- * Defines the ICAO ID of the vehicle
- *
- * @reboot_required true
- * @min -1
- * @max 16777215
- * @group Transponder
- *
- */
-PARAM_DEFINE_INT32(ADSB_ICAO_ID, 1194684);
-
-/**
- * ADSB-Out Vehicle Size Configuration
- *
- * Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.
- *
- * @reboot_required true
- * @min 0
- * @max 15
- * @group Transponder
- *
- * @value 0 SizeUnknown
- * @value 1 Len15_Wid23
- * @value 2 Len25_Wid28
- * @value 3 Len25_Wid34
- * @value 4 Len35_Wid33
- * @value 5 Len35_Wid38
- * @value 6 Len45_Wid39
- * @value 7 Len45_Wid45
- * @value 8 Len55_Wid45
- * @value 9 Len55_Wid52
- * @value 10 Len65_Wid59
- * @value 11 Len65_Wid67
- * @value 12 Len75_Wid72
- * @value 13 Len75_Wid80
- * @value 14 Len85_Wid80
- * @value 15 Len85_Wid90
- */
-PARAM_DEFINE_INT32(ADSB_LEN_WIDTH, 1);
-
-/**
- * ADSB-Out Vehicle Emitter Type
- *
- * Configure the emitter type of the vehicle.
- *
- * @reboot_required true
- * @min 0
- * @max 15
- * @group Transponder
- *
- * @value 0 Unknown
- * @value 1 Light
- * @value 2 Small
- * @value 3 Large
- * @value 4 HighVortex
- * @value 5 Heavy
- * @value 6 Performance
- * @value 7 Rotorcraft
- * @value 8 RESERVED
- * @value 9 Glider
- * @value 10 LightAir
- * @value 11 Parachute
- * @value 12 UltraLight
- * @value 13 RESERVED
- * @value 14 UAV
- * @value 15 Space
- * @value 16 RESERVED
- * @value 17 EmergencySurf
- * @value 18 ServiceSurf
- * @value 19 PointObstacle
- */
-PARAM_DEFINE_INT32(ADSB_EMIT_TYPE, 14);
-
-/**
- * ADSB-Out Vehicle Max Speed
- *
- * Informs ADSB vehicles of this vehicle's max speed capability
- *
- * @reboot_required true
- * @min 0
- * @max 6
- * @value 0 UnknownMaxSpeed
- * @value 1 75Kts
- * @value 2 150Kts
- * @value 3 300Kts
- * @value 4 600Kts
- * @value 5 1200Kts
- * @value 6 Over1200Kts
- * @group Transponder
- */
-PARAM_DEFINE_INT32(ADSB_MAX_SPEED, 0);
-
-/**
- * ADSB-In Special ICAO configuration
- *
- * This vehicle is always tracked. Use 0 to disable.
- *
- * @reboot_required false
- * @min 0
- * @max 16777215
- * @group Transponder
- *
- */
-PARAM_DEFINE_INT32(ADSB_ICAO_SPECL, 0);
-
-/**
- * ADSB-Out Emergency State
- *
- * Sets the vehicle emergency state
- *
- * @reboot_required false
- * @min 0
- * @max 6
- * @value 0 NoEmergency
- * @value 1 General
- * @value 2 Medical
- * @value 3 LowFuel
- * @value 4 NoCommunications
- * @value 5 Interference
- * @value 6 Downed
- * @group Transponder
- */
-PARAM_DEFINE_INT32(ADSB_EMERGC, 0);
-
 /**
 * Sagetech MXS mode configuration
 *
@@ -31,6 +31,7 @@
 #
 ############################################################################

+add_subdirectory(adsb)
 add_subdirectory(airspeed)
 add_subdirectory(avoidance)
 add_subdirectory(battery)
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_library(adsb adsb.cpp)
@@ -0,0 +1,32 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
@@ -0,0 +1,228 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * ADSB-Out squawk code configuration
+ *
+ * This parameter defines the squawk code. Value should be between 0000 and 7777.
+ *
+ * @reboot_required false
+ * @min 0
+ * @max 7777
+ * @group ADSB
+ *
+ */
+PARAM_DEFINE_INT32(ADSB_SQUAWK, 1200);
+
+/**
+ * ADSB-Out Ident Configuration
+ *
+ * Enable Identification of Position feature
+ *
+ * @boolean
+ * @reboot_required false
+ * @group ADSB
+ */
+PARAM_DEFINE_INT32(ADSB_IDENT, 0);
+
+/**
+ * ADSB-In Vehicle List Size
+ *
+ * Change number of targets to track
+ *
+ * @min 0
+ * @max 50
+ * @reboot_required true
+ * @group ADSB
+ */
+PARAM_DEFINE_INT32(ADSB_LIST_MAX, 25);
+
+/**
+ * ADSB-Out ICAO configuration
+ *
+ * Defines the ICAO ID of the vehicle
+ *
+ * @reboot_required true
+ * @min -1
+ * @max 16777215
+ * @group ADSB
+ *
+ */
+PARAM_DEFINE_INT32(ADSB_ICAO_ID, 1194684);
+
+/**
+ * ADSB-Out Vehicle Size Configuration
+ *
+ * Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 15
+ * @group ADSB
+ *
+ * @value 0 SizeUnknown
+ * @value 1 Len15_Wid23
+ * @value 2 Len25_Wid28
+ * @value 3 Len25_Wid34
+ * @value 4 Len35_Wid33
+ * @value 5 Len35_Wid38
+ * @value 6 Len45_Wid39
+ * @value 7 Len45_Wid45
+ * @value 8 Len55_Wid45
+ * @value 9 Len55_Wid52
+ * @value 10 Len65_Wid59
+ * @value 11 Len65_Wid67
+ * @value 12 Len75_Wid72
+ * @value 13 Len75_Wid80
+ * @value 14 Len85_Wid80
+ * @value 15 Len85_Wid90
+ */
+PARAM_DEFINE_INT32(ADSB_LEN_WIDTH, 1);
+
+/**
+ * ADSB-Out Vehicle Emitter Type
+ *
+ * Configure the emitter type of the vehicle.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 15
+ * @group ADSB
+ *
+ * @value 0 Unknown
+ * @value 1 Light
+ * @value 2 Small
+ * @value 3 Large
+ * @value 4 HighVortex
+ * @value 5 Heavy
+ * @value 6 Performance
+ * @value 7 Rotorcraft
+ * @value 8 RESERVED
+ * @value 9 Glider
+ * @value 10 LightAir
+ * @value 11 Parachute
+ * @value 12 UltraLight
+ * @value 13 RESERVED
+ * @value 14 UAV
+ * @value 15 Space
+ * @value 16 RESERVED
+ * @value 17 EmergencySurf
+ * @value 18 ServiceSurf
+ * @value 19 PointObstacle
+ */
+PARAM_DEFINE_INT32(ADSB_EMIT_TYPE, 14);
+
+/**
+ * ADSB-Out Vehicle Max Speed
+ *
+ * Informs ADSB vehicles of this vehicle's max speed capability
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 6
+ * @value 0 UnknownMaxSpeed
+ * @value 1 75Kts
+ * @value 2 150Kts
+ * @value 3 300Kts
+ * @value 4 600Kts
+ * @value 5 1200Kts
+ * @value 6 Over1200Kts
+ * @group ADSB
+ */
+PARAM_DEFINE_INT32(ADSB_MAX_SPEED, 0);
+
+/**
+ * ADSB-In Special ICAO configuration
+ *
+ * This vehicle is always tracked. Use 0 to disable.
+ *
+ * @reboot_required false
+ * @min 0
+ * @max 16777215
+ * @group ADSB
+ *
+ */
+PARAM_DEFINE_INT32(ADSB_ICAO_SPECL, 0);
+
+/**
+ * ADSB-Out Emergency State
+ *
+ * Sets the vehicle emergency state
+ *
+ * @reboot_required false
+ * @min 0
+ * @max 6
+ * @value 0 NoEmergency
+ * @value 1 General
+ * @value 2 Medical
+ * @value 3 LowFuel
+ * @value 4 NoCommunications
+ * @value 5 Interference
+ * @value 6 Downed
+ * @group ADSB
+ */
+PARAM_DEFINE_INT32(ADSB_EMERGC, 0);
+
+/**
+ * ADSB-Out GPS Offset lat
+ *
+ * Sets GPS lataral offset encoding
+ *
+ * @reboot_required false
+ * @min 0
+ * @max 7
+ * @value 0 NoData
+ * @value 1 LatLeft2M
+ * @value 2 LatLeft4M
+ * @value 3 LatLeft6M
+ * @value 4 LatRight0M
+ * @value 5 LatRight2M
+ * @value 6 LatRight4M
+ * @value 7 LatRight6M
+ * @group ADSB
+ */
+PARAM_DEFINE_INT32(ADSB_GPS_OFF_LAT, 0);
+
+/**
+ * ADSB-Out GPS Offset lon
+ *
+ * Sets GPS longitudinal offset encoding
+ *
+ * @reboot_required false
+ * @min 0
+ * @max 1
+ * @value 0 NoData
+ * @value 1 AppliedBySensor
+ * @group ADSB
+ */
+PARAM_DEFINE_INT32(ADSB_GPS_OFF_LON, 0);
@@ -104,7 +104,7 @@ void TECS::_update_speed_states(float equivalent_airspeed_setpoint, float equiva
 	const float dt = constrain((now - _speed_update_timestamp) * 1.0e-6f, DT_MIN, DT_MAX);

 	// Convert equivalent airspeed quantities to true airspeed
-	_EAS_setpoint = equivalent_airspeed_setpoint;
+	_EAS_setpoint = PX4_ISFINITE(equivalent_airspeed_setpoint) ? equivalent_airspeed_setpoint : _equivalent_airspeed_trim;
 	_TAS_setpoint  = _EAS_setpoint * EAS2TAS;
 	_TAS_max   = _equivalent_airspeed_max * EAS2TAS;
 	_TAS_min   = _equivalent_airspeed_min * EAS2TAS;
@@ -37,6 +37,7 @@
 */

 #include "WindEstimator.hpp"
+#include "python/generated/init_wind_using_airspeed.h"

 bool
 WindEstimator::initialise(const matrix::Vector3f &velI, const float hor_vel_variance, const float heading_rad,
@@ -44,34 +45,19 @@ WindEstimator::initialise(const matrix::Vector3f &velI, const float hor_vel_vari
 {
 	if (PX4_ISFINITE(tas_meas) && PX4_ISFINITE(tas_variance)) {

-		const float cos_heading = cosf(heading_rad);
-		const float sin_heading = sinf(heading_rad);
+		constexpr float initial_heading_var = sq(math::radians(INITIAL_HEADING_ERROR_DEG));
+		constexpr float initial_sideslip_var = sq(math::radians(INITIAL_BETA_ERROR_DEG));

-		// initialise wind states assuming zero side slip and horizontal flight
-		_state(INDEX_W_N) = velI(0) - tas_meas * cos_heading;
-		_state(INDEX_W_E) = velI(1) - tas_meas * sin_heading;
+		matrix::SquareMatrix<float, 2> P_wind_init;
+		matrix::Vector2f wind_init;
+
+		sym::InitWindUsingAirspeed(velI, heading_rad, tas_meas, hor_vel_variance, initial_heading_var, initial_sideslip_var,
+					   tas_variance,
+					   &wind_init, &P_wind_init);
+
+		_state.xy() = wind_init;
 		_state(INDEX_TAS_SCALE) = _scale_init;
-
-		constexpr float initial_sideslip_uncertainty = math::radians(INITIAL_BETA_ERROR_DEG);
-		const float initial_wind_var_body_y = sq(tas_meas * sinf(initial_sideslip_uncertainty));
-		constexpr float heading_variance = sq(math::radians(INITIAL_HEADING_ERROR_DEG));
-
-		// rotate wind velocity into earth frame aligned with vehicle yaw
-		const float Wx = _state(INDEX_W_N) * cos_heading + _state(INDEX_W_E) * sin_heading;
-		const float Wy = -_state(INDEX_W_N) * sin_heading + _state(INDEX_W_E) * cos_heading;
-
-		_P(INDEX_W_N, INDEX_W_N) = tas_variance * sq(cos_heading) + heading_variance * sq(-Wx * sin_heading - Wy * cos_heading)
-					   + initial_wind_var_body_y * sq(sin_heading);
-		_P(INDEX_W_N, INDEX_W_E) = tas_variance * sin_heading * cos_heading + heading_variance *
-					   (-Wx * sin_heading - Wy * cos_heading) * (Wx * cos_heading - Wy * sin_heading) -
-					   initial_wind_var_body_y * sin_heading * cos_heading;
-		_P(INDEX_W_E, INDEX_W_N) = _P(INDEX_W_N, INDEX_W_E);
-		_P(INDEX_W_E, INDEX_W_E) = tas_variance * sq(sin_heading) + heading_variance * sq(Wx * cos_heading - Wy * sin_heading) +
-					   initial_wind_var_body_y * sq(cos_heading);
-
-		// Now add the variance due to uncertainty in vehicle velocity that was used to calculate the initial wind speed
-		_P(INDEX_W_N, INDEX_W_N) += hor_vel_variance;
-		_P(INDEX_W_E, INDEX_W_E) += hor_vel_variance;
+		_P.slice<2, 2>(0, 0) = P_wind_init;

 	} else {
 		// no airspeed available
@@ -81,10 +67,6 @@ WindEstimator::initialise(const matrix::Vector3f &velI, const float hor_vel_vari
 		_P(INDEX_W_N, INDEX_W_N) = _P(INDEX_W_E, INDEX_W_E) = sq(INITIAL_WIND_ERROR);
 	}

-	// reset the timestamp for measurement rejection
-	_time_rejected_tas = 0;
-	_time_rejected_beta = 0;
-
 	_wind_estimator_reset = true;

 	return true;
@@ -143,20 +125,14 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
 	sym::FuseAirspeed(velI, _state, _P, true_airspeed, _tas_var, FLT_EPSILON,
 			  &H_tas, &K, &_tas_innov_var, &_tas_innov);

-	bool reinit_filter = false;
-	bool meas_is_rejected = false;
+	const bool meas_is_rejected = check_if_meas_is_rejected(_tas_innov, _tas_innov_var, _tas_gate);

-	// note: _time_rejected_tas and reinit_filter are not used anymore as filter can't get reset due to tas rejection
-	meas_is_rejected = check_if_meas_is_rejected(time_now, _tas_innov, _tas_innov_var, _tas_gate, _time_rejected_tas,
-			   reinit_filter);
+	if (_tas_innov_var < 0.0f) {
+		// re init filter in case of a negative variance, and trigger early return to not fuse measurement
+		_initialised = initialise(velI, hor_vel_variance, matrix::Eulerf(q_att).psi(), true_airspeed, _tas_var);
+		return;

-	if (meas_is_rejected || _tas_innov_var < 0.f) {
-		// only reset filter if _tas_innov_var gets unfeasible
-		if (_tas_innov_var < 0.0f) {
-			_initialised = initialise(velI, hor_vel_variance, matrix::Eulerf(q_att).psi(), true_airspeed, _tas_var);
-		}
-
-		// we either did a filter reset or the current measurement was rejected so do not fuse
+	} else if (meas_is_rejected) {
 		return;
 	}

@@ -187,71 +163,21 @@ WindEstimator::fuse_beta(uint64_t time_now, const matrix::Vector3f &velI, const

 	_time_last_beta_fuse = time_now;

-	const float v_n = velI(0);
-	const float v_e = velI(1);
-	const float v_d = velI(2);
-
-	// compute sideslip observation vector
-	float HB0 = 2.0f * q_att(0);
-	float HB1 = HB0 * q_att(3);
-	float HB2 = 2.0f * q_att(1);
-	float HB3 = HB2 * q_att(2);
-	float HB4 = v_e - _state(INDEX_W_E);
-	float HB5 = HB1 + HB3;
-	float HB6 = v_n - _state(INDEX_W_N);
-	float HB7 = q_att(0) * q_att(0);
-	float HB8 = q_att(3) * q_att(3);
-	float HB9 = HB7 - HB8;
-	float HB10 = q_att(1) * q_att(1);
-	float HB11 = q_att(2) * q_att(2);
-	float HB12 = HB10 - HB11;
-	float HB13 = HB12 + HB9;
-	float HB14 = HB13 * HB6 + HB4 * HB5 + v_d * (-HB0 * q_att(2) + HB2 * q_att(3));
-	float HB15 = 1.0f / HB14;
-	float HB16 = (HB4 * (-HB10 + HB11 + HB9) + HB6 * (-HB1 + HB3) + v_d * (HB0 * q_att(1) + 2.0f * q_att(2) * q_att(3))) /
-		     (HB14 * HB14);

 	matrix::Matrix<float, 1, 3> H_beta;
-	H_beta(0, 0) = HB13 * HB16 + HB15 * (HB1 - HB3);
-	H_beta(0, 1) = HB15 * (HB12 - HB7 + HB8) + HB16 * HB5;
-	H_beta(0, 2) = 0;
+	matrix::Matrix<float, 3, 1> K;

-	// compute innovation covariance S
-	const matrix::Matrix<float, 1, 1> S = H_beta * _P * H_beta.transpose() + _beta_var;
+	sym::FuseBeta(velI, _state, _P, q_att, _beta_var, FLT_EPSILON,
+		      &H_beta, &K, &_beta_innov_var, &_beta_innov);

-	// compute Kalman gain
-	matrix::Matrix<float, 3, 1> K = _P * H_beta.transpose();
-	K /= S(0, 0);
+	const bool meas_is_rejected = check_if_meas_is_rejected(_beta_innov, _beta_innov_var, _beta_gate);

-	// compute predicted side slip angle
-	matrix::Vector3f rel_wind(velI(0) - _state(INDEX_W_N), velI(1) - _state(INDEX_W_E), velI(2));
-	matrix::Dcmf R_body_to_earth(q_att);
-	rel_wind = R_body_to_earth.transpose() * rel_wind;
-
-	if (fabsf(rel_wind(0)) < 0.1f) {
+	if (_beta_innov_var < 0.0f) {
+		// re init filter in case of a negative variance, and trigger early return to not fuse measurement
+		_initialised = initialise(velI, hor_vel_variance, matrix::Eulerf(q_att).psi());
 		return;
-	}

-	// use small angle approximation, sin(x) = x for small x
-	const float beta_pred = rel_wind(1) / rel_wind(0);
-
-	_beta_innov = 0.0f - beta_pred;
-	_beta_innov_var = S(0, 0);
-
-	bool reinit_filter = false;
-	bool meas_is_rejected = false;
-
-	meas_is_rejected = check_if_meas_is_rejected(time_now, _beta_innov, _beta_innov_var, _beta_gate, _time_rejected_beta,
-			   reinit_filter);
-
-	reinit_filter |= _beta_innov_var < 0.0f;
-
-	if (meas_is_rejected || reinit_filter) {
-		if (reinit_filter) {
-			_initialised = initialise(velI, hor_vel_variance, matrix::Eulerf(q_att).psi());
-		}
-
-		// we either did a filter reset or the current measurement was rejected so do not fuse
+	} else if (meas_is_rejected) {
 		return;
 	}

@@ -301,17 +227,7 @@ WindEstimator::run_sanity_checks()
 }

 bool
-WindEstimator::check_if_meas_is_rejected(uint64_t time_now, float innov, float innov_var, uint8_t gate_size,
-		uint64_t &time_meas_rejected, bool &reinit_filter)
+WindEstimator::check_if_meas_is_rejected(float innov, float innov_var, uint8_t gate_size)
 {
-	if (innov * innov > gate_size * gate_size * innov_var) {
-		time_meas_rejected = time_meas_rejected == 0 ? time_now : time_meas_rejected;
-
-	} else {
-		time_meas_rejected = 0;
-	}
-
-	reinit_filter = time_now - time_meas_rejected > 5_s && time_meas_rejected != 0;
-
-	return time_meas_rejected != 0;
+	return (innov * innov > gate_size * gate_size * innov_var);
 }
@@ -44,6 +44,8 @@
 #include <matrix/math.hpp>

 #include "python/generated/fuse_airspeed.h"
+#include "python/generated/fuse_beta.h"
+#include "python/generated/init_wind_using_airspeed.h"

 using namespace time_literals;

@@ -68,8 +70,7 @@ public:

 	bool is_estimate_valid() { return _initialised; }

-	bool check_if_meas_is_rejected(uint64_t time_now, float innov, float innov_var, uint8_t gate_size,
-				       uint64_t &time_meas_rejected, bool &reinit_filter);
+	bool check_if_meas_is_rejected(float innov, float innov_var, uint8_t gate_size);

 	matrix::Vector2f get_wind() { return matrix::Vector2f{_state(INDEX_W_N), _state(INDEX_W_E)}; }

@@ -130,9 +131,6 @@ private:
 	uint64_t _time_last_airspeed_fuse = 0;	///< timestamp of last airspeed fusion
 	uint64_t _time_last_beta_fuse = 0;	///< timestamp of last sideslip fusion
 	uint64_t _time_last_update = 0;		///< timestamp of last covariance prediction
-	uint64_t _time_rejected_beta = 0;	///< timestamp of when sideslip measurements have consistently started to be rejected
-	uint64_t _time_rejected_tas =
-		0;	///< timestamp of when true airspeed measurements have consistently started to be rejected

 	bool _wind_estimator_reset = false; ///< wind estimator was reset in this cycle

@@ -1,7 +1,43 @@
-import os
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+    Copyright (c) 2022 PX4 Development Team
+    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: derivation.py
+Description:
+    Derivation of a wind and airspeed scale (EKF) estimator using SymForce
+"""
+
 from symforce import symbolic as sm
 from symforce import geo
 from symforce import typing as T
+from derivation_utils import *

 def fuse_airspeed(
        v_local: geo.V3,
@@ -18,42 +54,65 @@ def fuse_airspeed(
    innov = airspeed - airspeed_pred

    H = geo.V1(airspeed_pred).jacobian(state)
-    innov_var = (H * P * H.transpose() + R)[0,0]
+    innov_var = (H * P * H.T + R)[0,0]

-    K = P * H.transpose() / sm.Max(innov_var, epsilon)
+    K = P * H.T / sm.Max(innov_var, epsilon)

    return (geo.V3(H), K, innov_var, innov)

-from symforce.codegen import Codegen, CppConfig
+def fuse_beta(
+        v_local: geo.V3,
+        state: geo.V3,
+        P: geo.M33,
+        q_att: geo.V4,
+        R: T.Scalar,
+        epsilon: T.Scalar
+) -> (geo.V3, geo.V3, T.Scalar, T.Scalar):

-codegen = Codegen.function(
-        fuse_airspeed,
-        output_names=["H", "K", "innov_var", "innov"],
-        config=CppConfig())
-metadata = codegen.generate_function(
-        output_dir="generated",
-        skip_directory_nesting=True)
+    vel_rel = geo.V3(v_local[0] - state[0], v_local[1] - state[1], v_local[2])
+    relative_wind_body = quat_to_rot(q_att).T * vel_rel

-print("Files generated in {}:\n".format(metadata.output_dir))
-for f in metadata.generated_files:
-    print("  |- {}".format(os.path.relpath(f, metadata.output_dir)))
+    # Small angle approximation of side slip model
+    # Protect division by zero using epsilon
+    beta_pred = add_epsilon_sign(relative_wind_body[1] / relative_wind_body[0], relative_wind_body[0], epsilon)

-# Replace cstdlib and Eigen functions by PX4 equivalents
-import fileinput
+    innov = 0.0 - beta_pred

-with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True, backup='.bak') as file:
-    for line in file:
-        line = line.replace("std::max", "math::max")
-        line = line.replace("Eigen", "matrix")
-        line = line.replace("matrix/Dense", "matrix/math.hpp")
-        print(line, end='')
+    H = geo.V1(beta_pred).jacobian(state)
+    innov_var = (H * P * H.T + R)[0,0]

-# Generate python code
-codegen = Codegen.function(
-        fuse_airspeed,
-        output_names=["H", "K", "innov_var", "innov"],
-        config=PythonConfig())
+    K = P * H.T / sm.Max(innov_var, epsilon)

-metadata = codegen.generate_function(
-        output_dir="generated",
-        skip_directory_nesting=True)
+    return (geo.V3(H), K, innov_var, innov)
+
+def init_wind_using_airspeed(
+        v_local: geo.V3,
+        heading: T.Scalar,
+        airspeed: T.Scalar,
+        v_var: T.Scalar,
+        heading_var: T.Scalar,
+        sideslip_var: T.Scalar,
+        airspeed_var: T.Scalar,
+) -> (geo.V2, geo.M22):
+
+    # Initialise wind states assuming zero side slip and horizontal flight
+    wind = geo.V2(v_local[0] - airspeed * sm.cos(heading), v_local[1] - airspeed * sm.sin(heading))
+    # Zero sideslip, propagate the sideslip variance using partial derivatives w.r.t heading
+    J = wind.jacobian([v_local[0], v_local[1], heading, heading, airspeed])
+
+    R = geo.M55()
+    R[0,0] = v_var
+    R[1,1] = v_var
+    R[2,2] = heading_var
+    R[3,3] = sideslip_var
+    R[4,4] = airspeed_var
+
+    P = J * R * J.T
+
+    return (wind, P)
+
+generate_px4_function(fuse_airspeed, output_names=["H", "K", "innov_var", "innov"])
+generate_px4_function(fuse_beta, output_names=["H", "K", "innov_var", "innov"])
+generate_px4_function(init_wind_using_airspeed, output_names=["wind", "P"])
+
+generate_python_function(fuse_airspeed, output_names=["H", "K", "innov_var", "innov"])
@@ -0,0 +1,101 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+    Copyright (c) 2022 PX4 Development Team
+    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: derivation_utils.py
+Description:
+    Common functions used for the derivation of most estimators
+"""
+
+from symforce import symbolic as sm
+from symforce import geo
+from symforce import typing as T
+
+# q: quaternion describing rotation from frame 1 to frame 2
+# returns a rotation matrix derived form q which describes the same
+# rotation
+def quat_to_rot(q):
+    q0 = q[0]
+    q1 = q[1]
+    q2 = q[2]
+    q3 = q[3]
+
+    Rot = geo.M33([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2)],
+                  [2*(q1*q2 + q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 - q0*q1)],
+                   [2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0**2 - q1**2 - q2**2 + q3**2]])
+
+    return Rot
+
+def sign_no_zero(x) -> T.Scalar:
+    """
+    Returns -1 if x is negative, 1 if x is positive, and 1 if x is zero
+    """
+    return 2 * sm.Min(sm.sign(x), 0) + 1
+
+def add_epsilon_sign(expr, var, eps):
+    # Avoids a singularity at 0 while keeping the derivative correct
+    return expr.subs(var, var + eps * sign_no_zero(var))
+
+def generate_px4_function(function_name, output_names):
+    from symforce.codegen import Codegen, CppConfig
+    import os
+    import fileinput
+
+    codegen = Codegen.function(
+            function_name,
+            output_names=output_names,
+            config=CppConfig())
+    metadata = codegen.generate_function(
+            output_dir="generated",
+            skip_directory_nesting=True)
+
+    print("Files generated in {}:\n".format(metadata.output_dir))
+    for f in metadata.generated_files:
+        print("  |- {}".format(os.path.relpath(f, metadata.output_dir)))
+
+    # Replace cstdlib and Eigen functions by PX4 equivalents
+    with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True, backup='.bak') as file:
+        for line in file:
+            line = line.replace("std::max", "math::max")
+            line = line.replace("std::min", "math::min")
+            line = line.replace("Eigen", "matrix")
+            line = line.replace("matrix/Dense", "matrix/math.hpp")
+            print(line, end='')
+
+def generate_python_function(function_name, output_names):
+    from symforce.codegen import Codegen, PythonConfig
+    codegen = Codegen.function(
+            function_name,
+            output_names=output_names,
+            config=PythonConfig())
+
+    metadata = codegen.generate_function(
+            output_dir="generated",
+            skip_directory_nesting=True)
@@ -0,0 +1,102 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     backends/cpp/templates/function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: fuse_beta
+ *
+ * Args:
+ *     v_local: Matrix31
+ *     state: Matrix31
+ *     P: Matrix33
+ *     q_att: Matrix41
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     H: Matrix13
+ *     K: Matrix31
+ *     innov_var: Scalar
+ *     innov: Scalar
+ */
+template <typename Scalar>
+void FuseBeta(const matrix::Matrix<Scalar, 3, 1>& v_local, const matrix::Matrix<Scalar, 3, 1>& state,
+              const matrix::Matrix<Scalar, 3, 3>& P, const matrix::Matrix<Scalar, 4, 1>& q_att,
+              const Scalar R, const Scalar epsilon, matrix::Matrix<Scalar, 1, 3>* const H = nullptr,
+              matrix::Matrix<Scalar, 3, 1>* const K = nullptr, Scalar* const innov_var = nullptr,
+              Scalar* const innov = nullptr) {
+  // Total ops: 75
+
+  // Input arrays
+
+  // Intermediate terms (23)
+  const Scalar _tmp0 = 2 * v_local(2, 0);
+  const Scalar _tmp1 = std::pow(q_att(1, 0), Scalar(2));
+  const Scalar _tmp2 = std::pow(q_att(2, 0), Scalar(2));
+  const Scalar _tmp3 = std::pow(q_att(0, 0), Scalar(2)) - std::pow(q_att(3, 0), Scalar(2));
+  const Scalar _tmp4 = _tmp1 - _tmp2 + _tmp3;
+  const Scalar _tmp5 = -state(0, 0) + v_local(0, 0);
+  const Scalar _tmp6 = -state(1, 0) + v_local(1, 0);
+  const Scalar _tmp7 = q_att(0, 0) * q_att(3, 0);
+  const Scalar _tmp8 = q_att(1, 0) * q_att(2, 0);
+  const Scalar _tmp9 = 2 * _tmp7 + 2 * _tmp8;
+  const Scalar _tmp10 = _tmp0 * (-q_att(0, 0) * q_att(2, 0) + q_att(1, 0) * q_att(3, 0)) +
+                        _tmp4 * _tmp5 + _tmp6 * _tmp9;
+  const Scalar _tmp11 =
+      _tmp10 + epsilon * (2 * math::min<Scalar>(0, (((_tmp10) > 0) - ((_tmp10) < 0))) + 1);
+  const Scalar _tmp12 = Scalar(1.0) / (_tmp11);
+  const Scalar _tmp13 = -2 * _tmp7 + 2 * _tmp8;
+  const Scalar _tmp14 = -_tmp1 + _tmp2 + _tmp3;
+  const Scalar _tmp15 = _tmp0 * (q_att(0, 0) * q_att(1, 0) + q_att(2, 0) * q_att(3, 0)) +
+                        _tmp13 * _tmp5 + _tmp14 * _tmp6;
+  const Scalar _tmp16 = _tmp15 / std::pow(_tmp11, Scalar(2));
+  const Scalar _tmp17 = -_tmp12 * _tmp13 + _tmp16 * _tmp4;
+  const Scalar _tmp18 = -_tmp12 * _tmp14 + _tmp16 * _tmp9;
+  const Scalar _tmp19 = P(0, 0) * _tmp17;
+  const Scalar _tmp20 = P(1, 1) * _tmp18;
+  const Scalar _tmp21 =
+      R + _tmp17 * (P(1, 0) * _tmp18 + _tmp19) + _tmp18 * (P(0, 1) * _tmp17 + _tmp20);
+  const Scalar _tmp22 = Scalar(1.0) / (math::max<Scalar>(_tmp21, epsilon));
+
+  // Output terms (4)
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 1, 3>& _H = (*H);
+
+    _H(0, 0) = _tmp17;
+    _H(0, 1) = _tmp18;
+    _H(0, 2) = 0;
+  }
+
+  if (K != nullptr) {
+    matrix::Matrix<Scalar, 3, 1>& _K = (*K);
+
+    _K(0, 0) = _tmp22 * (P(0, 1) * _tmp18 + _tmp19);
+    _K(1, 0) = _tmp22 * (P(1, 0) * _tmp17 + _tmp20);
+    _K(2, 0) = _tmp22 * (P(2, 0) * _tmp17 + P(2, 1) * _tmp18);
+  }
+
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = _tmp21;
+  }
+
+  if (innov != nullptr) {
+    Scalar& _innov = (*innov);
+
+    _innov = -_tmp12 * _tmp15;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym
@@ -0,0 +1,69 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     backends/cpp/templates/function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: init_wind_using_airspeed
+ *
+ * Args:
+ *     v_local: Matrix31
+ *     heading: Scalar
+ *     airspeed: Scalar
+ *     v_var: Scalar
+ *     heading_var: Scalar
+ *     sideslip_var: Scalar
+ *     airspeed_var: Scalar
+ *
+ * Outputs:
+ *     wind: Matrix21
+ *     P: Matrix22
+ */
+template <typename Scalar>
+void InitWindUsingAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local, const Scalar heading,
+                           const Scalar airspeed, const Scalar v_var, const Scalar heading_var,
+                           const Scalar sideslip_var, const Scalar airspeed_var,
+                           matrix::Matrix<Scalar, 2, 1>* const wind = nullptr,
+                           matrix::Matrix<Scalar, 2, 2>* const P = nullptr) {
+  // Total ops: 22
+
+  // Input arrays
+
+  // Intermediate terms (7)
+  const Scalar _tmp0 = std::cos(heading);
+  const Scalar _tmp1 = std::sin(heading);
+  const Scalar _tmp2 = std::pow(_tmp1, Scalar(2));
+  const Scalar _tmp3 = std::pow(airspeed, Scalar(2)) * sideslip_var;
+  const Scalar _tmp4 = std::pow(_tmp0, Scalar(2));
+  const Scalar _tmp5 = _tmp0 * _tmp1;
+  const Scalar _tmp6 = -_tmp3 * _tmp5 + _tmp5 * airspeed_var;
+
+  // Output terms (2)
+  if (wind != nullptr) {
+    matrix::Matrix<Scalar, 2, 1>& _wind = (*wind);
+
+    _wind(0, 0) = -_tmp0 * airspeed + v_local(0, 0);
+    _wind(1, 0) = -_tmp1 * airspeed + v_local(1, 0);
+  }
+
+  if (P != nullptr) {
+    matrix::Matrix<Scalar, 2, 2>& _P = (*P);
+
+    _P(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var;
+    _P(1, 0) = _tmp6;
+    _P(0, 1) = _tmp6;
+    _P(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym
@@ -1,186 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Created on Tue Nov  1 19:14:39 2016
-
-@author: roman
-"""
-
-from sympy import *
-
-# q: quaternion describing rotation from frame 1 to frame 2
-# returns a rotation matrix derived form q which describes the same
-# rotation
-def quat2Rot(q):
-    q0 = q[0]
-    q1 = q[1]
-    q2 = q[2]
-    q3 = q[3]
-
-    Rot = Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2)],
-                  [2*(q1*q2 + q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 - q0*q1)],
-                   [2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0**2 - q1**2 - q2**2 + q3**2]])
-
-    return Rot
-
-# take an expression calculated by the cse() method and write the expression
-# into a text file in C format
-def write_simplified(P_touple, filename, out_name):
-    subs = P_touple[0]
-    P = Matrix(P_touple[1])
-    fd = open(filename, 'a')
-
-    is_vector = P.shape[0] == 1 or P.shape[1] == 1
-
-    # write sub expressions
-    for index, item in enumerate(subs):
-        fd.write('float ' + str(item[0]) + ' = ' + str(item[1]) + ';\n')
-
-    # write actual matrix values
-    fd.write('\n')
-
-    if not is_vector:
-        iterator = range(0,sqrt(len(P)), 1)
-        for row in iterator:
-            for column in iterator:
-                fd.write(out_name + '(' + str(row) + ',' + str(column) + ') = ' + str(P[row, column]) + ';\n')
-    else:
-        iterator = range(0, len(P), 1)
-
-        for item in iterator:
-            fd.write(out_name + '(' + str(item) + ') = ' + str(P[item]) + ';\n')
-
-    fd.write('\n\n')
-    fd.close()
-
-########## Symbolic variable definition #######################################
-
-# model state
-w_n = Symbol("w_n", real=True)  # wind in north direction
-w_e = Symbol("w_e", real=True)  # wind in east direction
-k_tas = Symbol("k_tas", real=True) # true airspeed scale factor
-state = Matrix([w_n, w_e, k_tas])
-
-# process noise
-q_w = Symbol("q_w", real=True) # process noise for wind states
-q_k_tas = Symbol("q_k_tas", real=True) # process noise for airspeed scale state
-
-# airspeed measurement noise
-r_tas = Symbol("r_tas", real=True)
-
-# sideslip measurement noise
-r_beta = Symbol("r_beta", real=True)
-
-# true airspeed measurement
-tas_meas = Symbol("tas_meas", real=True)
-
-# ground velocity variance
-v_n_var = Symbol("v_n_var", real=True)
-v_e_var = Symbol("v_e_var", real=True)
-
-#################### time varying parameters ##################################
-
-# vehicle velocity
-v_n = Symbol("v_n", real=True)  # north velocity in earth fixed frame
-v_e = Symbol("v_e", real=True)  # east velocity in earth fixed frame
-v_d = Symbol("v_d", real=True)  # down velocity in earth fixed frame
-
-# unit quaternion describing vehicle attitude, qw is real part
-qw = Symbol("q_att[0]", real=True)
-qx = Symbol("q_att[1]", real=True)
-qy = Symbol("q_att[2]", real=True)
-qz = Symbol("q_att[3]", real=True)
-q_att = Matrix([qw, qx, qy, qz])
-
-# sampling time in seconds
-dt = Symbol("dt", real=True)
-
-######################## State and covariance prediction ######################
-
-# state transition matrix is zero because we are using a stationary
-# process model. We only need to provide formula for covariance prediction
-
-# create process noise matrix for covariance prediction
-state_new = state
-Q = diag(q_w, q_w, q_k_tas) * dt**2
-
-# define symbolic covariance matrix
-p00 = Symbol('_P(0,0)', real=True)
-p01 = Symbol('_P(0,1)', real=True)
-p02 = Symbol('_P(0,2)', real=True)
-p12 = Symbol('_P(1,2)', real=True)
-p11 = Symbol('_P(1,1)', real=True)
-p22 = Symbol('_P(2,2)', real=True)
-P = Matrix([[p00, p01, p02], [p01, p11, p12], [p02, p12, p22]])
-
-# covariance prediction equation
-P_next = P + Q
-
-# simplify the result and write it to a text file in C format
-PP_simple = cse(P_next, symbols('SPP0:30'))
-P_pred = Matrix(PP_simple[1])
-write_simplified(PP_simple, "cov_pred.txt", 'P_next')
-
-
-############################ Measurement update ###############################
-
-# airspeed fusion
-
-tas_pred = Matrix([((v_n - w_n)**2 + (v_e - w_e)**2 + v_d**2)**0.5]) * k_tas
-# compute true airspeed observation matrix
-H_tas = tas_pred.jacobian(state)
-# simplify the result and write it to a text file in C format
-H_tas_simple = cse(H_tas, symbols('HH0:30'))
-write_simplified(H_tas_simple, "airspeed_fusion.txt", 'H_tas')
-K = P * Transpose(H_tas)
-denom = H_tas * P * Transpose(H_tas) + Matrix([r_tas])
-denom = 1/denom.values()[0]
-K = K * denom
-
-K_simple = cse(K, symbols('KTAS0:30'))
-write_simplified(K_simple, "airspeed_fusion.txt", "K")
-
-P_m = P - K*H_tas*P
-P_m_simple = cse(P_m, symbols('PM0:50'))
-write_simplified(P_m_simple, "airspeed_fusion.txt", "P_next")
-
-# sideslip fusion
-
-# compute relative wind vector in vehicle body frame
-relative_wind_earth = Matrix([v_n - w_n, v_e - w_e, v_d])
-R_body_to_earth = quat2Rot(q_att)
-relative_wind_body = Transpose(R_body_to_earth) * relative_wind_earth
-# small angle approximation of side slip model
-beta_pred = relative_wind_body[1] / relative_wind_body[0]
-# compute side slip observation matrix
-H_beta = Matrix([beta_pred]).jacobian(state)
-# simplify the result and write it to a text file in C format
-H_beta_simple = cse(H_beta, symbols('HB0:30'))
-write_simplified(H_beta_simple, "beta_fusion.txt", 'H_beta')
-K = P * Transpose(H_beta)
-denom = H_beta * P * Transpose(H_beta) + Matrix([r_beta])
-denom = 1/denom.values()[0]
-K = K*denom
-K_simple = cse(K, symbols('KB0:30'))
-write_simplified(K_simple, "beta_fusion.txt", 'K')
-
-P_m = P - K*H_beta*P
-P_m_simple = cse(P_m, symbols('PM0:50'))
-write_simplified(P_m_simple, "beta_fusion.txt", "P_next")
-
-# wind covariance initialisation via velocity
-
-# estimate heading from ground velocity
-heading_est = atan2(v_n, v_e)
-
-# calculate wind speed estimate from vehicle ground velocity, heading and
-# airspeed measurement
-w_n_est = v_n - tas_meas * cos(heading_est)
-w_e_est = v_e - tas_meas * sin(heading_est)
-wind_est = Matrix([w_n_est, w_e_est])
-
-# calculate estimate of state covariance matrix
-P_wind = diag(v_n_var, v_e_var, r_tas)
-
-wind_jac = wind_est.jacobian([v_n, v_e, tas_meas])
-wind_jac_simple = cse(wind_jac, symbols('L0:30'))
-write_simplified(wind_jac_simple, "cov_init.txt", "L")
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2022 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
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 ############################################################################
 #
-#   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+#   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
@@ -34,6 +34,7 @@

 import math
 import json
+import sys
 import urllib.request

 SAMPLING_RES = 10
@@ -47,7 +48,7 @@ def constrain(n, nmin, nmax):

 header = """/****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   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
@@ -99,7 +100,8 @@ print('// *INDENT-OFF*')

 # Declination
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
-f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+key=sys.argv[1] # NOAA key (https://www.ngdc.noaa.gov/geomag/CalcSurvey.shtml)
+f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
 data = json.loads(f.read())
 print("// Magnetic declination data in radians * 10^-4")
 print('// Model: {},'.format(data['model']))
@@ -112,7 +114,7 @@ for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
 print('')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
-    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
    data = json.loads(f.read())

    print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
@@ -126,7 +128,7 @@ print("};\n")

 # Inclination
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'})
-f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
 data = json.loads(f.read())
 print("// Magnetic inclination data in radians * 10^-4")
 print('// Model: {},'.format(data['model']))
@@ -139,7 +141,7 @@ for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
 print('')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
-    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
    data = json.loads(f.read())

    print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
@@ -153,7 +155,7 @@ print("};\n")

 # total intensity
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'})
-f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
 data = json.loads(f.read())
 print("// Magnetic strength data in milli-Gauss * 10")
 print('// Model: {},'.format(data['model']))
@@ -166,7 +168,7 @@ for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
 print('')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
-    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
    data = json.loads(f.read())

    print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 ############################################################################
 #
-#   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+#   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
@@ -33,6 +33,7 @@
 ############################################################################

 import json
+import sys
 import urllib.request

 SAMPLING_RES = 5
@@ -43,7 +44,7 @@ SAMPLING_MAX_LON = 180

 header = """/****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   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
@@ -87,14 +88,15 @@ print('')

 # Declination
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
-f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+key=sys.argv[1] # NOAA key (https://www.ngdc.noaa.gov/geomag/CalcSurvey.shtml)
+f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
 data = json.loads(f.read())


 print('TEST(GeoLookupTest, declination)\n{')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
-    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
    data = json.loads(f.read())

    for p in data['result']:
@@ -112,7 +114,7 @@ print('')
 print('TEST(GeoLookupTest, inclination)\n{')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
-    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
    data = json.loads(f.read())

    for p in data['result']:
@@ -130,7 +132,7 @@ print('')
 print('TEST(GeoLookupTest, strength)\n{')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
-    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
    data = json.loads(f.read())

    for p in data['result']:
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2022 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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2022 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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   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
@@ -47,80 +47,80 @@ static constexpr int LON_DIM = 37;
 // Magnetic declination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2022.4219,
+// Date: 2022.8137,
 static constexpr const int16_t declination_table[19][37] {
 	//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
-	/* LAT: -90 */ {  25990, 24245, 22499, 20754, 19009, 17263, 15518, 13773, 12027, 10282,  8537,  6791,  5046,  3301,  1556,  -190, -1935, -3680, -5426, -7171, -8916,-10661,-12407,-14152,-15897,-17643,-19388,-21133,-22879,-24624,-26370,-28115,-29860, 31226, 29481, 27735, 25990, },
-	/* LAT: -80 */ {  22557, 20425, 18484, 16709, 15069, 13530, 12066, 10654,  9279,  7929,  6597,  5278,  3969,  2664,  1357,    38, -1303, -2675, -4084, -5536, -7030, -8566,-10143,-11762,-13426,-15144,-16929,-18801,-20783,-22901,-25175,-27609,-30178, 30014, 27395, 24888, 22557, },
-	/* LAT: -70 */ {  14975, 13577, 12452, 11491, 10623,  9792,  8951,  8064,  7111,  6092,  5022,  3929,  2844,  1788,   766,  -244, -1281, -2386, -3586, -4885, -6264, -7694, -9141,-10583,-12009,-13424,-14852,-16337,-17960,-19872,-22389,-26183, 30730, 24152, 19624, 16847, 14975, },
-	/* LAT: -60 */ {   8411,  8167,  7888,  7616,  7364,  7112,  6805,  6373,  5759,  4940,  3940,  2828,  1708,   679,  -203,  -962, -1691, -2513, -3515, -4710, -6039, -7408, -8729, -9939,-11004,-11904,-12620,-13115,-13287,-12838,-10739, -3518,  4884,  7640,  8415,  8544,  8411, },
-	/* LAT: -50 */ {   5478,  5515,  5460,  5373,  5300,  5264,  5231,  5105,  4762,  4101,  3092,  1820,   478,  -703, -1576, -2142, -2540, -2979, -3662, -4673, -5915, -7191, -8332, -9235, -9835,-10076, -9883, -9128, -7621, -5261, -2357,   391,  2500,  3924,  4799,  5273,  5478, },
-	/* LAT: -40 */ {   3949,  4042,  4051,  4008,  3949,  3916,  3922,  3912,  3740,  3207,  2186,   746,  -819, -2135, -3001, -3454, -3639, -3700, -3867, -4433, -5407, -6483, -7369, -7910, -8019, -7644, -6756, -5373, -3662, -1959,  -498,   723,  1766,  2631,  3287,  3718,  3949, },
-	/* LAT: -30 */ {   2979,  3065,  3097,  3084,  3027,  2949,  2890,  2857,  2731,  2255,  1222,  -295, -1903, -3159, -3901, -4249, -4330, -4122, -3689, -3464, -3824, -4571, -5270, -5622, -5499, -4914, -3955, -2749, -1540,  -595,    83,   683,  1306,  1909,  2418,  2780,  2979, },
-	/* LAT: -20 */ {   2336,  2383,  2402,  2405,  2364,  2271,  2165,  2089,  1944,  1450,   397, -1090, -2570, -3633, -4169, -4288, -4087, -3532, -2671, -1872, -1592, -1945, -2594, -3065, -3103, -2745, -2111, -1294,  -518,   -28,   234,   536,   976,  1454,  1876,  2183,  2336, },
-	/* LAT: -10 */ {   1943,  1937,  1917,  1916,  1889,  1806,  1697,  1607,  1423,   874,  -185, -1562, -2836, -3668, -3939, -3714, -3141, -2361, -1515,  -759,  -292,  -323,  -791, -1298, -1512, -1423, -1110,  -611,  -114,   127,   176,   336,   707,  1144,  1537,  1824,  1943, },
-	/* LAT:   0 */ {   1730,  1697,  1642,  1635,  1625,  1558,  1454,  1342,  1089,   469,  -570, -1796, -2852, -3442, -3444, -2947, -2181, -1399,  -746,  -209,   205,   318,    41,  -376,  -632,  -688,  -590,  -328,   -38,    51,    -9,    79,   420,   862,  1281,  1601,  1730, },
-	/* LAT:  10 */ {   1594,  1602,  1561,  1579,  1606,  1558,  1438,  1253,   878,   161,  -859, -1935, -2764, -3106, -2906, -2302, -1526,  -814,  -298,    84,   410,   560,   399,    77,  -158,  -266,  -289,  -209,  -104,  -146,  -285,  -259,    42,   496,   977,  1384,  1594, },
-	/* LAT:  20 */ {   1411,  1560,  1622,  1715,  1802,  1783,  1630,  1329,   785,   -70, -1113, -2065, -2664, -2777, -2452, -1852, -1141,  -491,   -30,   281,   540,   687,   597,   354,   154,    36,   -56,  -120,  -200,  -390,  -627,  -686,  -452,    -5,   536,  1054,  1411, },
-	/* LAT:  30 */ {   1111,  1478,  1738,  1963,  2123,  2135,  1949,  1528,   801,  -227, -1345, -2224, -2642, -2583, -2186, -1608,  -952,  -334,   130,   436,   668,   816,   796,   648,   498,   373,   216,     5,  -278,  -652, -1021, -1181, -1022,  -596,   -20,   589,  1111, },
-	/* LAT:  40 */ {    754,  1341,  1835,  2228,  2478,  2522,  2308,  1776,   866,  -361, -1601, -2470, -2794, -2644, -2200, -1608,  -955,  -325,   187,   552,   824,  1023,  1118,  1108,  1031,   883,   614,   204,  -335,  -941, -1463, -1708, -1592, -1176,  -578,    95,   754, },
-	/* LAT:  50 */ {    465,  1212,  1894,  2451,  2818,  2925,  2697,  2044,   904,  -593, -2018, -2936, -3233, -3043, -2554, -1908, -1198,  -499,   118,   625,  1044,  1401,  1682,  1853,  1872,  1685,  1241,   533,  -361, -1264, -1944, -2231, -2107, -1666, -1031,  -299,   465, },
-	/* LAT:  60 */ {    271,  1124,  1930,  2625,  3130,  3344,  3131,  2320,   806, -1154, -2874, -3857, -4112, -3852, -3280, -2534, -1707,  -866,   -56,   696,  1389,  2021,  2565,  2962,  3122,  2937,  2299,  1183,  -231, -1552, -2422, -2732, -2568, -2074, -1380,  -579,   271, },
-	/* LAT:  70 */ {     39,   975,  1873,  2673,  3288,  3583,  3332,  2198,   -39, -2755, -4710, -5537, -5547, -5063, -4293, -3357, -2331, -1264,  -188,   873,  1899,  2866,  3735,  4444,  4892,  4926,  4319,  2849,   656, -1453, -2754, -3199, -3040, -2508, -1758,  -888,    39, },
-	/* LAT:  80 */ {   -657,   266,  1119,  1811,  2196,  2014,   818, -1786, -4993, -7115, -7869, -7741, -7113, -6196, -5104, -3905, -2638, -1331,    -5,  1323,  2638,  3921,  5149,  6289,  7286,  8047,  8392,  7952,  6034,  2270, -1332, -3056, -3426, -3101, -2427, -1579,  -657, },
-	/* LAT:  90 */ { -29886,-28141,-26395,-24650,-22905,-21159,-19414,-17669,-15923,-14178,-12433,-10688, -8943, -7197, -5452, -3707, -1962,  -217,  1528,  3274,  5019,  6764,  8509, 10255, 12000, 13745, 15491, 17236, 18982, 20727, 22473, 24218, 25964, 27709, 29455, 31200,-29886, },
+	/* LAT: -90 */ {  25980, 24235, 22489, 20744, 18999, 17253, 15508, 13763, 12017, 10272,  8527,  6782,  5036,  3291,  1546,  -200, -1945, -3690, -5435, -7181, -8926,-10671,-12417,-14162,-15907,-17653,-19398,-21143,-22889,-24634,-26379,-28125,-29870, 31216, 29471, 27726, 25980, },
+	/* LAT: -80 */ {  22546, 20415, 18476, 16702, 15061, 13523, 12060, 10648,  9273,  7923,  6591,  5273,  3964,  2659,  1351,    32, -1309, -2682, -4092, -5544, -7039, -8576,-10154,-11773,-13438,-15156,-16942,-18815,-20798,-22916,-25191,-27625,-30194, 29999, 27381, 24876, 22546, },
+	/* LAT: -70 */ {  14978, 13580, 12453, 11491, 10622,  9790,  8948,  8060,  7108,  6088,  5018,  3925,  2840,  1786,   764,  -246, -1283, -2389, -3591, -4892, -6273, -7704, -9152,-10595,-12021,-13438,-14867,-16353,-17977,-19893,-22416,-26218, 30695, 24136, 19622, 16850, 14978, },
+	/* LAT: -60 */ {   8423,  8177,  7895,  7621,  7367,  7113,  6804,  6371,  5756,  4936,  3935,  2824,  1704,   677,  -203,  -960, -1688, -2512, -3517, -4716, -6048, -7419, -8741, -9952,-11016,-11915,-12630,-13125,-13297,-12848,-10746, -3486,  4925,  7665,  8433,  8558,  8423, },
+	/* LAT: -50 */ {   5487,  5523,  5467,  5377,  5303,  5266,  5231,  5104,  4760,  4096,  3085,  1813,   472,  -706, -1574, -2136, -2531, -2972, -3659, -4677, -5925, -7204, -8346, -9247, -9844,-10082, -9886, -9127, -7616, -5254, -2348,   400,  2510,  3934,  4809,  5283,  5487, },
+	/* LAT: -40 */ {   3956,  4049,  4056,  4011,  3951,  3917,  3921,  3910,  3737,  3202,  2178,   735,  -828, -2140, -3000, -3448, -3629, -3687, -3858, -4434, -5418, -6498, -7383, -7919, -8024, -7643, -6750, -5365, -3654, -1954,  -496,   725,  1769,  2636,  3293,  3724,  3956, },
+	/* LAT: -30 */ {   2984,  3071,  3101,  3086,  3027,  2948,  2888,  2854,  2728,  2249,  1212,  -309, -1916, -3167, -3903, -4245, -4321, -4107, -3673, -3458, -3831, -4584, -5281, -5627, -5498, -4908, -3946, -2740, -1535,  -594,    82,   682,  1306,  1911,  2422,  2785,  2984, },
+	/* LAT: -20 */ {   2342,  2388,  2405,  2406,  2364,  2269,  2161,  2085,  1939,  1443,   385, -1106, -2584, -3642, -4171, -4283, -4077, -3515, -2652, -1860, -1592, -1952, -2602, -3068, -3101, -2740, -2103, -1288,  -515,   -29,   231,   532,   974,  1454,  1879,  2188,  2342, },
+	/* LAT: -10 */ {   1948,  1942,  1920,  1917,  1888,  1803,  1692,  1601,  1417,   866,  -198, -1576, -2848, -3674, -3937, -3705, -3128, -2345, -1500,  -747,  -286,  -323,  -796, -1301, -1511, -1420, -1106,  -608,  -113,   125,   171,   330,   702,  1143,  1538,  1828,  1948, },
+	/* LAT:   0 */ {   1735,  1702,  1645,  1636,  1624,  1555,  1449,  1334,  1081,   460,  -581, -1808, -2861, -3444, -3438, -2936, -2167, -1386,  -735,  -200,   212,   321,    40,  -377,  -631,  -686,  -587,  -327,   -38,    48,   -15,    72,   414,   860,  1282,  1605,  1735, },
+	/* LAT:  10 */ {   1599,  1606,  1564,  1579,  1605,  1555,  1432,  1245,   870,   152,  -868, -1944, -2768, -3105, -2898, -2290, -1514,  -803,  -289,    91,   416,   564,   400,    78,  -156,  -264,  -288,  -209,  -107,  -150,  -292,  -266,    37,   494,   978,  1387,  1599, },
+	/* LAT:  20 */ {   1413,  1562,  1622,  1714,  1800,  1779,  1624,  1321,   777,   -78, -1120, -2070, -2665, -2772, -2443, -1840, -1130,  -481,   -21,   288,   546,   691,   599,   356,   157,    38,   -55,  -122,  -204,  -395,  -634,  -693,  -457,    -8,   535,  1055,  1413, },
+	/* LAT:  30 */ {   1109,  1476,  1736,  1960,  2120,  2131,  1943,  1521,   794,  -234, -1349, -2224, -2638, -2575, -2175, -1596,  -941,  -323,   139,   444,   675,   821,   800,   651,   501,   376,   217,     3,  -282,  -658, -1028, -1187, -1026,  -599,   -22,   588,  1109, },
+	/* LAT:  40 */ {    749,  1335,  1830,  2223,  2473,  2517,  2302,  1769,   859,  -366, -1601, -2466, -2786, -2634, -2188, -1596,  -942,  -313,   197,   562,   832,  1029,  1122,  1111,  1035,   886,   615,   200,  -341,  -949, -1470, -1714, -1596, -1179,  -581,    91,   749, },
+	/* LAT:  50 */ {    456,  1202,  1883,  2442,  2810,  2918,  2691,  2038,   900,  -593, -2012, -2925, -3219, -3028, -2539, -1893, -1183,  -485,   131,   637,  1055,  1409,  1689,  1858,  1877,  1688,  1239,   527,  -370, -1274, -1951, -2236, -2111, -1670, -1037,  -307,   456, },
+	/* LAT:  60 */ {    255,  1106,  1913,  2610,  3117,  3332,  3122,  2315,   808, -1144, -2856, -3836, -4090, -3831, -3260, -2515, -1689,  -848,   -40,   711,  1403,  2033,  2576,  2970,  3128,  2939,  2295,  1173,  -245, -1565, -2431, -2738, -2573, -2080, -1390,  -592,   255, },
+	/* LAT:  70 */ {     11,   945,  1842,  2642,  3260,  3558,  3313,  2193,   -20, -2713, -4662, -5494, -5509, -5030, -4262, -3330, -2306, -1241,  -167,   893,  1918,  2884,  3752,  4458,  4904,  4933,  4318,  2836,   635, -1475, -2771, -3214, -3055, -2526, -1780,  -913,    11, },
+	/* LAT:  80 */ {   -726,   195,  1047,  1739,  2126,  1954,   793, -1737, -4876, -6994, -7767, -7659, -7045, -6138, -5054, -3860, -2597, -1294,    30,  1357,  2671,  3953,  5181,  6320,  7317,  8079,  8423,  7976,  6029,  2205, -1425, -3142, -3503, -3172, -2496, -1647,  -726, },
+	/* LAT:  90 */ { -29738,-27992,-26247,-24501,-22756,-21011,-19265,-17520,-15775,-14030,-12284,-10539, -8794, -7049, -5304, -3558, -1813,   -68,  1677,  3422,  5167,  6913,  8658, 10403, 12149, 13894, 15639, 17385, 19130, 20876, 22621, 24367, 26112, 27858, 29603, 31349,-29738, },
 };

 // Magnetic inclination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2022.4219,
+// Date: 2022.8137,
 static constexpr const int16_t inclination_table[19][37] {
 	//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
-	/* LAT: -90 */ { -12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572, },
-	/* LAT: -80 */ { -13657,-13524,-13363,-13183,-12989,-12787,-12583,-12383,-12192,-12015,-11858,-11724,-11614,-11528,-11464,-11423,-11403,-11405,-11433,-11487,-11570,-11685,-11829,-12003,-12201,-12418,-12647,-12880,-13108,-13321,-13507,-13657,-13762,-13813,-13810,-13756,-13657, },
-	/* LAT: -70 */ { -14106,-13787,-13468,-13145,-12813,-12469,-12114,-11756,-11413,-11104,-10851,-10667,-10555,-10502,-10488,-10492,-10499,-10509,-10532,-10588,-10696,-10870,-11116,-11431,-11803,-12221,-12668,-13133,-13599,-14051,-14469,-14814,-15004,-14950,-14720,-14422,-14106, },
-	/* LAT: -60 */ { -13519,-13165,-12827,-12494,-12151,-11779,-11364,-10909,-10441,-10010, -9680, -9503, -9500, -9636, -9840,-10033,-10159,-10203,-10191,-10177,-10224,-10382,-10670,-11078,-11576,-12132,-12718,-13314,-13902,-14464,-14961,-15251,-15075,-14691,-14285,-13892,-13519, },
-	/* LAT: -50 */ { -12496,-12154,-11823,-11501,-11178,-10831,-10432, -9961, -9431, -8909, -8518, -8391, -8591, -9051, -9615,-10127,-10488,-10652,-10623,-10472,-10330,-10334,-10554,-10969,-11511,-12103,-12689,-13228,-13675,-13973,-14081,-14008,-13805,-13521,-13193,-12846,-12496, },
-	/* LAT: -40 */ { -11240,-10892,-10545,-10200, -9860, -9522, -9161, -8735, -8214, -7649, -7222, -7178, -7636, -8459, -9380,-10210,-10870,-11306,-11448,-11282,-10940,-10668,-10659,-10939,-11400,-11905,-12351,-12674,-12833,-12838,-12748,-12611,-12432,-12200,-11914,-11586,-11240, },
-	/* LAT: -30 */ {  -9602, -9224, -8845, -8455, -8063, -7687, -7330, -6939, -6426, -5814, -5361, -5442, -6209, -7410, -8661, -9757,-10672,-11383,-11784,-11776,-11406,-10899,-10564,-10563,-10814,-11135,-11392,-11505,-11443,-11268,-11093,-10959,-10813,-10606,-10324, -9979, -9602, },
-	/* LAT: -20 */ {  -7371, -6932, -6516, -6088, -5644, -5213, -4822, -4408, -3842, -3156, -2707, -2965, -4074, -5685, -7313, -8683, -9750,-10527,-10967,-11003,-10641,-10027, -9469, -9224, -9272, -9435, -9576, -9594, -9422, -9150, -8956, -8869, -8765, -8557, -8241, -7829, -7371, },
-	/* LAT: -10 */ {  -4415, -3881, -3428, -2992, -2535, -2084, -1670, -1215,  -587,   117,   480,    55, -1273, -3189, -5164, -6774, -7871, -8506, -8772, -8710, -8302, -7618, -6954, -6608, -6569, -6662, -6779, -6803, -6615, -6319, -6165, -6174, -6134, -5918, -5534, -5007, -4415, },
-	/* LAT:   0 */ {   -906,  -285,   179,   581,   999,  1415,  1806,  2250,  2836,  3414,  3617,  3122,  1828,   -81, -2125, -3776, -4785, -5215, -5274, -5104, -4664, -3948, -3243, -2872, -2812, -2881, -3006, -3080, -2950, -2715, -2660, -2804, -2867, -2680, -2256, -1627,  -906, },
-	/* LAT:  10 */ {   2561,  3186,  3618,  3959,  4313,  4680,  5033,  5421,  5873,  6244,  6281,  5793,  4712,  3147,  1457,    82,  -724,  -972,  -881,  -645,  -234,   404,  1037,  1374,  1437,  1392,  1292,  1200,  1243,  1346,  1270,  1003,   812,   884,  1236,  1838,  2561, },
-	/* LAT:  20 */ {   5416,  5943,  6321,  6616,  6929,  7273,  7616,  7964,  8298,  8499,  8412,  7950,  7116,  6020,  4895,  3987,  3457,  3338,  3488,  3731,  4062,  4527,  4987,  5242,  5298,  5281,  5232,  5175,  5164,  5146,  4972,  4639,  4342,  4252,  4424,  4846,  5416, },
-	/* LAT:  30 */ {   7569,  7941,  8258,  8540,  8849,  9196,  9554,  9896, 10173, 10287, 10143,  9722,  9094,  8383,  7722,  7211,  6920,  6878,  7020,  7231,  7477,  7776,  8064,  8238,  8295,  8308,  8310,  8301,  8278,  8196,  7974,  7622,  7267,  7047,  7031,  7225,  7569, },
-	/* LAT:  40 */ {   9266,  9486,  9742, 10027, 10354, 10715, 11083, 11423, 11675, 11758, 11609, 11249, 10776, 10303,  9907,  9624,  9474,  9470,  9580,  9742,  9917, 10101, 10272, 10397, 10475, 10535, 10590, 10623, 10607, 10497, 10256,  9906,  9539,  9254,  9111,  9123,  9266, },
-	/* LAT:  50 */ {  10802, 10923, 11124, 11394, 11717, 12071, 12426, 12743, 12965, 13025, 12886, 12588, 12224, 11878, 11603, 11416, 11323, 11319, 11386, 11488, 11602, 11718, 11834, 11950, 12068, 12190, 12303, 12376, 12367, 12242, 11997, 11669, 11330, 11045, 10855, 10775, 10802, },
-	/* LAT:  60 */ {  12319, 12392, 12542, 12761, 13031, 13332, 13634, 13901, 14077, 14105, 13969, 13720, 13431, 13160, 12939, 12782, 12691, 12660, 12675, 12723, 12790, 12875, 12981, 13113, 13272, 13448, 13612, 13722, 13728, 13608, 13384, 13105, 12826, 12589, 12419, 12328, 12319, },
-	/* LAT:  70 */ {  13758, 13801, 13896, 14038, 14218, 14422, 14630, 14812, 14916, 14897, 14759, 14558, 14340, 14136, 13962, 13827, 13733, 13678, 13659, 13672, 13714, 13785, 13889, 14025, 14191, 14378, 14562, 14703, 14750, 14678, 14517, 14319, 14124, 13959, 13839, 13771, 13758, },
-	/* LAT:  80 */ {  14998, 15010, 15048, 15108, 15184, 15270, 15349, 15394, 15376, 15297, 15184, 15060, 14937, 14823, 14723, 14641, 14579, 14539, 14520, 14524, 14550, 14599, 14671, 14763, 14875, 15001, 15136, 15269, 15376, 15420, 15382, 15296, 15200, 15116, 15052, 15012, 14998, },
-	/* LAT:  90 */ {  15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, },
+	/* LAT: -90 */ { -12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570, },
+	/* LAT: -80 */ { -13654,-13520,-13360,-13179,-12986,-12784,-12580,-12380,-12189,-12013,-11856,-11722,-11612,-11526,-11462,-11421,-11401,-11403,-11430,-11485,-11568,-11683,-11828,-12001,-12199,-12416,-12646,-12879,-13107,-13319,-13506,-13656,-13759,-13810,-13807,-13753,-13654, },
+	/* LAT: -70 */ { -14102,-13784,-13464,-13141,-12810,-12466,-12111,-11754,-11411,-11103,-10850,-10667,-10555,-10502,-10488,-10491,-10498,-10507,-10530,-10585,-10694,-10868,-11115,-11430,-11803,-12221,-12669,-13133,-13599,-14052,-14469,-14814,-15002,-14947,-14716,-14418,-14102, },
+	/* LAT: -60 */ { -13516,-13163,-12825,-12492,-12148,-11776,-11361,-10907,-10439,-10009, -9680, -9505, -9502, -9639, -9843,-10035,-10159,-10201,-10187,-10172,-10219,-10379,-10669,-11078,-11577,-12134,-12720,-13316,-13905,-14466,-14963,-15253,-15075,-14690,-14283,-13890,-13516, },
+	/* LAT: -50 */ { -12495,-12153,-11822,-11499,-11176,-10830,-10430, -9959, -9430, -8909, -8520, -8396, -8598, -9059, -9623,-10133,-10491,-10651,-10619,-10465,-10323,-10330,-10552,-10970,-11513,-12106,-12693,-13231,-13677,-13974,-14082,-14009,-13805,-13522,-13193,-12845,-12495, },
+	/* LAT: -40 */ { -11239,-10891,-10543,-10198, -9858, -9520, -9160, -8735, -8214, -7650, -7225, -7186, -7648, -8473, -9394,-10222,-10878,-11310,-11447,-11276,-10932,-10661,-10657,-10941,-11404,-11909,-12354,-12675,-12833,-12838,-12748,-12612,-12433,-12201,-11914,-11586,-11239, },
+	/* LAT: -30 */ {  -9602, -9222, -8843, -8452, -8060, -7685, -7329, -6938, -6426, -5815, -5365, -5452, -6226, -7431, -8681, -9775,-10686,-11393,-11788,-11774,-11399,-10891,-10560,-10563,-10816,-11138,-11393,-11504,-11441,-11265,-11092,-10959,-10814,-10608,-10326, -9980, -9602, },
+	/* LAT: -20 */ {  -7372, -6930, -6512, -6083, -5639, -5209, -4819, -4407, -3842, -3157, -2712, -2980, -4097, -5713, -7340, -8706, -9768,-10539,-10973,-11003,-10635,-10020, -9463, -9221, -9272, -9434, -9574, -9591, -9417, -9146, -8953, -8869, -8767, -8561, -8244, -7832, -7372, },
+	/* LAT: -10 */ {  -4416, -3878, -3423, -2985, -2528, -2078, -1665, -1212,  -588,   114,   472,    37, -1301, -3223, -5196, -6799, -7888, -8517, -8777, -8710, -8296, -7609, -6946, -6603, -6565, -6658, -6774, -6797, -6608, -6313, -6161, -6175, -6138, -5924, -5540, -5012, -4416, },
+	/* LAT:   0 */ {   -908,  -282,   185,   588,  1007,  1423,  1812,  2253,  2835,  3410,  3608,  3104,  1801,  -115, -2157, -3800, -4800, -5222, -5277, -5103, -4658, -3939, -3234, -2865, -2805, -2874, -2999, -3071, -2941, -2707, -2655, -2804, -2872, -2688, -2264, -1632,  -908, },
+	/* LAT:  10 */ {   2560,  3188,  3624,  3965,  4321,  4688,  5038,  5423,  5872,  6240,  6272,  5778,  4689,  3120,  1430,    61,  -736,  -977,  -882,  -644,  -229,   412,  1045,  1381,  1444,  1401,  1301,  1210,  1252,  1354,  1275,  1003,   806,   876,  1229,  1832,  2560, },
+	/* LAT:  20 */ {   5415,  5945,  6325,  6621,  6934,  7278,  7620,  7965,  8296,  8494,  8404,  7938,  7099,  6001,  4877,  3972,  3449,  3335,  3488,  3733,  4065,  4533,  4993,  5247,  5305,  5289,  5241,  5184,  5171,  5152,  4975,  4639,  4338,  4247,  4419,  4843,  5415, },
+	/* LAT:  30 */ {   7568,  7942,  8260,  8543,  8852,  9199,  9555,  9895, 10170, 10282, 10136,  9712,  9082,  8371,  7711,  7202,  6914,  6875,  7019,  7232,  7480,  7780,  8069,  8242,  8300,  8314,  8317,  8308,  8284,  8201,  7977,  7622,  7265,  7044,  7028,  7223,  7568, },
+	/* LAT:  40 */ {   9266,  9487,  9743, 10028, 10354, 10715, 11082, 11420, 11672, 11752, 11602, 11241, 10768, 10295,  9900,  9618,  9471,  9469,  9580,  9743,  9919, 10104, 10276, 10401, 10479, 10540, 10596, 10629, 10612, 10501, 10258,  9906,  9538,  9253,  9110,  9123,  9266, },
+	/* LAT:  50 */ {  10802, 10923, 11124, 11393, 11716, 12070, 12424, 12740, 12961, 13019, 12880, 12582, 12218, 11873, 11599, 11413, 11321, 11319, 11386, 11490, 11604, 11720, 11837, 11953, 12071, 12194, 12308, 12380, 12371, 12245, 11998, 11670, 11330, 11045, 10855, 10775, 10802, },
+	/* LAT:  60 */ {  12319, 12392, 12541, 12759, 13029, 13329, 13631, 13896, 14072, 14100, 13964, 13716, 13427, 13157, 12936, 12781, 12690, 12660, 12676, 12724, 12792, 12878, 12984, 13116, 13276, 13452, 13617, 13725, 13730, 13610, 13385, 13106, 12827, 12590, 12420, 12329, 12319, },
+	/* LAT:  70 */ {  13758, 13800, 13894, 14036, 14215, 14418, 14626, 14807, 14911, 14893, 14757, 14556, 14339, 14135, 13962, 13827, 13733, 13679, 13660, 13673, 13715, 13787, 13891, 14028, 14195, 14382, 14566, 14706, 14752, 14679, 14518, 14319, 14125, 13960, 13840, 13771, 13758, },
+	/* LAT:  80 */ {  14996, 15008, 15045, 15104, 15180, 15265, 15343, 15388, 15372, 15295, 15183, 15060, 14937, 14824, 14724, 14642, 14580, 14540, 14521, 14525, 14552, 14601, 14673, 14766, 14877, 15004, 15140, 15272, 15379, 15423, 15384, 15296, 15201, 15116, 15051, 15010, 14996, },
+	/* LAT:  90 */ {  15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, },
 };

 // Magnetic strength data in milli-Gauss * 10
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2022.4219,
+// Date: 2022.8137,
 static constexpr const int16_t strength_table[19][37] {
 	//    LONGITUDE:  -180, -170, -160, -150, -140, -130, -120, -110, -100,  -90,  -80,  -70,  -60,  -50,  -40,  -30,  -20,  -10,    0,   10,   20,   30,   40,   50,   60,   70,   80,   90,  100,  110,  120,  130,  140,  150,  160,  170,  180,
-	/* LAT: -90 */ {  5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, },
-	/* LAT: -80 */ {  6058, 5995, 5916, 5824, 5721, 5610, 5492, 5370, 5248, 5128, 5014, 4908, 4815, 4735, 4672, 4627, 4602, 4600, 4622, 4668, 4738, 4832, 4946, 5078, 5222, 5371, 5521, 5664, 5795, 5909, 6002, 6071, 6115, 6135, 6130, 6104, 6058, },
-	/* LAT: -70 */ {  6303, 6170, 6020, 5855, 5677, 5485, 5280, 5065, 4846, 4630, 4428, 4245, 4087, 3956, 3852, 3776, 3728, 3716, 3744, 3820, 3948, 4128, 4356, 4624, 4919, 5226, 5529, 5813, 6063, 6267, 6418, 6514, 6556, 6548, 6499, 6415, 6303, },
-	/* LAT: -60 */ {  6188, 5996, 5795, 5586, 5368, 5133, 4877, 4598, 4306, 4016, 3749, 3522, 3342, 3207, 3108, 3035, 2984, 2964, 2990, 3080, 3248, 3500, 3826, 4212, 4634, 5068, 5489, 5873, 6198, 6447, 6610, 6689, 6691, 6628, 6515, 6364, 6188, },
-	/* LAT: -50 */ {  5845, 5615, 5383, 5153, 4921, 4676, 4405, 4102, 3774, 3442, 3140, 2899, 2738, 2646, 2598, 2564, 2530, 2504, 2509, 2581, 2754, 3043, 3439, 3910, 4417, 4922, 5398, 5816, 6156, 6397, 6536, 6577, 6534, 6424, 6263, 6065, 5845, },
-	/* LAT: -40 */ {  5394, 5148, 4904, 4664, 4430, 4193, 3938, 3655, 3341, 3014, 2716, 2493, 2375, 2349, 2368, 2390, 2395, 2383, 2371, 2399, 2529, 2803, 3220, 3733, 4280, 4804, 5272, 5660, 5953, 6140, 6229, 6232, 6162, 6032, 5851, 5633, 5394, },
-	/* LAT: -30 */ {  4879, 4638, 4400, 4165, 3939, 3720, 3502, 3270, 3015, 2740, 2482, 2299, 2228, 2253, 2320, 2391, 2457, 2507, 2530, 2542, 2609, 2806, 3167, 3655, 4186, 4683, 5102, 5419, 5623, 5722, 5749, 5722, 5643, 5511, 5331, 5115, 4879, },
-	/* LAT: -20 */ {  4321, 4109, 3901, 3696, 3500, 3317, 3149, 2985, 2808, 2610, 2419, 2285, 2243, 2286, 2375, 2486, 2614, 2742, 2832, 2868, 2893, 2988, 3226, 3610, 4059, 4486, 4835, 5071, 5176, 5184, 5154, 5107, 5025, 4897, 4731, 4534, 4321, },
-	/* LAT: -10 */ {  3790, 3630, 3477, 3331, 3195, 3075, 2972, 2880, 2783, 2669, 2547, 2447, 2401, 2425, 2510, 2639, 2795, 2954, 3078, 3141, 3156, 3182, 3304, 3555, 3881, 4203, 4468, 4631, 4667, 4615, 4547, 4483, 4395, 4270, 4121, 3958, 3790, },
-	/* LAT:   0 */ {  3412, 3319, 3236, 3163, 3108, 3070, 3044, 3025, 3001, 2954, 2875, 2780, 2699, 2667, 2708, 2811, 2943, 3079, 3194, 3270, 3301, 3323, 3397, 3553, 3762, 3975, 4155, 4262, 4268, 4201, 4113, 4021, 3909, 3777, 3643, 3520, 3412, },
-	/* LAT:  10 */ {  3283, 3252, 3232, 3228, 3253, 3300, 3356, 3410, 3445, 3436, 3367, 3252, 3125, 3030, 3003, 3043, 3124, 3222, 3323, 3408, 3472, 3534, 3621, 3739, 3874, 4012, 4132, 4203, 4205, 4144, 4034, 3891, 3729, 3570, 3435, 3338, 3283, },
-	/* LAT:  20 */ {  3399, 3403, 3429, 3483, 3575, 3697, 3826, 3943, 4025, 4037, 3964, 3822, 3655, 3514, 3438, 3425, 3460, 3532, 3628, 3725, 3816, 3914, 4025, 4136, 4245, 4356, 4458, 4524, 4535, 4477, 4340, 4138, 3911, 3702, 3539, 3438, 3399, },
-	/* LAT:  30 */ {  3723, 3730, 3785, 3885, 4028, 4199, 4375, 4531, 4640, 4667, 4594, 4438, 4249, 4084, 3978, 3931, 3934, 3985, 4071, 4169, 4266, 4372, 4488, 4606, 4725, 4852, 4972, 5059, 5085, 5028, 4872, 4633, 4359, 4104, 3905, 3777, 3723, },
-	/* LAT:  40 */ {  4222, 4221, 4286, 4410, 4578, 4765, 4949, 5105, 5210, 5236, 5168, 5019, 4832, 4657, 4528, 4452, 4426, 4448, 4508, 4587, 4673, 4770, 4885, 5018, 5169, 5331, 5482, 5592, 5631, 5578, 5422, 5185, 4911, 4651, 4441, 4296, 4222, },
-	/* LAT:  50 */ {  4832, 4825, 4881, 4992, 5138, 5298, 5448, 5569, 5642, 5651, 5588, 5461, 5298, 5134, 4996, 4898, 4843, 4831, 4855, 4905, 4974, 5065, 5184, 5333, 5509, 5693, 5859, 5978, 6022, 5978, 5848, 5652, 5427, 5211, 5031, 4902, 4832, },
-	/* LAT:  60 */ {  5392, 5380, 5409, 5472, 5558, 5652, 5739, 5805, 5838, 5829, 5775, 5681, 5560, 5431, 5312, 5216, 5149, 5115, 5113, 5140, 5196, 5282, 5400, 5547, 5714, 5882, 6030, 6134, 6178, 6156, 6074, 5947, 5801, 5658, 5536, 5445, 5392, },
-	/* LAT:  70 */ {  5726, 5706, 5704, 5716, 5738, 5765, 5788, 5803, 5802, 5783, 5743, 5686, 5615, 5539, 5465, 5401, 5353, 5325, 5320, 5340, 5384, 5454, 5545, 5654, 5771, 5886, 5985, 6058, 6097, 6101, 6072, 6018, 5951, 5881, 5816, 5763, 5726, },
-	/* LAT:  80 */ {  5789, 5772, 5758, 5746, 5736, 5726, 5716, 5705, 5690, 5671, 5649, 5624, 5597, 5569, 5545, 5524, 5510, 5505, 5510, 5525, 5551, 5586, 5629, 5676, 5726, 5774, 5817, 5851, 5876, 5889, 5891, 5884, 5870, 5851, 5830, 5809, 5789, },
-	/* LAT:  90 */ {  5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, },
+	/* LAT: -90 */ {  5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, },
+	/* LAT: -80 */ {  6056, 5993, 5914, 5821, 5718, 5607, 5489, 5367, 5244, 5125, 5010, 4905, 4811, 4732, 4669, 4624, 4600, 4598, 4619, 4665, 4736, 4830, 4945, 5077, 5220, 5370, 5520, 5663, 5794, 5908, 6001, 6069, 6114, 6133, 6129, 6102, 6056, },
+	/* LAT: -70 */ {  6301, 6167, 6017, 5852, 5673, 5481, 5276, 5061, 4842, 4627, 4424, 4242, 4084, 3953, 3849, 3773, 3726, 3713, 3742, 3818, 3946, 4127, 4356, 4624, 4919, 5226, 5530, 5814, 6063, 6267, 6418, 6514, 6555, 6547, 6497, 6413, 6301, },
+	/* LAT: -60 */ {  6186, 5994, 5792, 5583, 5364, 5129, 4873, 4594, 4302, 4013, 3746, 3519, 3339, 3205, 3106, 3032, 2982, 2962, 2988, 3079, 3248, 3499, 3827, 4213, 4635, 5070, 5491, 5875, 6199, 6448, 6611, 6690, 6691, 6628, 6514, 6363, 6186, },
+	/* LAT: -50 */ {  5843, 5613, 5381, 5150, 4917, 4672, 4402, 4099, 3770, 3438, 3136, 2897, 2735, 2644, 2596, 2562, 2528, 2501, 2506, 2579, 2753, 3044, 3440, 3912, 4419, 4925, 5400, 5819, 6157, 6399, 6537, 6577, 6534, 6424, 6262, 6064, 5843, },
+	/* LAT: -40 */ {  5393, 5147, 4902, 4662, 4427, 4190, 3935, 3651, 3337, 3011, 2713, 2491, 2374, 2348, 2367, 2388, 2393, 2380, 2367, 2396, 2527, 2804, 3222, 3737, 4284, 4808, 5274, 5662, 5954, 6142, 6230, 6232, 6163, 6032, 5850, 5632, 5393, },
+	/* LAT: -30 */ {  4878, 4637, 4398, 4163, 3937, 3718, 3499, 3268, 3012, 2737, 2479, 2297, 2227, 2252, 2319, 2390, 2455, 2505, 2526, 2539, 2606, 2806, 3170, 3659, 4190, 4687, 5105, 5421, 5624, 5723, 5750, 5723, 5643, 5511, 5331, 5115, 4878, },
+	/* LAT: -20 */ {  4321, 4108, 3899, 3694, 3498, 3315, 3147, 2983, 2806, 2607, 2417, 2283, 2242, 2286, 2375, 2486, 2614, 2742, 2830, 2865, 2890, 2987, 3228, 3613, 4064, 4490, 4838, 5072, 5177, 5185, 5154, 5107, 5025, 4898, 4731, 4534, 4321, },
+	/* LAT: -10 */ {  3790, 3629, 3476, 3329, 3194, 3074, 2970, 2878, 2781, 2666, 2544, 2445, 2400, 2424, 2511, 2640, 2796, 2954, 3077, 3139, 3154, 3181, 3305, 3558, 3884, 4206, 4470, 4632, 4667, 4615, 4547, 4484, 4396, 4271, 4122, 3958, 3790, },
+	/* LAT:   0 */ {  3412, 3319, 3235, 3162, 3107, 3068, 3042, 3023, 2999, 2951, 2872, 2777, 2697, 2666, 2709, 2812, 2944, 3079, 3194, 3269, 3300, 3322, 3397, 3555, 3764, 3978, 4158, 4263, 4269, 4202, 4113, 4021, 3910, 3778, 3644, 3520, 3412, },
+	/* LAT:  10 */ {  3283, 3251, 3231, 3227, 3252, 3299, 3354, 3407, 3442, 3432, 3363, 3249, 3122, 3028, 3002, 3043, 3124, 3223, 3323, 3408, 3472, 3534, 3622, 3741, 3877, 4015, 4135, 4205, 4207, 4145, 4035, 3892, 3730, 3571, 3435, 3339, 3283, },
+	/* LAT:  20 */ {  3399, 3402, 3428, 3482, 3574, 3695, 3823, 3940, 4021, 4033, 3960, 3818, 3651, 3512, 3436, 3424, 3460, 3533, 3629, 3726, 3817, 3916, 4027, 4138, 4247, 4359, 4461, 4527, 4538, 4479, 4342, 4139, 3912, 3702, 3539, 3438, 3399, },
+	/* LAT:  30 */ {  3723, 3729, 3783, 3882, 4025, 4196, 4372, 4528, 4636, 4662, 4589, 4434, 4245, 4081, 3976, 3931, 3934, 3985, 4073, 4171, 4268, 4374, 4491, 4608, 4728, 4855, 4976, 5062, 5088, 5030, 4874, 4634, 4360, 4106, 3906, 3778, 3723, },
+	/* LAT:  40 */ {  4222, 4220, 4284, 4408, 4574, 4762, 4945, 5101, 5206, 5232, 5164, 5015, 4829, 4655, 4527, 4452, 4426, 4449, 4509, 4589, 4675, 4773, 4887, 5021, 5172, 5334, 5485, 5595, 5634, 5580, 5424, 5186, 4912, 4653, 4442, 4296, 4222, },
+	/* LAT:  50 */ {  4832, 4824, 4879, 4989, 5135, 5294, 5444, 5565, 5639, 5648, 5585, 5458, 5296, 5132, 4995, 4898, 4843, 4832, 4857, 4907, 4976, 5067, 5186, 5337, 5512, 5696, 5863, 5980, 6024, 5980, 5849, 5653, 5428, 5213, 5033, 4903, 4832, },
+	/* LAT:  60 */ {  5392, 5379, 5407, 5469, 5554, 5648, 5736, 5802, 5836, 5827, 5773, 5679, 5559, 5431, 5312, 5216, 5150, 5116, 5114, 5142, 5198, 5285, 5403, 5550, 5717, 5885, 6032, 6136, 6179, 6157, 6074, 5948, 5803, 5660, 5538, 5446, 5392, },
+	/* LAT:  70 */ {  5726, 5706, 5702, 5714, 5736, 5762, 5786, 5800, 5800, 5782, 5743, 5686, 5616, 5540, 5466, 5402, 5354, 5326, 5322, 5342, 5387, 5456, 5548, 5656, 5773, 5888, 5987, 6059, 6099, 6102, 6073, 6020, 5953, 5882, 5817, 5764, 5726, },
+	/* LAT:  80 */ {  5789, 5772, 5757, 5745, 5735, 5726, 5716, 5704, 5689, 5671, 5649, 5624, 5597, 5570, 5545, 5525, 5512, 5507, 5511, 5527, 5552, 5588, 5630, 5678, 5728, 5776, 5819, 5853, 5877, 5890, 5892, 5885, 5871, 5852, 5831, 5809, 5789, },
+	/* LAT:  90 */ {  5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, },
 };
@@ -147,10 +147,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 		 */
 		reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate,
 					    events::ID("check_estimator_hor_vel_not_stable"),
-					    events::Log::Error, "Horizontal velocity estimate not stable");
+					    events::Log::Error, "Horizontal velocity unstable");

 		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: horizontal velocity estimate not stable");
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: horizontal velocity unstable");
 		}

 	} else if (!context.isArmed() && estimator_status.pre_flt_fail_innov_vel_vert) {
@@ -158,10 +158,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 		 */
 		reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate,
 					    events::ID("check_estimator_vert_vel_not_stable"),
-					    events::Log::Error, "Vertical velocity estimate not stable");
+					    events::Log::Error, "Vertical velocity unstable");

 		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: vertical velocity estimate not stable");
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: vertical velocity unstable");
 		}

 	} else if (!context.isArmed() && estimator_status.pre_flt_fail_innov_height) {
@@ -194,10 +194,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 		 */
 		reporter.armingCheckFailure(required_groups_mag, health_component_t::local_position_estimate,
 					    events::ID("check_estimator_mag_interference"),
-					    events::Log::Warning, "Strong magnetic interference detected");
+					    events::Log::Warning, "Strong magnetic interference");

 		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Strong magnetic interference detected");
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Strong magnetic interference");
 		}
 	}

@@ -625,9 +625,9 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report &
 						 * @description
 						 * Land and recalibrate the sensors.
 						 */
-						reporter.armingCheckFailure(NavModes::All, health_component_t::local_position_estimate,
-									    events::ID("check_estimator_nav_failure"),
-									    events::Log::Emergency, "Navigation failure");
+						reporter.healthFailure(NavModes::All, health_component_t::local_position_estimate,
+								       events::ID("check_estimator_nav_failure"),
+								       events::Log::Emergency, "Navigation failure");

 						if (reporter.mavlink_log_pub()) {
 							mavlink_log_critical(reporter.mavlink_log_pub(), "Navigation failure! Land and recalibrate sensors\t");
@@ -51,7 +51,7 @@ void Ekf::controlBaroHeightFusion()

 	if (_baro_buffer && _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &baro_sample)) {

-		const float measurement = baro_sample.hgt;
+		const float measurement = compensateBaroForDynamicPressure(baro_sample.hgt);
 		const float measurement_var = sq(_params.baro_noise);

 		const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
@@ -60,10 +60,10 @@ void Ekf::controlBaroHeightFusion()

 		if (measurement_valid) {
 			if (_baro_counter == 0) {
-				_baro_lpf.reset(baro_sample.hgt);
+				_baro_lpf.reset(measurement);

 			} else {
-				_baro_lpf.update(baro_sample.hgt);
+				_baro_lpf.update(measurement);
 			}

 			if (_baro_counter <= _obs_buffer_length) {
@@ -83,8 +83,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
 	// predicted specific forces
 	// calculate relative wind velocity in earth frame and rotate into body frame
 	const Vector3f rel_wind_earth(vn - vwn, ve - vwe, vd);
-	const Dcmf earth_to_body = quatToInverseRotMat(_state.quat_nominal);
-	const Vector3f rel_wind_body = earth_to_body * rel_wind_earth;
+	const Vector3f rel_wind_body = _state.quat_nominal.rotateVectorInverse(rel_wind_earth);

 	// perform sequential fusion of XY specific forces
 	for (uint8_t axis_index = 0; axis_index < 2; axis_index++) {
@@ -519,7 +519,6 @@ private:
 	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)

@@ -696,20 +695,20 @@ private:
 	// fuse single velocity and position measurement
 	bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);

-	void resetVelocityTo(const Vector3f &vel);
-	void resetHorizontalVelocityTo(const Vector2f &new_horz_vel);
-	void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var = NAN);
+	void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var);
+
+	void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var);
+	void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, float vel_var) { resetHorizontalVelocityTo(new_horz_vel, Vector2f(vel_var, vel_var)); }

-	void resetVelocityToGps(const gpsSample &gps_sample);
-	void resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample);
 	void resetVelocityToVision();
 	void resetHorizontalVelocityToZero();

-	void resetHorizontalPositionToGps(const gpsSample &gps_sample);
+	void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var);
 	void resetHorizontalPositionToVision();
-	void resetHorizontalPositionToOpticalFlow();
 	void resetHorizontalPositionToLastKnown();
-	void resetHorizontalPositionTo(const Vector2f &new_horz_pos);
+
+	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var);
+	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); }

 	bool isHeightResetRequired() const;

@@ -776,10 +775,6 @@ private:
 	// return true if successful
 	bool resetYawToEv();

-	// 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);
-
 	// Return the magnetic declination in radians to be used by the alignment and fusion processing
 	float getMagDeclination();

@@ -864,7 +859,7 @@ private:
 	// and a scalar innovation value
 	void fuse(const Vector24f &K, float innovation);

-	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const override;
+	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;

 	// calculate the earth rotation vector from a given latitude
 	Vector3f calcEarthRateNED(float lat_rad) const;
@@ -899,7 +894,7 @@ private:

 	void runOnGroundYawReset();
 	bool canResetMagHeading() const;
-	void runInAirYawReset(const Vector3f &mag);
+	void runInAirYawReset();

 	void selectMagAuto();
 	void check3DMagFusionSuitability();
@@ -1030,7 +1025,6 @@ private:
 	void startAirspeedFusion();
 	void stopAirspeedFusion();

-	void startGpsFusion(const gpsSample &gps_sample);
 	void stopGpsFusion();
 	void stopGpsPosFusion();
 	void stopGpsVelFusion();
@@ -44,51 +44,11 @@
 #include <mathlib/mathlib.h>
 #include <cstdlib>

-void Ekf::resetVelocityToGps(const gpsSample &gps_sample)
-{
-	_information_events.flags.reset_vel_to_gps = true;
-	ECL_INFO("reset velocity to GPS");
-	resetVelocityTo(gps_sample.vel);
-	P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
-}
-
-void Ekf::resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample)
-{
-	_information_events.flags.reset_vel_to_flow = true;
-	ECL_INFO("reset velocity to flow");
-	// constrain height above ground to be above minimum possible
-	const float heightAboveGndEst = fmaxf((_terrain_vpos - _state.pos(2)), _params.rng_gnd_clearance);
-
-	// calculate absolute distance from focal point to centre of frame assuming a flat earth
-	const float range = heightAboveGndEst / _range_sensor.getCosTilt();
-
-	if ((range - _params.rng_gnd_clearance) > 0.3f) {
-		// we should have reliable OF measurements so
-		// calculate X and Y body relative velocities from OF measurements
-		Vector3f vel_optflow_body;
-		vel_optflow_body(0) = - range * _flow_compensated_XY_rad(1) / flow_sample.dt;
-		vel_optflow_body(1) =   range * _flow_compensated_XY_rad(0) / flow_sample.dt;
-		vel_optflow_body(2) = 0.0f;
-
-		// rotate from body to earth frame
-		const Vector3f vel_optflow_earth = _R_to_earth * vel_optflow_body;
-
-		resetHorizontalVelocityTo(Vector2f(vel_optflow_earth));
-
-	} else {
-		resetHorizontalVelocityTo(Vector2f{0.f, 0.f});
-	}
-
-	// reset the horizontal velocity variance using the optical flow noise variance
-	P.uncorrelateCovarianceSetVariance<2>(4, sq(range) * calcOptFlowMeasVar(flow_sample));
-}
-
 void Ekf::resetVelocityToVision()
 {
 	_information_events.flags.reset_vel_to_vision = true;
 	ECL_INFO("reset to vision velocity");
-	resetVelocityTo(getVisionVelocityInEkfFrame());
-	P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame());
+	resetVelocityTo(getVisionVelocityInEkfFrame(), getVisionVelocityVarianceInEkfFrame());
 }

 void Ekf::resetHorizontalVelocityToZero()
@@ -96,21 +56,28 @@ void Ekf::resetHorizontalVelocityToZero()
 	_information_events.flags.reset_vel_to_zero = true;
 	ECL_INFO("reset velocity to zero");
 	// Used when falling back to non-aiding mode of operation
-	resetHorizontalVelocityTo(Vector2f{0.f, 0.f});
-	P.uncorrelateCovarianceSetVariance<2>(4, 25.0f);
+	resetHorizontalVelocityTo(Vector2f{0.f, 0.f}, 25.f);
 }

-void Ekf::resetVelocityTo(const Vector3f &new_vel)
+void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var)
 {
-	resetHorizontalVelocityTo(Vector2f(new_vel));
-	resetVerticalVelocityTo(new_vel(2));
+	resetHorizontalVelocityTo(Vector2f(new_vel), Vector2f(new_vel_var(0), new_vel_var(1)));
+	resetVerticalVelocityTo(new_vel(2), new_vel_var(2));
 }

-void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel)
+void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var)
 {
 	const Vector2f delta_horz_vel = new_horz_vel - Vector2f(_state.vel);
 	_state.vel.xy() = new_horz_vel;

+	if (PX4_ISFINITE(new_horz_vel_var(0))) {
+		P.uncorrelateCovarianceSetVariance<1>(4, math::max(sq(0.01f), new_horz_vel_var(0)));
+	}
+
+	if (PX4_ISFINITE(new_horz_vel_var(1))) {
+		P.uncorrelateCovarianceSetVariance<1>(5, math::max(sq(0.01f), new_horz_vel_var(1)));
+	}
+
 	for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
 		_output_buffer[index].vel.xy() += delta_horz_vel;
 	}
@@ -148,14 +115,6 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
 	_time_last_ver_vel_fuse = _imu_sample_delayed.time_us;
 }

-void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample)
-{
-	_information_events.flags.reset_pos_to_gps = true;
-	ECL_INFO("reset position to GPS");
-	resetHorizontalPositionTo(gps_sample.pos);
-	P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
-}
-
 void Ekf::resetHorizontalPositionToVision()
 {
 	_information_events.flags.reset_pos_to_vision = true;
@@ -166,45 +125,33 @@ void Ekf::resetHorizontalPositionToVision()
 		_ev_pos = _R_ev_to_ekf * _ev_sample_delayed.pos;
 	}

-	resetHorizontalPositionTo(Vector2f(_ev_pos));
-	P.uncorrelateCovarianceSetVariance<2>(7, _ev_sample_delayed.posVar.slice<2, 1>(0, 0));
+	resetHorizontalPositionTo(Vector2f(_ev_pos), _ev_sample_delayed.posVar.slice<2, 1>(0, 0));

 	// let the next odometry update know that the previous value of states cannot be used to calculate the change in position
 	_hpos_prev_available = false;
 }

-void Ekf::resetHorizontalPositionToOpticalFlow()
-{
-	_information_events.flags.reset_pos_to_last_known = true;
-
-	if (!_control_status.flags.in_air) {
-		ECL_INFO("reset horizontal position to (0, 0)");
-		// we are likely starting OF for the first time so reset the horizontal position
-		resetHorizontalPositionTo(Vector2f(0.f, 0.f));
-
-	} else {
-		ECL_INFO("reset horizontal position to last known");
-		resetHorizontalPositionTo(_last_known_pos.xy());
-	}
-
-	// estimate is relative to initial position in this mode, so we start with zero error.
-	P.uncorrelateCovarianceSetVariance<2>(7, 0.0f);
-}
-
 void Ekf::resetHorizontalPositionToLastKnown()
 {
 	_information_events.flags.reset_pos_to_last_known = true;
 	ECL_INFO("reset position to last known position");
 	// Used when falling back to non-aiding mode of operation
-	resetHorizontalPositionTo(_last_known_pos.xy());
-	P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
+	resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise));
 }

-void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos)
+void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var)
 {
 	const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}};
 	_state.pos.xy() = new_horz_pos;

+	if (PX4_ISFINITE(new_horz_pos_var(0))) {
+		P.uncorrelateCovarianceSetVariance<1>(7, math::max(sq(0.01f), new_horz_pos_var(0)));
+	}
+
+	if (PX4_ISFINITE(new_horz_pos_var(1))) {
+		P.uncorrelateCovarianceSetVariance<1>(8, math::max(sq(0.01f), new_horz_pos_var(1)));
+	}
+
 	for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
 		_output_buffer[index].pos.xy() += delta_horz_pos;
 	}
@@ -298,117 +245,6 @@ void Ekf::alignOutputFilter()
 	_output_new = _output_buffer.get_newest();
 }

-// 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)
-{
-	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));
-
-	if (!gps_yaw_alignment_possible) {
-		// attempt a normal alignment using the magnetometer
-		return resetMagHeading();
-	}
-
-	// check for excessive horizontal GPS velocity innovations
-	const float gps_vel_test_ratio = fmaxf(_aid_src_gnss_vel.test_ratio[0], _aid_src_gnss_vel.test_ratio[1]);
-	const bool badVelInnov = (gps_vel_test_ratio > 1.0f) && _control_status.flags.gps;
-
-	// calculate GPS course over ground angle
-	const float gpsCOG = 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));
-
-	// Check the EKF and GPS course over ground for consistency
-	const float courseYawError = wrap_pi(gpsCOG - ekfCOG);
-
-	// 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);
-
-	if (badMagYaw) {
-		_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)
-		    && !_control_status.flags.mag_fault) {
-			_warning_events.flags.stopping_mag_use = true;
-			ECL_WARN("stopping mag use");
-			_control_status.flags.mag_fault = true;
-		}
-
-		// calculate new yaw estimate
-		float yaw_new;
-
-		if (!_control_status.flags.mag_aligned_in_flight) {
-			// 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;
-			_control_status.flags.mag_aligned_in_flight = true;
-
-		} else if (_control_status.flags.wind) {
-			// we have previously aligned yaw in-flight and have wind estimates so set the yaw such that the vehicle nose is
-			// aligned with the wind relative GPS velocity vector
-			yaw_new = atan2f((_gps_sample_delayed.vel(1) - _state.wind_vel(1)),
-					 (_gps_sample_delayed.vel(0) - _state.wind_vel(0)));
-
-		} 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));
-
-		}
-
-		// use the combined EKF and GPS speed variance to calculate a rough estimate of the yaw error after alignment
-		const float SpdErrorVariance = sq(_gps_sample_delayed.sacc) + P(4, 4) + P(5, 5);
-		const float sineYawError = math::constrain(sqrtf(SpdErrorVariance) / gpsSpeed, 0.0f, 1.0f);
-		const float yaw_variance_new = sq(asinf(sineYawError));
-
-		// Apply updated yaw and yaw variance to states and covariances
-		resetQuatStateYaw(yaw_new, yaw_variance_new);
-
-		// 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;
-
-		// If heading was bad, then we also need to reset the velocity and position states
-		if (badMagYaw) {
-			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;
-
-		return true;
-	}
-}
-
 // Reset heading and magnetic field states
 bool Ekf::resetMagHeading()
 {
@@ -511,31 +347,36 @@ void Ekf::constrainStates()

 float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
 {
-	// calculate static pressure error = Pmeas - Ptruth
-	// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
-	// negative X and Y directions. Used to correct baro data for positional errors
-	const matrix::Dcmf R_to_body(_output_new.quat_nominal.inversed());
+	if (_control_status.flags.wind && local_position_is_valid()) {
+		// calculate static pressure error = Pmeas - Ptruth
+		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
+		// negative X and Y directions. Used to correct baro data for positional errors

-	// Calculate airspeed in body frame
-	const Vector3f velocity_earth = _output_new.vel - _vel_imu_rel_body_ned;
+		// Calculate airspeed in body frame
+		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
+		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;

-	const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
+		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);

-	const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;
+		const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;

-	const Vector3f airspeed_body = R_to_body * airspeed_earth;
+		const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth);

-	const Vector3f K_pstatic_coef(airspeed_body(0) >= 0.0f ? _params.static_pressure_coef_xp :
-				      _params.static_pressure_coef_xn,
-				      airspeed_body(1) >= 0.0f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
-				      _params.static_pressure_coef_z);
+		const Vector3f K_pstatic_coef(
+			airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn,
+			airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
+			_params.static_pressure_coef_z);

-	const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));
+		const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));

-	const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));
+		const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));

-	// correct baro measurement using pressure error estimate and assuming sea level gravity
-	return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
+		// correct baro measurement using pressure error estimate and assuming sea level gravity
+		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
+	}
+
+	// otherwise return the uncorrected baro measurement
+	return baro_alt_uncompensated;
 }

 // calculate the earth rotation vector
@@ -1462,22 +1303,6 @@ void Ekf::stopAirspeedFusion()
 	_control_status.flags.fuse_aspd = false;
 }

-void Ekf::startGpsFusion(const gpsSample &gps_sample)
-{
-	if (!_control_status.flags.gps) {
-		resetHorizontalPositionToGps(gps_sample);
-
-		// when already using another velocity source velocity reset is not necessary
-		if (!_control_status.flags.opt_flow && !_control_status.flags.ev_vel) {
-			resetVelocityToGps(gps_sample);
-		}
-
-		_information_events.flags.starting_gps_fusion = true;
-		ECL_INFO("starting GPS fusion");
-		_control_status.flags.gps = true;
-	}
-}
-
 void Ekf::stopGpsFusion()
 {
 	if (_control_status.flags.gps) {
@@ -221,7 +221,7 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)

 		baroSample baro_sample_new;
 		baro_sample_new.time_us = time_us;
-		baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_sample.hgt);
+		baro_sample_new.hgt = baro_sample.hgt;

 		_baro_buffer->push(baro_sample_new);
 		_time_last_baro_buffer_push = _newest_high_rate_imu_sample.time_us;
@@ -396,8 +396,6 @@ protected:
 	// this is the previous status of the filter control modes - used to detect mode transitions
 	filter_control_status_u _control_status_prev{};

-	virtual float compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const = 0;
-
 	// these are used to record single frame events for external monitoring and should NOT be used for
 	// state logic becasue they will be cleared externally after being read.
 	warning_event_status_u _warning_events{};
@@ -59,10 +59,11 @@ void Ekf::controlGpsFusion()
 		controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing);

 		// GNSS velocity
-		const float vel_obs_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
+		const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
+		const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
 		updateVelocityAidSrcStatus(gps_sample.time_us,
 					   gps_sample.vel,                                             // observation
-					   Vector3f(vel_obs_var, vel_obs_var, vel_obs_var * sq(1.5f)), // observation variance
+					   vel_obs_var,                                                // observation variance
 					   math::max(_params.gps_vel_innov_gate, 1.f),                 // innovation gate
 					   _aid_src_gnss_vel);
 		_aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL);
@@ -79,10 +80,11 @@ void Ekf::controlGpsFusion()
 			}
 		}

-		const float pos_obs_var = sq(pos_noise);
+		const float pos_var = sq(pos_noise);
+		const Vector2f pos_obs_var(pos_var, pos_var);
 		updateHorizontalPositionAidSrcStatus(gps_sample.time_us,
 						     gps_sample.pos,                             // observation
-						     Vector2f(pos_obs_var, pos_obs_var),         // observation variance
+						     pos_obs_var,                                // observation variance
 						     math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate
 						     _aid_src_gnss_pos);
 		_aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS);
@@ -127,20 +129,13 @@ void Ekf::controlGpsFusion()
 							if (resetYawToEKFGSF()) {
 								ECL_WARN("GPS emergency yaw reset");
 							}
-
-						} else {
-							// use GPS velocity data to check and correct yaw angle if a FW vehicle
-							if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
-								// if flying a fixed wing aircraft, do a complete reset that includes yaw
-								_mag_yaw_reset_req = true;
-							}
-
-							_warning_events.flags.gps_fusion_timout = true;
-							ECL_WARN("GPS fusion timeout - resetting");
 						}

-						resetVelocityToGps(gps_sample);
-						resetHorizontalPositionToGps(gps_sample);
+						ECL_WARN("GPS fusion timeout, resetting velocity and position");
+						_information_events.flags.reset_vel_to_gps = true;
+						_information_events.flags.reset_pos_to_gps = true;
+						resetVelocityTo(gps_sample.vel, vel_obs_var);
+						resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
 					}

 				} else {
@@ -174,7 +169,20 @@ void Ekf::controlGpsFusion()
 					_inhibit_ev_yaw_use = true;

 				} else {
-					startGpsFusion(gps_sample);
+					ECL_INFO("starting GPS fusion");
+					_information_events.flags.starting_gps_fusion = true;
+
+					// reset position
+					_information_events.flags.reset_pos_to_gps = true;
+					resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
+
+					// when already using another velocity source velocity reset is not necessary
+					if (!isHorizontalAidingActive()) {
+						_information_events.flags.reset_vel_to_gps = true;
+						resetVelocityTo(gps_sample.vel, vel_obs_var);
+					}
+
+					_control_status.flags.gps = true;
 				}

 			} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
@@ -182,8 +190,12 @@ void Ekf::controlGpsFusion()
 				if (resetYawToEKFGSF()) {
 					_information_events.flags.yaw_aligned_to_imu_gps = true;
 					ECL_INFO("Yaw aligned using IMU and GPS");
-					resetVelocityToGps(gps_sample);
-					resetHorizontalPositionToGps(gps_sample);
+
+					ECL_INFO("reset velocity and position to GPS");
+					_information_events.flags.reset_vel_to_gps = true;
+					_information_events.flags.reset_pos_to_gps = true;
+					resetVelocityTo(gps_sample.vel, vel_obs_var);
+					resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
 				}
 			}
 		}
@@ -80,9 +80,8 @@ void Ekf::controlMagFusion()

 			// compute magnetometer innovations (for estimator_aid_src_mag logging)
 			//  rotate magnetometer earth field state into body frame
-			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
-			const Vector3f mag_I_rot = R_to_body * _state.mag_I;
-			const Vector3f mag_innov = mag_I_rot - mag_observation;
+			const Vector3f mag_I_body = _state.quat_nominal.rotateVectorInverse(_state.mag_I);
+			const Vector3f mag_innov = mag_I_body - mag_observation;

 			resetEstimatorAidStatus(_aid_src_mag);
 			_aid_src_mag.timestamp_sample = mag_sample.time_us;
@@ -95,7 +94,6 @@ void Ekf::controlMagFusion()
 	// re-initialised next time we achieve flight altitude
 	if (!_control_status.flags.in_air) {
 		_control_status.flags.mag_aligned_in_flight = false;
-		_num_bad_flight_yaw_events = 0;
 	}

 	if (_params.mag_fusion_type >= MagFuseType::NONE
@@ -142,7 +140,7 @@ void Ekf::controlMagFusion()

 		if (_control_status.flags.in_air) {
 			checkHaglYawResetReq();
-			runInAirYawReset(mag_sample.mag);
+			runInAirYawReset();

 		} else {
 			runOnGroundYawReset();
@@ -198,13 +196,43 @@ bool Ekf::canResetMagHeading() const
 	return !_control_status.flags.mag_field_disturbed && (_params.mag_fusion_type != MagFuseType::NONE);
 }

-void Ekf::runInAirYawReset(const Vector3f &mag_sample)
+void Ekf::runInAirYawReset()
 {
 	if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
 		bool has_realigned_yaw = false;

-		if (_control_status.flags.gps && _control_status.flags.fixed_wing) {
-			has_realigned_yaw = realignYawGPS(mag_sample);
+		// use yaw estimator if available
+		if (_control_status.flags.gps && isYawEmergencyEstimateAvailable() &&
+		(_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000) // mag LPF available
+		) {
+
+			resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
+
+			_information_events.flags.yaw_aligned_to_imu_gps = true;
+			_ekfgsf_yaw_reset_time = _imu_sample_delayed.time_us;
+
+			// 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;
+
+				const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
+				_state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred);
+
+			} else {
+				// 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: [%.3f, %.3f, %.3f], B: [%.3f, %.3f, %.3f]",
+				(double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
+				(double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2)
+				);
+
+			resetMagCov();
 		}

 		if (!has_realigned_yaw && canResetMagHeading()) {
@@ -216,6 +244,9 @@ void Ekf::runInAirYawReset(const Vector3f &mag_sample)
 			_control_status.flags.yaw_align = true;
 			_control_status.flags.mag_aligned_in_flight = true;

+			// record the time for the magnetic field alignment event
+			_flt_mag_align_start_time = _imu_sample_delayed.time_us;
+
 			// 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) {
@@ -47,6 +47,7 @@
 #include "python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h"
 #include "python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h"
 #include "python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h"
+#include "python/ekf_derivation/generated/compute_mag_declination_innov_innov_var_and_h.h"

 #include <mathlib/mathlib.h>

@@ -333,63 +334,24 @@ bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_so

 bool Ekf::fuseDeclination(float decl_sigma)
 {
-	// assign intermediate state variables
-	const float magN = _state.mag_I(0);
-	const float magE = _state.mag_I(1);
-
-	// minimum North field strength before calculation becomes badly conditioned (T)
-	constexpr float N_field_min = 0.001f;
-
 	// observation variance (rad**2)
 	const float R_DECL = sq(decl_sigma);

-	// Calculate intermediate variables
-	if (fabsf(magN) < sq(N_field_min)) {
-		// calculation is badly conditioned close to +-90 deg declination
-		return false;
-	}
+	Vector24f H;
+	float innovation;
+	float innovation_variance;

-	const float HK0 = ecl::powf(magN, -2);
-	const float HK1 = HK0*ecl::powf(magE, 2) + 1.0F;
-	const float HK2 = 1.0F/HK1;
-	const float HK3 = 1.0F/magN;
-	const float HK4 = HK2*HK3;
-	const float HK5 = HK3*magE;
-	const float HK6 = HK5*P(16,17) - P(17,17);
-	const float HK7 = ecl::powf(HK1, -2);
-	const float HK8 = HK5*P(16,16) - P(16,17);
-	const float innovation_variance = -HK0*HK6*HK7 + HK7*HK8*magE/ecl::powf(magN, 3) + R_DECL;
-	float HK9;
+	sym::ComputeMagDeclinationInnovInnovVarAndH(getStateAtFusionHorizonAsVector(), P, getMagDeclination(), R_DECL, FLT_EPSILON, &innovation, &innovation_variance, &H);

-	if (innovation_variance > R_DECL) {
-		HK9 = HK4/innovation_variance;
-	} else {
+	if (innovation_variance < R_DECL) {
 		// variance calculation is badly conditioned
 		return false;
 	}

-	// Calculate the observation Jacobian
-	// Note only 2 terms are non-zero which can be used in matrix operations for calculation of Kalman gains and covariance update to significantly reduce cost
-	// Note Hfusion indices do not match state indices
-	SparseVector24f<16,17> Hfusion;
-	Hfusion.at<16>() = -HK0*HK2*magE;
-	Hfusion.at<17>() = HK4;
+	SparseVector24f<16,17> Hfusion(H);

 	// Calculate the Kalman gains
-	Vector24f Kfusion;
-
-	for (unsigned row = 0; row <= 15; row++) {
-		Kfusion(row) = -HK9*(HK5*P(row,16) - P(row,17));
-	}
-
-	Kfusion(16) = -HK8*HK9;
-	Kfusion(17) = -HK6*HK9;
-
-	for (unsigned row = 18; row <= 23; row++) {
-		Kfusion(row) = -HK9*(HK5*P(16,row) - P(17,row));
-	}
-
-	const float innovation = math::constrain(atan2f(magE, magN) - getMagDeclination(), -0.5f, 0.5f);
+	Vector24f Kfusion = P * Hfusion / innovation_variance;

 	const bool is_fused = measurementUpdate(Kfusion, Hfusion, innovation);

@@ -77,11 +77,12 @@ void Ekf::controlOpticalFlowFusion()
 				_delta_time_of = _imu_sample_delayed.delta_ang_dt;

 				is_delta_time_good = true;
-			 }
+			}

 			if (is_quality_good && !is_delta_time_good) {
 				ECL_DEBUG("Optical flow: bad delta time: OF dt %.6f s (min: %.3f, max: %.3f), IMU dt %.6f s",
-					(double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max, (double)_imu_sample_delayed.delta_ang_dt);
+					  (double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max,
+					  (double)_imu_sample_delayed.delta_ang_dt);
 			}
 		}

@@ -166,12 +167,25 @@ void Ekf::controlOpticalFlowFusion()

 			// if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set
 			if (!isHorizontalAidingActive()) {
-				resetHorizontalVelocityToOpticalFlow(_flow_sample_delayed);
-				resetHorizontalPositionToOpticalFlow();
+				ECL_INFO("reset velocity to flow");
+				_information_events.flags.reset_vel_to_flow = true;
+				resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed));
+
+				// reset position, estimate is relative to initial position in this mode, so we start with zero error
+				if (!_control_status.flags.in_air) {
+					ECL_INFO("reset position to zero");
+					resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f);
+					_last_known_pos.xy() = _state.pos.xy();
+
+				} else {
+					_information_events.flags.reset_pos_to_last_known = true;
+					ECL_INFO("reset position to last known position");
+					resetHorizontalPositionTo(_last_known_pos.xy(), 0.f);
+				}
 			}

-			_control_status.flags.opt_flow = true;
 			_aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us;
+			_control_status.flags.opt_flow = true;

 			return;
 		}
@@ -190,11 +204,19 @@ void Ekf::controlOpticalFlowFusion()
 			}

 			// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
-			if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)
+			if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)
 			    && !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {

-				resetHorizontalVelocityToOpticalFlow(_flow_sample_delayed);
-				resetHorizontalPositionToOpticalFlow();
+				ECL_INFO("reset velocity to flow");
+				_information_events.flags.reset_vel_to_flow = true;
+				resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed));
+
+				// reset position, estimate is relative to initial position in this mode, so we start with zero error
+				ECL_INFO("reset position to last known");
+				_information_events.flags.reset_pos_to_last_known = true;
+				resetHorizontalPositionTo(_last_known_pos.xy(), 0.f);
+
+				_aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us;
 			}
 		}

@@ -321,6 +321,22 @@ def compute_yaw_312_innov_var_and_h_alternate(

    return (innov_var, H.T)

+def compute_mag_declination_innov_innov_var_and_h(
+        state: VState,
+        P: MState,
+        meas: sf.Scalar,
+        R: sf.Scalar,
+        epsilon: sf.Scalar
+) -> (sf.Scalar, VState):
+
+    meas_pred = sf.atan2(state[State.iy], state[State.ix], epsilon=epsilon)
+    innov = meas_pred - meas
+
+    H = sf.V1(meas_pred).jacobian(state)
+    innov_var = (H * P * H.T + R)[0,0]
+
+    return (innov, innov_var, H.T)
+
 print("Derive EKF2 equations...")
 generate_px4_function(compute_airspeed_innov_and_innov_var, output_names=["innov", "innov_var"])
 generate_px4_function(compute_airspeed_h_and_k, output_names=["H", "K"])
@@ -335,3 +351,4 @@ generate_px4_function(compute_yaw_321_innov_var_and_h, output_names=["innov_var"
 generate_px4_function(compute_yaw_321_innov_var_and_h_alternate, output_names=["innov_var", "H"])
 generate_px4_function(compute_yaw_312_innov_var_and_h, output_names=["innov_var", "H"])
 generate_px4_function(compute_yaw_312_innov_var_and_h_alternate, output_names=["innov_var", "H"])
+generate_px4_function(compute_mag_declination_innov_innov_var_and_h, output_names=["innov", "innov_var", "H"])
@@ -0,0 +1,74 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     backends/cpp/templates/function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: compute_mag_declination_innov_innov_var_and_h
+ *
+ * Args:
+ *     state: Matrix24_1
+ *     P: Matrix24_24
+ *     meas: Scalar
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     innov: Scalar
+ *     innov_var: Scalar
+ *     H: Matrix24_1
+ */
+template <typename Scalar>
+void ComputeMagDeclinationInnovInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
+                                            const matrix::Matrix<Scalar, 24, 24>& P,
+                                            const Scalar meas, const Scalar R, const Scalar epsilon,
+                                            Scalar* const innov = nullptr,
+                                            Scalar* const innov_var = nullptr,
+                                            matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
+  // Total ops: 23
+
+  // Input arrays
+
+  // Intermediate terms (4)
+  const Scalar _tmp0 =
+      epsilon * ((((state(16, 0)) > 0) - ((state(16, 0)) < 0)) + Scalar(0.5)) + state(16, 0);
+  const Scalar _tmp1 =
+      Scalar(1.0) / (std::pow(_tmp0, Scalar(2)) + std::pow(state(17, 0), Scalar(2)));
+  const Scalar _tmp2 = _tmp1 * state(17, 0);
+  const Scalar _tmp3 = _tmp0 * _tmp1;
+
+  // Output terms (3)
+  if (innov != nullptr) {
+    Scalar& _innov = (*innov);
+
+    _innov = -meas + std::atan2(state(17, 0), _tmp0);
+  }
+
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = R - _tmp2 * (-P(16, 16) * _tmp2 + P(17, 16) * _tmp3) +
+                 _tmp3 * (-P(16, 17) * _tmp2 + P(17, 17) * _tmp3);
+  }
+
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 24, 1>& _H = (*H);
+
+    _H.setZero();
+
+    _H(16, 0) = -_tmp2;
+    _H(17, 0) = _tmp3;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym
@@ -1,227 +0,0 @@
-#include <math.h>
-#include <stdio.h>
-#include <cstdlib>
-#include "../../../../../matrix/matrix/math.hpp"
-
-typedef matrix::Vector<float, 24> Vector24f;
-typedef matrix::SquareMatrix<float, 24> SquareMatrix24f;
-
-float sq(float in) {
-    return in * in;
-}
-
-int main()
-{
-    // Compare calculation of observation Jacobians and Kalman gains for sympy and matlab generated equations
-
-	float Hfusion[24] = {};
-    Vector24f H_DECL;
-    Vector24f Kfusion;
-    float decl_innov_var;
-
-	const float R_DECL = sq(0.3f);
-
-    const float _gps_yaw_offset = 1.5f;
-
-    // quaternion inputs must be normalised
-    float q0 = 2.0f * ((float)rand() - 0.5f);
-    float q1 = 2.0f * ((float)rand() - 0.5f);
-    float q2 = 2.0f * ((float)rand() - 0.5f);
-    float q3 = 2.0f * ((float)rand() - 0.5f);
-    const float length = sqrtf(sq(q0) + sq(q1) + sq(q2) + sq(q3));
-    q0 /= length;
-    q1 /= length;
-    q2 /= length;
-    q3 /= length;
-
-	const float magN = 0.04f;
-	const float magE = -0.03f;
-
-    const float h_field_min = 1e-3f;
-
-    // create a symmetrical positive dfinite matrix with off diagonals between -1 and 1 and diagonals between 0 and 1
-    SquareMatrix24f P;
-    for (int col=0; col<=23; col++) {
-        for (int row=0; row<=col; row++) {
-            if (row == col) {
-                P(row,col) = (float)rand();
-            } else {
-                P(col,row) = P(row,col) = 2.0f * ((float)rand() - 0.5f);
-            }
-        }
-    }
-
-    // First calculate observationjacobians and Kalman gains using sympy generated equations
-
-	// Calculate intermediate variables
-	const float magN_sq = sq(magN);
-	if (magN_sq < sq(h_field_min)) {
-		printf("bad numerical conditioning\n");
-        return 0;
-	}
-	const float HK0 = 1.0F / magN_sq;
-	const float HK1 = HK0*sq(magE) + 1.0F;
-	const float HK2 = 1.0F/HK1;
-	const float HK3 = 1.0F/magN;
-	const float HK4 = HK2*HK3;
-	const float HK5 = HK3*magE;
-	const float HK6 = HK5*P(16,17) - P(17,17);
-	const float HK7 = 1.0F/sq(HK1);
-	const float HK8 = HK5*P(16,16) - P(16,17);
-	const float innovation_variance = -HK0*HK6*HK7 + HK7*HK8*magE/(magN * magN_sq) + R_DECL;
-	float HK9;
-	if (innovation_variance > R_DECL) {
-		HK9 = HK4/innovation_variance;
-	} else {
-		printf("bad numerical conditioning\n");
-	}
-
-	// Calculate the observation Jacobian
-	// Note only 2 terms are non-zero which can be used in matrix operations for calculation of Kalman gains and covariance update to significantly reduce cost
-	Hfusion[16] = -HK0*HK2*magE;
-	Hfusion[17] = HK4;
-
-	// Calculate the Kalman gains
-	for (unsigned row = 0; row <= 15; row++) {
-		Kfusion(row) = -HK9*(HK5*P(row,16) - P(row,17));
-	}
-
-	Kfusion(16) = -HK8*HK9;
-	Kfusion(17) = -HK6*HK9;
-
-	for (unsigned row = 18; row <= 23; row++) {
-		Kfusion(row) = -HK9*(HK5*P(16,row) - P(17,row));
-	}
-
-    // save output and repeat calculation using legacy matlab generated code
-    float Hfusion_sympy[24];
-    Vector24f Kfusion_sympy;
-    for (int row=0; row<24; row++) {
-        Hfusion_sympy[row] = Hfusion[row];
-        Kfusion_sympy(row) = Kfusion(row);
-    }
-
-    // repeat calculation using matlab generated equations
-	// Calculate intermediate variables
-	float t2 = magE*magE;
-	float t3 = magN*magN;
-	float t4 = t2+t3;
-	// if the horizontal magnetic field is too small, this calculation will be badly conditioned
-	if (t4 < h_field_min*h_field_min) {
-		printf("bad numerical conditioning\n");
-        return 0;
-	}
-	float t5 = P(16,16)*t2;
-	float t6 = P(17,17)*t3;
-	float t7 = t2*t2;
-	float t8 = R_DECL*t7;
-	float t9 = t3*t3;
-	float t10 = R_DECL*t9;
-	float t11 = R_DECL*t2*t3*2.0f;
-	float t14 = P(16,17)*magE*magN;
-	float t15 = P(17,16)*magE*magN;
-	float t12 = t5+t6+t8+t10+t11-t14-t15;
-	float t13;
-	if (fabsf(t12) > 1e-6f) {
-		t13 = 1.0f / t12;
-	} else {
-		printf("bad numerical conditioning\n");
-        return 0;
-	}
-	float t18 = magE*magE;
-	float t19 = magN*magN;
-	float t20 = t18+t19;
-	float t21;
-	if (fabsf(t20) > 1e-6f) {
-		t21 = 1.0f/t20;
-	} else {
-		printf("bad numerical conditioning\n");
-        return 0;
-	}
-
-	// Calculate the observation Jacobian
-	// Note only 2 terms are non-zero which can be used in matrix operations for calculation of Kalman gains and covariance update to significantly reduce cost
-    memset(&H_DECL, 0, sizeof(H_DECL));
-	H_DECL(16) = -magE*t21;
-	H_DECL(17) = magN*t21;
-
-	// Calculate the Kalman gains
-	Kfusion(0) = -t4*t13*(P(0,16)*magE-P(0,17)*magN);
-	Kfusion(1) = -t4*t13*(P(1,16)*magE-P(1,17)*magN);
-	Kfusion(2) = -t4*t13*(P(2,16)*magE-P(2,17)*magN);
-	Kfusion(3) = -t4*t13*(P(3,16)*magE-P(3,17)*magN);
-	Kfusion(4) = -t4*t13*(P(4,16)*magE-P(4,17)*magN);
-	Kfusion(5) = -t4*t13*(P(5,16)*magE-P(5,17)*magN);
-	Kfusion(6) = -t4*t13*(P(6,16)*magE-P(6,17)*magN);
-	Kfusion(7) = -t4*t13*(P(7,16)*magE-P(7,17)*magN);
-	Kfusion(8) = -t4*t13*(P(8,16)*magE-P(8,17)*magN);
-	Kfusion(9) = -t4*t13*(P(9,16)*magE-P(9,17)*magN);
-	Kfusion(10) = -t4*t13*(P(10,16)*magE-P(10,17)*magN);
-	Kfusion(11) = -t4*t13*(P(11,16)*magE-P(11,17)*magN);
-	Kfusion(12) = -t4*t13*(P(12,16)*magE-P(12,17)*magN);
-	Kfusion(13) = -t4*t13*(P(13,16)*magE-P(13,17)*magN);
-	Kfusion(14) = -t4*t13*(P(14,16)*magE-P(14,17)*magN);
-	Kfusion(15) = -t4*t13*(P(15,16)*magE-P(15,17)*magN);
-	Kfusion(16) = -t4*t13*(P(16,16)*magE-P(16,17)*magN);
-	Kfusion(17) = -t4*t13*(P(17,16)*magE-P(17,17)*magN);
-	Kfusion(18) = -t4*t13*(P(18,16)*magE-P(18,17)*magN);
-	Kfusion(19) = -t4*t13*(P(19,16)*magE-P(19,17)*magN);
-	Kfusion(20) = -t4*t13*(P(20,16)*magE-P(20,17)*magN);
-	Kfusion(21) = -t4*t13*(P(21,16)*magE-P(21,17)*magN);
-	Kfusion(22) = -t4*t13*(P(22,16)*magE-P(22,17)*magN);
-	Kfusion(23) = -t4*t13*(P(23,16)*magE-P(23,17)*magN);
-
-    // find largest observation variance difference as a fraction of the matlab value
-    float max_diff_fraction = 0.0f;
-    int max_row;
-    float max_old, max_new;
-    for (int row=0; row<24; row++) {
-        float diff_fraction;
-        if (H_DECL(row) != 0.0f) {
-            diff_fraction = fabsf(Hfusion_sympy[row] - H_DECL(row)) / fabsf(H_DECL(row));
-        } else if (Hfusion_sympy[row] != 0.0f) {
-            diff_fraction = fabsf(Hfusion_sympy[row] - H_DECL(row)) / fabsf(Hfusion_sympy[row]);
-        } else {
-            diff_fraction = 0.0f;
-        }
-        if (diff_fraction > max_diff_fraction) {
-            max_diff_fraction = diff_fraction;
-            max_row = row;
-            max_old = H_DECL(row);
-            max_new = Hfusion_sympy[row];
-        }
-    }
-
-	if (max_diff_fraction > 1e-5f) {
-		printf("Fail: Mag Declination Hfusion max diff fraction = %e , old = %e , new = %e , location index = %i\n",max_diff_fraction, max_old, max_new, max_row);
-	} else {
-		printf("Pass: Mag Declination Hfusion max diff fraction = %e\n",max_diff_fraction);
-	}
-
-    // find largest Kalman gain difference as a fraction of the matlab value
-    max_diff_fraction = 0.0f;
-    for (int row=0; row<4; row++) {
-        float diff_fraction;
-        if (Kfusion(row) != 0.0f) {
-            diff_fraction = fabsf(Kfusion_sympy(row) - Kfusion(row)) / fabsf(Kfusion(row));
-        } else if (Kfusion_sympy(row) != 0.0f) {
-            diff_fraction = fabsf(Kfusion_sympy(row) - Kfusion(row)) / fabsf(Kfusion_sympy(row));
-        } else {
-            diff_fraction = 0.0f;
-        }
-        if (diff_fraction > max_diff_fraction) {
-            max_diff_fraction = diff_fraction;
-            max_row = row;
-            max_old = Kfusion(row);
-            max_new = Kfusion_sympy(row);
-        }
-    }
-
-	if (max_diff_fraction > 1e-5f) {
-		printf("Fail: Mag Declination Kfusion max diff fraction = %e , old = %e , new = %e , location index = %i\n",max_diff_fraction, max_old, max_new, max_row);
-	} else {
-		printf("Pass: Mag Declination Kfusion max diff fraction = %e\n",max_diff_fraction);
-	}
-
-    return 0;
-}
@@ -1,51 +0,0 @@
-// Sub Expressions
-const float HK0 = 1.0F/((magN)*(magN));
-const float HK1 = HK0*(magE)*(magE) + 1;
-const float HK2 = 1.0F/(HK1);
-const float HK3 = 1.0F/(magN);
-const float HK4 = HK2*HK3;
-const float HK5 = HK3*magE;
-const float HK6 = HK5*P(16,17) - P(17,17);
-const float HK7 = 1.0F/((HK1)*(HK1));
-const float HK8 = HK5*P(16,16) - P(16,17);
-const float HK9 = HK4/(-HK0*HK6*HK7 + HK7*HK8*magE/ecl::powf(magN, 3) + R_DECL);
-
-
-// Observation Jacobians
-Hfusion.at<16>() = -HK0*HK2*magE;
-Hfusion.at<17>() = HK4;
-
-
-// Kalman gains
-Kfusion(0) = -HK9*(HK5*P(0,16) - P(0,17));
-Kfusion(1) = -HK9*(HK5*P(1,16) - P(1,17));
-Kfusion(2) = -HK9*(HK5*P(2,16) - P(2,17));
-Kfusion(3) = -HK9*(HK5*P(3,16) - P(3,17));
-Kfusion(4) = -HK9*(HK5*P(4,16) - P(4,17));
-Kfusion(5) = -HK9*(HK5*P(5,16) - P(5,17));
-Kfusion(6) = -HK9*(HK5*P(6,16) - P(6,17));
-Kfusion(7) = -HK9*(HK5*P(7,16) - P(7,17));
-Kfusion(8) = -HK9*(HK5*P(8,16) - P(8,17));
-Kfusion(9) = -HK9*(HK5*P(9,16) - P(9,17));
-Kfusion(10) = -HK9*(HK5*P(10,16) - P(10,17));
-Kfusion(11) = -HK9*(HK5*P(11,16) - P(11,17));
-Kfusion(12) = -HK9*(HK5*P(12,16) - P(12,17));
-Kfusion(13) = -HK9*(HK5*P(13,16) - P(13,17));
-Kfusion(14) = -HK9*(HK5*P(14,16) - P(14,17));
-Kfusion(15) = -HK9*(HK5*P(15,16) - P(15,17));
-Kfusion(16) = -HK8*HK9;
-Kfusion(17) = -HK6*HK9;
-Kfusion(18) = -HK9*(HK5*P(16,18) - P(17,18));
-Kfusion(19) = -HK9*(HK5*P(16,19) - P(17,19));
-Kfusion(20) = -HK9*(HK5*P(16,20) - P(17,20));
-Kfusion(21) = -HK9*(HK5*P(16,21) - P(17,21));
-Kfusion(22) = -HK9*(HK5*P(16,22) - P(17,22));
-Kfusion(23) = -HK9*(HK5*P(16,23) - P(17,23));
-
-
-// Predicted observation
-
-
-// Innovation variance
-
-
@@ -50,6 +50,7 @@ px4_add_unit_gtest(SRC test_EKF_height_fusion.cpp LINKLIBS ecl_EKF ecl_sensor_si
 px4_add_unit_gtest(SRC test_EKF_imuSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_initialization.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_mag_3d_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
+px4_add_unit_gtest(SRC test_EKF_mag_declination_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_measurementSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_ringbuffer.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_sideslip_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
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@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "test_helper/comparison_helper.h"
+
+#include "../EKF/python/ekf_derivation/generated/compute_mag_declination_innov_innov_var_and_h.h"
+
+using namespace matrix;
+
+TEST(MagDeclinationGenerated, declination90deg)
+{
+	// GIVEN: an estimated mag declination of 90 degrees
+	Vector24f state_vector{};
+	state_vector(16) = 0.f; // North mag field
+	state_vector(17) = 0.2f; // East mag field
+
+	const float R = sq(radians(sq(0.5f)));
+	SquareMatrix24f P = createRandomCovarianceMatrix24f();
+
+	Vector24f H;
+	float innov;
+	float innov_var;
+
+	const float decl = radians(90.f);
+	sym::ComputeMagDeclinationInnovInnovVarAndH(state_vector, P, decl, R, FLT_EPSILON, &innov, &innov_var, &H);
+
+	// THEN: Even at the singularity point, atan2 is still defined
+	EXPECT_TRUE(innov_var < 5000.f && innov_var > R) << "innov_var = " << innov_var;
+	EXPECT_LT(fabsf(innov), 1e-6f);
+}
+
+TEST(MagDeclinationGenerated, declinationUndefined)
+{
+	// GIVEN: an undefined declination
+	Vector24f state_vector{};
+	state_vector(16) = 0.f; // North mag field
+	state_vector(17) = 0.f; // East mag field
+
+	const float R = sq(radians(sq(0.5f)));
+	SquareMatrix24f P = createRandomCovarianceMatrix24f();
+
+	Vector24f H;
+	float innov;
+	float innov_var;
+
+	const float decl = radians(0.f);
+	sym::ComputeMagDeclinationInnovInnovVarAndH(state_vector, P, decl, R, FLT_EPSILON, &innov, &innov_var, &H);
+
+	// THEN: the innovation variance is gigantic but finite
+	EXPECT_TRUE(PX4_ISFINITE(innov_var) && innov_var > R && innov_var > 1e9f) << "innov_var = " << innov_var;
+	EXPECT_LT(fabsf(innov), 1e-6f);
+}
+
+void sympyMagDeclInnovVarHAndK(float magN, float magE, const SquareMatrix24f &P, float R_DECL,
+			       float &innovation_variance, Vector24f &H, Vector24f &Kfusion)
+{
+	const float h_field_min = 1e-3f;
+	const float magN_sq = sq(magN);
+
+	if (magN_sq < sq(h_field_min)) {
+		printf("bad numerical conditioning\n");
+		return;
+	}
+
+	const float HK0 = 1.0F / magN_sq;
+	const float HK1 = HK0 * sq(magE) + 1.0F;
+	const float HK2 = 1.0F / HK1;
+	const float HK3 = 1.0F / magN;
+	const float HK4 = HK2 * HK3;
+	const float HK5 = HK3 * magE;
+	const float HK6 = HK5 * P(16, 17) - P(17, 17);
+	const float HK7 = 1.0F / sq(HK1);
+	const float HK8 = HK5 * P(16, 16) - P(16, 17);
+	innovation_variance = -HK0 * HK6 * HK7 + HK7 * HK8 * magE / (magN * magN_sq) + R_DECL;
+	float HK9;
+
+	if (innovation_variance > R_DECL) {
+		HK9 = HK4 / innovation_variance;
+
+	} else {
+		printf("bad numerical conditioning\n");
+		return;
+	}
+
+	// Calculate the observation Jacobian
+	// Note only 2 terms are non-zero which can be used in matrix operations for calculation of Kalman gains and covariance update to significantly reduce cost
+	float Hfusion[24] = {};
+	Hfusion[16] = -HK0 * HK2 * magE;
+	Hfusion[17] = HK4;
+
+	// Calculate the Kalman gains
+	for (unsigned row = 0; row <= 15; row++) {
+		Kfusion(row) = -HK9 * (HK5 * P(row, 16) - P(row, 17));
+	}
+
+	Kfusion(16) = -HK8 * HK9;
+	Kfusion(17) = -HK6 * HK9;
+
+	for (unsigned row = 18; row <= 23; row++) {
+		Kfusion(row) = -HK9 * (HK5 * P(16, row) - P(17, row));
+	}
+
+	for (int row = 0; row < 24; row++) {
+		H(row) = Hfusion[row];
+	}
+}
+
+TEST(MagDeclinationGenerated, SympyVsSymforce)
+{
+	const float R_DECL = sq(0.3f);
+	const float mag_n = 0.08f;
+	const float mag_e = -0.06f;
+
+	Vector24f state_vector{};
+	state_vector(16) = mag_n;
+	state_vector(17) = mag_e;
+
+	const float decl = M_PI_F;
+
+	SquareMatrix24f P = createRandomCovarianceMatrix24f();
+
+	Vector24f H_sympy;
+	Vector24f H_symforce;
+	Vector24f K_sympy;
+	Vector24f K_symforce;
+	float innov_sympy;
+	float innov_symforce;
+	float innov_var_sympy;
+	float innov_var_symforce;
+
+	sympyMagDeclInnovVarHAndK(mag_n, mag_e, P, R_DECL, innov_var_sympy, H_sympy, K_sympy);
+	innov_sympy = std::atan2(mag_e, mag_n) - decl;
+	sym::ComputeMagDeclinationInnovInnovVarAndH(state_vector, P, decl, R_DECL, FLT_EPSILON, &innov_symforce,
+			&innov_var_symforce, &H_symforce);
+	K_symforce = P * H_symforce / innov_var_symforce;
+
+	EXPECT_NEAR(innov_sympy, innov_symforce, 1e-5f);
+	EXPECT_NEAR(innov_var_sympy, innov_var_symforce, 1e-2f); // Slightly different because of epsilon
+
+	DiffRatioReport report = computeDiffRatioVector24f(H_sympy, H_symforce);
+	EXPECT_LT(report.max_diff_fraction, 2e-4f)
+			<< "Max diff fraction = " << report.max_diff_fraction
+			<< " location index = " << report.max_row
+			<< " sympy = " << report.max_v1
+			<< " symforce = " << report.max_v2;
+
+	report = computeDiffRatioVector24f(K_sympy, K_symforce);
+	EXPECT_LT(report.max_diff_fraction, 2e-4f)
+			<< "Max diff fraction = " << report.max_diff_fraction
+			<< " location index = " << report.max_row
+			<< " sympy = " << report.max_v1
+			<< " symforce = " << report.max_v2;
+}
@@ -500,7 +500,6 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 30.0f);
 * Flaps setting during take-off
 *
 * Sets a fraction of full flaps during take-off.
- * Also applies to flaperons if enabled in the mixer/allocation.
 *
 * @unit norm
 * @min 0.0
@@ -515,7 +514,6 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
 * Flaps setting during landing
 *
 * Sets a fraction of full flaps during landing.
- * Also applies to flaperons if enabled in the mixer/allocation.
 *
 * @unit norm
 * @min 0.0
@@ -231,7 +231,7 @@ FixedwingPositionControl::vehicle_command_poll()
 		if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND) {
 			// only abort landing before point of no return (horizontal and vertical)
 			if (_control_mode.flag_control_auto_enabled &&
-			    _pos_sp_triplet.current.valid &&
+			    _position_setpoint_current_valid &&
 			    (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND)) {

 				updateLandingAbortStatus(position_controller_landing_status_s::ABORTED_BY_OPERATOR);
@@ -683,11 +683,9 @@ FixedwingPositionControl::get_waypoint_heading_distance(float heading, position_

 	waypoint_prev = temp_prev;
 	waypoint_prev.alt = _current_altitude;
-	waypoint_prev.valid = true;

 	waypoint_next = temp_next;
 	waypoint_next.alt = _current_altitude;
-	waypoint_next.valid = true;
 }

 float
@@ -743,7 +741,7 @@ FixedwingPositionControl::updateManualTakeoffStatus()
 }

 void
-FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool pos_sp_curr_valid)
+FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
 {
 	/* only run position controller in fixed-wing mode and during transitions for VTOL */
 	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.in_transition_mode) {
@@ -756,7 +754,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
 	_skipping_takeoff_detection = false;

 	if (((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) ||
-	     _control_mode.flag_control_offboard_enabled) && pos_sp_curr_valid) {
+	     _control_mode.flag_control_offboard_enabled) && _position_setpoint_current_valid) {

 		if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {

@@ -791,12 +789,16 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
 			_control_mode_current = FW_POSCTRL_MODE_AUTO;
 		}

-	} else if (_control_mode.flag_control_auto_enabled && _control_mode.flag_control_climb_rate_enabled
-		   && pos_sp_curr_valid) {
+	} else if (_control_mode.flag_control_auto_enabled
+		   && _control_mode.flag_control_climb_rate_enabled
+		   && _control_mode.flag_armed // only enter this modes if armed, as pure failsafe modes
+		   && !_control_mode.flag_control_position_enabled) {
+
+		// failsafe modes engaged if position estimate is invalidated

-		// reset timer the first time we switch into this mode
 		if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE
 		    && commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE) {
+			// reset timer the first time we switch into this mode
 			_time_in_fixed_bank_loiter = now;
 		}

@@ -1089,7 +1091,7 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 	/* current waypoint (the one currently heading for) */
 	curr_wp = Vector2d(pos_sp_curr.lat, pos_sp_curr.lon);

-	if (pos_sp_prev.valid && pos_sp_prev.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
+	if (_position_setpoint_previous_valid && pos_sp_prev.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
 		prev_wp(0) = pos_sp_prev.lat;
 		prev_wp(1) = pos_sp_prev.lon;

@@ -1118,7 +1120,7 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 	float position_sp_alt = pos_sp_curr.alt;

 	// Altitude first order hold (FOH)
-	if (pos_sp_prev.valid && PX4_ISFINITE(pos_sp_prev.alt) &&
+	if (_position_setpoint_previous_valid &&
 	    ((pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_POSITION) ||
 	     (pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_LOITER))
 	   ) {
@@ -1268,7 +1270,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 	/* current waypoint (the one currently heading for) */
 	curr_wp = Vector2d(pos_sp_curr.lat, pos_sp_curr.lon);

-	if (pos_sp_prev.valid && pos_sp_prev.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
+	if (_position_setpoint_previous_valid && pos_sp_prev.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
 		prev_wp(0) = pos_sp_prev.lat;
 		prev_wp(1) = pos_sp_prev.lon;

@@ -1310,7 +1312,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons

 	const bool in_circle_mode = (_param_fw_use_npfg.get()) ? _npfg.circleMode() : _l1_control.circle_mode();

-	if (pos_sp_next.type == position_setpoint_s::SETPOINT_TYPE_LAND && pos_sp_next.valid
+	if (pos_sp_next.type == position_setpoint_s::SETPOINT_TYPE_LAND && _position_setpoint_next_valid
 	    && in_circle_mode && _param_fw_lnd_earlycfg.get()) {
 		// We're in a loiter directly before a landing WP. Enable our landing configuration (flaps,
 		// landing airspeed and potentially tighter altitude control) already such that we don't
@@ -2183,6 +2185,19 @@ FixedwingPositionControl::Run()

 		} else {
 			if (_pos_sp_triplet_sub.update(&_pos_sp_triplet)) {
+
+				_position_setpoint_previous_valid = PX4_ISFINITE(_pos_sp_triplet.previous.lat)
+								    && PX4_ISFINITE(_pos_sp_triplet.previous.lon)
+								    && PX4_ISFINITE(_pos_sp_triplet.previous.alt);
+
+				_position_setpoint_current_valid = PX4_ISFINITE(_pos_sp_triplet.current.lat)
+								   && PX4_ISFINITE(_pos_sp_triplet.current.lon)
+								   && PX4_ISFINITE(_pos_sp_triplet.current.alt);
+
+				_position_setpoint_next_valid = PX4_ISFINITE(_pos_sp_triplet.next.lat)
+								&& PX4_ISFINITE(_pos_sp_triplet.next.lon)
+								&& PX4_ISFINITE(_pos_sp_triplet.next.alt);
+
 				// reset the altitude foh (first order hold) logic
 				_min_current_sp_distance_xy = FLT_MAX;
 			}
@@ -2214,7 +2229,7 @@ FixedwingPositionControl::Run()
 		Vector2d curr_pos(_current_latitude, _current_longitude);
 		Vector2f ground_speed(_local_pos.vx, _local_pos.vy);

-		set_control_mode_current(_local_pos.timestamp, _pos_sp_triplet.current.valid);
+		set_control_mode_current(_local_pos.timestamp);

 		update_in_air_states(_local_pos.timestamp);

@@ -2563,7 +2578,7 @@ FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const po
 		// set the landing approach entrance location when we have just started the landing and store it
 		// NOTE: the landing approach vector is relative to the land point. ekf resets may cause a local frame
 		// jump, so we reference to the land point, which is globally referenced and will update
-		if (pos_sp_prev.valid) {
+		if (_position_setpoint_previous_valid) {
 			height_above_land_point = pos_sp_prev.alt - pos_sp_curr.alt;
 			local_approach_entrance = _global_local_proj_ref.project(pos_sp_prev.lat, pos_sp_prev.lon);

@@ -222,6 +222,10 @@ private:
 	vehicle_local_position_s _local_pos{};
 	vehicle_status_s _vehicle_status{};

+	bool _position_setpoint_previous_valid{false};
+	bool _position_setpoint_current_valid{false};
+	bool _position_setpoint_next_valid{false};
+
 	perf_counter_t _loop_perf; // loop performance counter

 	// [us] Last absolute time position control has been called
@@ -664,9 +668,8 @@ private:
 	 * May also change the position setpoint type depending on the desired behavior.
 	 *
 	 * @param now Current system time [us]
-	 * @param pos_sp_curr_valid True if the current position setpoint is valid
 	 */
-	void set_control_mode_current(const hrt_abstime &now, bool pos_sp_curr_valid);
+	void set_control_mode_current(const hrt_abstime &now);

 	/**
 	 * @brief Compensate trim throttle for air density and vehicle weight.
@@ -60,6 +60,31 @@ add_library(mavlink_c INTERFACE)
 target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
 set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
 target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT})
+
+set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
+	COMMAND
+		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			--lang C --wire-protocol 2.0
+			#--no-validate
+			#--strict-units
+			--output ${MAVLINK_LIBRARY_DIR}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml
+	COMMENT "Generating Mavlink ${MAVLINK_DIALECT_UAVIONIX}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml"
+	USES_TERMINAL
+)
+
+add_custom_target(mavlink_c_generate_uavionix DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h)
+target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h)
+set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h PROPERTIES GENERATED true)
+target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX})
+
 target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)


@@ -91,6 +116,7 @@ px4_add_module(
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
+		adsb
 		airspeed
 		component_general_json # for checksums.h
 		drivers_accelerometer
@@ -114,6 +140,7 @@ px4_add_unit_gtest(SRC MavlinkStatustextHandlerTest.cpp
 	INCLUDES
 		${MAVLINK_LIBRARY_DIR}
 		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
+		${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}
 	COMPILE_FLAGS
 		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 		-Wno-cast-align # TODO: fix
@@ -93,6 +93,9 @@ extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);

 #include <mavlink.h>
+#if !MAVLINK_FTP_UNIT_TEST
+#include <uAvionix.h>
+#endif

 __END_DECLS

@@ -1833,6 +1833,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 #endif // !CONSTRAINED_FLASH
 		break;

+	case MAVLINK_MODE_UAVIONIX:
+		configure_stream_local("UAVIONIX_ADSB_OUT_CFG", 0.1f);
+		configure_stream_local("UAVIONIX_ADSB_OUT_DYNAMIC", 5.0f);
+		break;
+
 	default:
 		ret = -1;
 		break;
@@ -2046,6 +2051,9 @@ Mavlink::task_main(int argc, char *argv[])
 					} else if (strcmp(myoptarg, "onboard_low_bandwidth") == 0) {
 						_mode = MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH;

+					} else if (strcmp(myoptarg, "uavionix") == 0) {
+						_mode = MAVLINK_MODE_UAVIONIX;
+
 					} else {
 						PX4_ERR("invalid mode");
 						err_flag = true;
@@ -3307,7 +3315,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr, "Partner IP (broadcasting can be enabled via -p flag)", true);
 #endif
-	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal",
+	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal|uavionix",
 					"Mode: sets default streams and rates", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
 #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
@@ -210,6 +210,7 @@ public:
 		MAVLINK_MODE_EXTVISIONMIN,
 		MAVLINK_MODE_GIMBAL,
 		MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH,
+		MAVLINK_MODE_UAVIONIX,
 		MAVLINK_MODE_COUNT
 	};

@@ -264,6 +265,9 @@ public:
 		case MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH:
 			return "OnboardLowBandwidth";

+		case MAVLINK_MODE_UAVIONIX:
+			return "uAvionix";
+
 		default:
 			return "Unknown";
 		}
@@ -139,6 +139,8 @@
 # include "streams/SCALED_PRESSURE2.hpp"
 # include "streams/SCALED_PRESSURE3.hpp"
 # include "streams/SMART_BATTERY_INFO.hpp"
+# include "streams/UAVIONIX_ADSB_OUT_CFG.hpp"
+# include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp"
 # include "streams/UTM_GLOBAL_POSITION.hpp"
 #endif // !CONSTRAINED_FLASH

@@ -474,8 +476,14 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamEfiStatus>(),
 #endif // EFI_STATUS_HPP
 #if defined(GPS_RTCM_DATA_HPP)
-	create_stream_list_item<MavlinkStreamGPSRTCMData>()
+	create_stream_list_item<MavlinkStreamGPSRTCMData>(),
 #endif // GPS_RTCM_DATA_HPP
+#if defined(UAVIONIX_ADSB_OUT_CFG_HPP)
+	create_stream_list_item<MavlinkStreamUavionixADSBOutCfg>(),
+#endif // UAVIONIX_ADSB_OUT_CFG_HPP
+#if defined(UAVIONIX_ADSB_OUT_DYNAMIC_HPP)
+	create_stream_list_item<MavlinkStreamUavionixADSBOutDynamic>()
+#endif // UAVIONIX_ADSB_OUT_DYNAMIC_HPP
 };

 const char *get_stream_name(const uint16_t msg_id)
@@ -68,6 +68,7 @@ parameters:
                #9: External Vision Minimal # hidden
                10: Gimbal
                11: Onboard Low Bandwidth
+                12: uAvionix
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [0, 2, 0]
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef UAVIONIX_ADSB_OUT_CFG_HPP
+#define UAVIONIX_ADSB_OUT_CFG_HPP
+
+#include <uORB/topics/parameter_update.h>
+
+class MavlinkStreamUavionixADSBOutCfg : public ModuleParams, public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamUavionixADSBOutCfg(mavlink); }
+
+	static constexpr const char *get_name_static() { return "UAVIONIX_ADSB_OUT_CFG"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	bool const_rate() override { return true; }
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	explicit MavlinkStreamUavionixADSBOutCfg(Mavlink *mavlink) : ModuleParams(nullptr), MavlinkStream(mavlink)
+	{
+		param_t param_fw_airspd_stall = param_find("FW_AIRSPD_STALL");
+
+		if (param_fw_airspd_stall != PARAM_INVALID) {
+			float fw_airspd_stall;
+
+			if (param_get(param_fw_airspd_stall, &fw_airspd_stall) == PX4_OK) {
+				_stall_speed = static_cast<uint16_t>(fw_airspd_stall * 100.0f); // convert [m/s] to [cm/s]
+			}
+		}
+	}
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::ADSB_ICAO_ID>)		_adsb_icao,
+		(ParamInt<px4::params::ADSB_LEN_WIDTH>)		_adsb_len_width,
+		(ParamInt<px4::params::ADSB_EMIT_TYPE>)		_adsb_emit_type,
+		(ParamInt<px4::params::ADSB_GPS_OFF_LAT>)	_adsb_gps_offset_lat,
+		(ParamInt<px4::params::ADSB_GPS_OFF_LON>)	_adsb_gps_offset_lon
+	);
+
+	uint16_t _stall_speed{0}; // [cm/s]
+
+	bool send() override
+	{
+		// Required update for static message is 0.1 [Hz]
+		mavlink_uavionix_adsb_out_cfg_t cfg_msg = {
+			.ICAO = static_cast<uint32_t>(_adsb_icao.get()),
+			.stallSpeed = _stall_speed,
+			.callsign = {'\0'},
+			.emitterType = static_cast<uint8_t>(_adsb_emit_type.get()),
+			.aircraftSize = static_cast<uint8_t>(_adsb_len_width.get()),
+			.gpsOffsetLat = static_cast<uint8_t>(_adsb_gps_offset_lat.get()),
+			.gpsOffsetLon = static_cast<uint8_t>(_adsb_gps_offset_lon.get()),
+			.rfSelect = UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED
+		};
+
+		//memcpy(cfg_msg.callsign, "PX4 UAV ", sizeof(cfg_msg.callsign)); //TODO: add support for callsign
+
+		mavlink_msg_uavionix_adsb_out_cfg_send_struct(_mavlink->get_channel(), &cfg_msg);
+
+		return true;
+	}
+};
+
+#endif // UAVIONIX_ADSB_OUT_CFG_HPP
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef UAVIONIX_ADSB_OUT_DYNAMIC_HPP
+#define UAVIONIX_ADSB_OUT_DYNAMIC_HPP
+
+#include <uORB/topics/sensor_gps.h>
+#include <uORB/topics/vehicle_air_data.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+
+class MavlinkStreamUavionixADSBOutDynamic : public ModuleParams, public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamUavionixADSBOutDynamic(mavlink); }
+
+	static constexpr const char *get_name_static() { return "UAVIONIX_ADSB_OUT_DYNAMIC"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	bool const_rate() override { return true; }
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	explicit MavlinkStreamUavionixADSBOutDynamic(Mavlink *mavlink) : ModuleParams(nullptr), MavlinkStream(mavlink) {}
+
+
+	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
+	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::ADSB_SQUAWK>)		_adsb_squawk,
+		(ParamInt<px4::params::ADSB_EMERGC>)		_adsb_emergc
+	);
+
+
+	bool send() override
+	{
+
+		vehicle_status_s vehicle_status;
+		_vehicle_status_sub.copy(&vehicle_status);
+
+		sensor_gps_s vehicle_gps_position;
+		_vehicle_gps_position_sub.copy(&vehicle_gps_position);
+
+		vehicle_air_data_s vehicle_air_data;
+		_vehicle_air_data_sub.copy(&vehicle_air_data);
+
+		// Required update for dynamic message is 5 [Hz]
+		mavlink_uavionix_adsb_out_dynamic_t dynamic_msg = {
+			.utcTime = static_cast<uint32_t>(vehicle_gps_position.time_utc_usec / 1000000ULL),
+			.gpsLat = vehicle_gps_position.lat,
+			.gpsLon = vehicle_gps_position.lon,
+			.gpsAlt = vehicle_gps_position.alt_ellipsoid,
+			.baroAltMSL = static_cast<int32_t>(vehicle_air_data.baro_pressure_pa / 100.0f), // convert [Pa] to [mBar]
+			.accuracyHor = static_cast<uint32_t>(vehicle_gps_position.eph * 1000.0f), // convert [m] to [mm]
+			.accuracyVert = static_cast<uint16_t>(vehicle_gps_position.epv * 100.0f), // convert [m] to [cm]
+			.accuracyVel = static_cast<uint16_t>(vehicle_gps_position.s_variance_m_s * 1000.f), // convert [m/s] to [mm/s],
+			.velVert = static_cast<int16_t>(-1.0f * vehicle_gps_position.vel_d_m_s * 100.0f), // convert [m/s] to [cm/s]
+			.velNS = static_cast<int16_t>(vehicle_gps_position.vel_n_m_s * 100.0f), // convert [m/s] to [cm/s]
+			.VelEW = static_cast<int16_t>(vehicle_gps_position.vel_e_m_s * 100.0f), // convert [m/s] to [cm/s]
+			.state = UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND,
+			.squawk = static_cast<uint16_t>(_adsb_squawk.get()),
+			.gpsFix = vehicle_gps_position.fix_type,
+			.numSats = vehicle_gps_position.satellites_used,
+			.emergencyStatus = static_cast<uint8_t>(_adsb_emergc.get())
+		};
+
+		if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+			dynamic_msg.state |= ~UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND;
+		}
+
+		mavlink_msg_uavionix_adsb_out_dynamic_send_struct(_mavlink->get_channel(), &dynamic_msg);
+
+		return true;
+	}
+};
+
+#endif // UAVIONIX_ADSB_OUT_DYNAMIC_HPP
@@ -38,8 +38,7 @@
 #include <qurt_thread.h>
 #include <pthread.h>

-// TODO: Move this out of here once we have px4-log functionality
-extern "C" void HAP_debug(const char *msg, int level, const char *filename, int line);
+#include <px4_platform_common/log.h>

 // Definition of test to run when in muorb test mode
 static MUORBTestType test_to_run;
@@ -48,7 +47,7 @@ fc_func_ptrs muorb_func_ptrs;

 static void *test_runner(void *test)
 {
-	HAP_debug("test_runner called", 1, muorb_test_topic_name, 0);
+	PX4_INFO("test_runner called");

 	switch (*((MUORBTestType *) test)) {
 	case ADVERTISE_TEST_TYPE:
@@ -84,7 +83,7 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 	// so they must be saved off here
 	if (func_ptrs != nullptr) { muorb_func_ptrs = *func_ptrs; }

-	HAP_debug("px4muorb_orb_initialize called", 1, "init", 0);
+	PX4_INFO("px4muorb_orb_initialize called");

 	return 0;
 }
@@ -107,7 +106,7 @@ int px4muorb_topic_advertised(const char *topic_name)
 {
 	if (IS_MUORB_TEST(topic_name)) { run_test(ADVERTISE_TEST_TYPE); }

-	HAP_debug("px4muorb_topic_advertised called", 1, topic_name, 0);
+	PX4_INFO("px4muorb_topic_advertised called");

 	return 0;
 }
@@ -116,7 +115,7 @@ int px4muorb_add_subscriber(const char *topic_name)
 {
 	if (IS_MUORB_TEST(topic_name)) { run_test(SUBSCRIBE_TEST_TYPE); }

-	HAP_debug("px4muorb_add_subscriber called", 1, topic_name, 0);
+	PX4_INFO("px4muorb_add_subscriber called");

 	return 0;
 }
@@ -125,7 +124,7 @@ int px4muorb_remove_subscriber(const char *topic_name)
 {
 	if (IS_MUORB_TEST(topic_name)) { run_test(UNSUBSCRIBE_TEST_TYPE); }

-	HAP_debug("px4muorb_remove_subscriber called", 1, topic_name, 0);
+	PX4_INFO("px4muorb_remove_subscriber called");

 	return 0;
 }
@@ -152,7 +151,7 @@ int px4muorb_send_topic_data(const char *topic_name, const uint8_t *data,
 		if (test_passed) { run_test(TOPIC_TEST_TYPE); }
 	}

-	HAP_debug("px4muorb_send_topic_data called", 1, topic_name, 0);
+	PX4_INFO("px4muorb_send_topic_data called");

 	return 0;
 }
@@ -228,7 +228,8 @@ void RTL::find_RTL_destination()
 		}
 	}

-	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+	if (_param_rtl_cone_half_angle_deg.get() > 0
+	    && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());

 	} else {
@@ -701,7 +702,7 @@ float RTL::calculate_return_alt_from_cone_half_angle(float cone_half_angle_deg)

 	} else {

-		if (cone_half_angle_deg > 0.0f && destination_dist <= _param_rtl_min_dist.get()) {
+		if (destination_dist <= _param_rtl_min_dist.get()) {

 			// constrain cone half angle to meaningful values. All other cases are already handled above.
 			const float cone_half_angle_rad = radians(constrain(cone_half_angle_deg, 1.0f, 89.0f));
@@ -61,6 +61,7 @@ VehicleAngularVelocity::~VehicleAngularVelocity()
 #if !defined(CONSTRAINED_FLASH)
 	delete[] _dynamic_notch_filter_esc_rpm;
 	perf_free(_dynamic_notch_filter_esc_rpm_disable_perf);
+	perf_free(_dynamic_notch_filter_esc_rpm_init_perf);
 	perf_free(_dynamic_notch_filter_esc_rpm_update_perf);

 	perf_free(_dynamic_notch_filter_fft_disable_perf);
@@ -458,6 +459,11 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 								MODULE_NAME": gyro dynamic notch filter ESC RPM disable");
 					}

+					if (_dynamic_notch_filter_esc_rpm_init_perf == nullptr) {
+						_dynamic_notch_filter_esc_rpm_init_perf = perf_alloc(PC_COUNT,
+								MODULE_NAME": gyro dynamic notch filter ESC RPM init");
+					}
+
 					if (_dynamic_notch_filter_esc_rpm_update_perf == nullptr) {
 						_dynamic_notch_filter_esc_rpm_update_perf = perf_alloc(PC_COUNT,
 								MODULE_NAME": gyro dynamic notch filter ESC RPM update");
@@ -467,9 +473,11 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 					_esc_rpm_harmonics = 0;

 					perf_free(_dynamic_notch_filter_esc_rpm_disable_perf);
+					perf_free(_dynamic_notch_filter_esc_rpm_init_perf);
 					perf_free(_dynamic_notch_filter_esc_rpm_update_perf);

 					_dynamic_notch_filter_esc_rpm_disable_perf = nullptr;
+					_dynamic_notch_filter_esc_rpm_init_perf = nullptr;
 					_dynamic_notch_filter_esc_rpm_update_perf = nullptr;
 				}
 			}
@@ -566,76 +574,89 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(const hrt_abstime &time_no

 	if (enabled && (_esc_status_sub.updated() || force)) {

+		bool axis_init[3] {false, false, false};
+
 		esc_status_s esc_status;

 		if (_esc_status_sub.copy(&esc_status) && (time_now_us < esc_status.timestamp + DYNAMIC_NOTCH_FITLER_TIMEOUT)) {

-			static constexpr float FREQ_MIN = 10.f; // TODO: configurable
+			const float bandwidth_hz = _param_imu_gyro_dnf_bw.get();
+			const float freq_min = math::max(_param_imu_gyro_dnf_min.get(), bandwidth_hz);

 			for (size_t esc = 0; esc < math::min(esc_status.esc_count, (uint8_t)MAX_NUM_ESCS); esc++) {
 				const esc_report_s &esc_report = esc_status.esc[esc];

-				// only update if ESC RPM range seems valid
-				if ((esc_report.esc_rpm != 0) && (time_now_us < esc_report.timestamp + DYNAMIC_NOTCH_FITLER_TIMEOUT)) {
+				const bool esc_connected = (esc_status.esc_online_flags & (1 << esc)) || (esc_report.esc_rpm != 0);

-					bool esc_enabled = false;
-					bool update = force || !_esc_available[esc]; // force parameter update or notch was previously disabled
+				// only update if ESC RPM range seems valid
+				if (esc_connected && (time_now_us < esc_report.timestamp + DYNAMIC_NOTCH_FITLER_TIMEOUT)) {

 					const float esc_hz = abs(esc_report.esc_rpm) / 60.f;

+					const bool force_update = force || !_esc_available[esc]; // force parameter update or notch was previously disabled
+
 					for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) {
-						const float frequency_hz = esc_hz * (harmonic + 1);
+						// as RPM drops leave the notch filter "parked" at the minimum rather than disabling
+						//  keep harmonics separated by half the notch filter bandwidth
+						const float frequency_hz = math::max(esc_hz * (harmonic + 1), freq_min + (harmonic * 0.5f * bandwidth_hz));

-						// for each ESC harmonic determine if enabled/disabled from first notch (x axis)
-						auto &nfx = _dynamic_notch_filter_esc_rpm[harmonic][0][esc];
+						// update filter parameters if frequency changed or forced
+						for (int axis = 0; axis < 3; axis++) {
+							auto &nf = _dynamic_notch_filter_esc_rpm[harmonic][axis][esc];

-						if (frequency_hz > FREQ_MIN) {
-							// update filter parameters if frequency changed or forced
-							if (update || !nfx.initialized() || (fabsf(nfx.getNotchFreq() - frequency_hz) > 0.1f)) {
-								for (int axis = 0; axis < 3; axis++) {
-									auto &nf = _dynamic_notch_filter_esc_rpm[harmonic][axis][esc];
-									nf.setParameters(_filter_sample_rate_hz, frequency_hz, _param_imu_gyro_dnf_bw.get());
+							const float notch_freq_delta = fabsf(nf.getNotchFreq() - frequency_hz);
+
+							const bool notch_freq_changed = (notch_freq_delta > 0.1f);
+
+							// only allow initializing one new filter per axis each iteration
+							const bool allow_update = !axis_init[axis] || (nf.initialized() && notch_freq_delta < nf.getBandwidth());
+
+							if ((force_update || notch_freq_changed) && allow_update) {
+								if (nf.setParameters(_filter_sample_rate_hz, frequency_hz, bandwidth_hz)) {
 									perf_count(_dynamic_notch_filter_esc_rpm_update_perf);
-								}
-							}

-							esc_enabled = true;
-
-						} else {
-							// disable these notch filters (if they aren't already)
-							if (nfx.getNotchFreq() > 0.f) {
-								for (int axis = 0; axis < 3; axis++) {
-									auto &nf = _dynamic_notch_filter_esc_rpm[harmonic][axis][esc];
-									nf.disable();
-									perf_count(_dynamic_notch_filter_esc_rpm_disable_perf);
+									if (!nf.initialized()) {
+										perf_count(_dynamic_notch_filter_esc_rpm_init_perf);
+										axis_init[axis] = true;
+									}
 								}
 							}
 						}
 					}

-					if (esc_enabled) {
-						_esc_available.set(esc, true);
-						_last_esc_rpm_notch_update[esc] = esc_report.timestamp;
-
-					} else {
-						_esc_available.set(esc, false);
-					}
+					_esc_available.set(esc, true);
+					_last_esc_rpm_notch_update[esc] = esc_report.timestamp;
 				}
 			}
 		}

-		// check ESC feedback timeout
+		// check notch filter timeout
 		for (size_t esc = 0; esc < MAX_NUM_ESCS; esc++) {
 			if (_esc_available[esc] && (time_now_us > _last_esc_rpm_notch_update[esc] + DYNAMIC_NOTCH_FITLER_TIMEOUT)) {
+				bool all_disabled = true;

-				_esc_available.set(esc, false);
-
-				for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) {
+				// disable notch filters from highest frequency to lowest
+				for (int harmonic = _esc_rpm_harmonics - 1; harmonic >= 0; harmonic--) {
 					for (int axis = 0; axis < 3; axis++) {
-						_dynamic_notch_filter_esc_rpm[harmonic][axis][esc].disable();
-						perf_count(_dynamic_notch_filter_esc_rpm_disable_perf);
+						auto &nf = _dynamic_notch_filter_esc_rpm[harmonic][axis][esc];
+
+						if (nf.getNotchFreq() > 0.f) {
+							if (nf.initialized() && !axis_init[axis]) {
+								nf.disable();
+								perf_count(_dynamic_notch_filter_esc_rpm_disable_perf);
+								axis_init[axis] = true;
+							}
+						}
+
+						if (nf.getNotchFreq() > 0.f) {
+							all_disabled = false;
+						}
 					}
 				}
+
+				if (all_disabled) {
+					_esc_available.set(esc, false);
+				}
 			}
 		}
 	}
@@ -711,7 +732,9 @@ float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int
 		for (int esc = 0; esc < MAX_NUM_ESCS; esc++) {
 			if (_esc_available[esc]) {
 				for (int harmonic = 0; harmonic < _esc_rpm_harmonics; harmonic++) {
-					_dynamic_notch_filter_esc_rpm[harmonic][axis][esc].applyArray(data, N);
+					if (_dynamic_notch_filter_esc_rpm[harmonic][axis][esc].getNotchFreq() > 0.f) {
+						_dynamic_notch_filter_esc_rpm[harmonic][axis][esc].applyArray(data, N);
+					}
 				}
 			}
 		}
@@ -941,6 +964,7 @@ void VehicleAngularVelocity::PrintStatus()
 	perf_print_counter(_selection_changed_perf);
 #if !defined(CONSTRAINED_FLASH)
 	perf_print_counter(_dynamic_notch_filter_esc_rpm_disable_perf);
+	perf_print_counter(_dynamic_notch_filter_esc_rpm_init_perf);
 	perf_print_counter(_dynamic_notch_filter_esc_rpm_update_perf);

 	perf_print_counter(_dynamic_notch_filter_fft_disable_perf);
@@ -142,7 +142,7 @@ private:
 		FFT    = 2,
 	};

-	static constexpr hrt_abstime DYNAMIC_NOTCH_FITLER_TIMEOUT = 1_s;
+	static constexpr hrt_abstime DYNAMIC_NOTCH_FITLER_TIMEOUT = 3_s;

 	// ESC RPM
 	static constexpr int MAX_NUM_ESCS = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]);
@@ -154,8 +154,9 @@ private:
 	px4::Bitset<MAX_NUM_ESCS> _esc_available{};
 	hrt_abstime _last_esc_rpm_notch_update[MAX_NUM_ESCS] {};

-	perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr};
 	perf_counter_t _dynamic_notch_filter_esc_rpm_disable_perf{nullptr};
+	perf_counter_t _dynamic_notch_filter_esc_rpm_init_perf{nullptr};
+	perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr};

 	// FFT
 	static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x)
@@ -187,6 +188,7 @@ private:
 		(ParamInt<px4::params::IMU_GYRO_DNF_EN>) _param_imu_gyro_dnf_en,
 		(ParamInt<px4::params::IMU_GYRO_DNF_HMC>) _param_imu_gyro_dnf_hmc,
 		(ParamFloat<px4::params::IMU_GYRO_DNF_BW>) _param_imu_gyro_dnf_bw,
+		(ParamFloat<px4::params::IMU_GYRO_DNF_MIN>) _param_imu_gyro_dnf_min,
 #endif // !CONSTRAINED_FLASH
 		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
 		(ParamFloat<px4::params::IMU_GYRO_NF0_FRQ>) _param_imu_gyro_nf0_frq,
@@ -178,6 +178,7 @@ PARAM_DEFINE_INT32(IMU_GYRO_DNF_EN, 0);
 * Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.
 *
 * @group Sensors
+* @unit Hz
 * @min 5
 * @max 30
 */
@@ -193,3 +194,13 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_DNF_BW, 15.f);
 * @max 7
 */
 PARAM_DEFINE_INT32(IMU_GYRO_DNF_HMC, 3);
+
+/**
+* IMU gyro dynamic notch filter minimum frequency
+*
+* Minimum notch filter frequency in Hz.
+*
+* @group Sensors
+* @unit Hz
+*/
+PARAM_DEFINE_FLOAT(IMU_GYRO_DNF_MIN, 25.f);
@@ -682,11 +682,11 @@ int Sih::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-This module provide a simulator for quadrotors and fixed-wings running fully
+This module provides a simulator for quadrotors and fixed-wings running fully
 inside the hardware autopilot.

 This simulator subscribes to "actuator_outputs" which are the actuator pwm
-signals given by the mixer.
+signals given by the control allocation module.

 This simulator publishes the sensors signals corrupted with realistic noise
 in order to incorporate the state estimator in the loop.
@@ -105,6 +105,19 @@ VtolAttitudeControl::init()
 	return true;
 }

+void VtolAttitudeControl::vehicle_status_poll()
+{
+	_vehicle_status_sub.copy(&_vehicle_status);
+
+	// abort front transition when RTL is triggered
+	if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
+	    && _nav_state_prev != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL && _vtol_type->get_mode() == mode::TRANSITION_TO_FW) {
+		_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+	}
+
+	_nav_state_prev = _vehicle_status.nav_state;
+}
+
 void VtolAttitudeControl::action_request_poll()
 {
 	while (_action_request_sub.updated()) {
@@ -132,8 +145,6 @@ void VtolAttitudeControl::vehicle_cmd_poll()

 	while (_vehicle_cmd_sub.update(&vehicle_command)) {
 		if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
-			vehicle_status_s vehicle_status{};
-			_vehicle_status_sub.copy(&vehicle_status);

 			uint8_t result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;

@@ -141,10 +152,10 @@ void VtolAttitudeControl::vehicle_cmd_poll()

 			// deny transition from MC to FW in Takeoff, Land, RTL and Orbit
 			if (transition_command_param1 == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW &&
-			    (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
-			     || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
-			     || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
-			     ||  vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT)) {
+			    (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
+			     || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
+			     || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
+			     ||  _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT)) {

 				result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;

@@ -309,6 +320,7 @@ VtolAttitudeControl::Run()
 		_airspeed_validated_sub.update(&_airspeed_validated);
 		_tecs_status_sub.update(&_tecs_status);
 		_land_detected_sub.update(&_land_detected);
+		vehicle_status_poll();
 		action_request_poll();
 		vehicle_cmd_poll();

@@ -210,6 +210,7 @@ private:
 	vehicle_land_detected_s			_land_detected{};
 	vehicle_local_position_s		_local_pos{};
 	vehicle_local_position_setpoint_s	_local_pos_sp{};
+	vehicle_status_s 			_vehicle_status{};
 	vtol_vehicle_status_s 			_vtol_vehicle_status{};

 	float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C};	// [kg/m^3]
@@ -222,12 +223,16 @@ private:
 	int		_transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
 	bool		_immediate_transition{false};

+	uint8_t _nav_state_prev;
+
 	VtolType	*_vtol_type{nullptr};	// base class for different vtol types

 	bool		_initialized{false};

 	perf_counter_t	_loop_perf;		// loop performance counter

+	void		vehicle_status_poll();
+
 	void		action_request_poll();

 	void		vehicle_cmd_poll();
Author	SHA1	Message	Date
Matthias Grob	ac7e369418	Makefile: add target for unit tests	2022-10-26 19:40:31 +02:00
Zachary Lowell	740d2fccb1	qurt: update for functional logger	2022-10-25 21:07:15 -04:00
Zachary Lowell	bcae7e550b	Qurt platform/common dependency fixes	2022-10-25 21:06:00 -04:00
Daniel Agar	a242a0210e	Update world_magnetic_model to latest Mon 24 Oct 2022 09:29:11 PM EDT	2022-10-25 09:20:01 -04:00
Daniel Agar	c32cf21b63	commander: estimator check shorten messages - otherwise these are awkwardly split in mavlink	2022-10-25 08:02:47 +02:00
Daniel Agar	a7b909234b	commander: estimator nav test is not an arming check	2022-10-25 08:01:30 +02:00
Daniel Agar	6f861ba889	ekf2: pos/vel reset helpers pass new variance - optical flow velocity reset use already computed _flow_vel_ne	2022-10-24 10:59:58 -04:00
thomas	f9f466854b	abort front transition in vtol module instead of in navigator/rtl.cpp	2022-10-24 13:55:41 +02:00
thomas	26c36a96f2	remove unnecessary check. correct int comparison.	2022-10-24 13:55:41 +02:00
thomas	bf98503dec	better return altitude initialisation	2022-10-24 13:55:41 +02:00
thomas	f771c7ff63	back transition if RTL is called during front transition	2022-10-24 13:55:41 +02:00
Hamish Willee	96a305322a	params/uorb docs: rename mixer to control allocation (#20447 )	2022-10-24 13:22:26 +02:00
Igor Mišić	1c5750b292	mavlink: add support for uAvionix transmitters	2022-10-24 11:56:17 +02:00
Igor Mišić	c35ae7260b	transponder/sagetech_mxs: move the ADS-B related parameters to the lib ADS-B parameters can be reused for other ADS-B devices	2022-10-24 11:56:17 +02:00
Igor Mišić	4e6c094a54	mavlink/CMakeLists: add uAvionix dialect	2022-10-24 11:56:17 +02:00
Silvan Fuhrer	128e49358e	Wind Estimator: remove filter reset due to beta fusion timeout Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-24 09:56:18 +02:00
Daniel Agar	ed558e199f	ekf2: remove realignYawGPS() (replaced with yaw estimator)	2022-10-21 09:01:30 -04:00
Silvan Fuhrer	c267cf71c3	FW Position Control: fix entering of no-position-estimate failsafes Affects the states AUTO_ALTITUDE and AUTO_CLIMBRATE. Those modes should only be entered if armed (as they are pure failsafe modes). Also allow though to enter them even if the position setpoint(s) are invalid, as they are not needed. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-21 09:51:38 +02:00
Silvan Fuhrer	67b2c835e0	FW Positon control: do not use position_setpoint.valid to validate current position_setpoint Instead of checking the .valid flag of position_setpoint, check for ISFINITE() of lat, lon, alt when pulling the position_setpoint triplet. This fixes problems where the .valid flag didn't reflect the proper state of the setpoint (e.g. .valid was true, .lat though NAN) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-21 09:51:38 +02:00
Silvan Fuhrer	d8e483ae20	TECS: guard against NAN airspeed setpoints Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-21 09:51:38 +02:00
Eric Katzfey	4afd19f037	Moved the bad-function-cast compiler warning option out of the common flags and into the nuttx and posix specific options files since this option cannot be used with the qurt platform. There are header files in the hexagon sdk that fail this check.	2022-10-20 18:18:40 -04:00
bresch	96e7ea7a08	ekf2: remove old mag declination auto-code	2022-10-20 18:16:25 -04:00
bresch	f0a0a3e545	ekf2_test: compare mag decl fusion sympy vs symforce	2022-10-20 18:16:25 -04:00
bresch	2f3ea88099	ekf2: migrate mag declination to SymForce	2022-10-20 18:16:25 -04:00
Beniamino Pozzan	7786437a19	Makefile: remove update_ros2_bridge make commands as Tools/update_px4_ros2_bridge.sh as been deleted update_ros2_bridge, update_px4_ros_com and update_px4_msgs are no more needed Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2022-10-20 17:43:16 -04:00
Daniel Agar	5030b21d2e	ekf2: replace quatToInverseRotMat if only used once	2022-10-20 14:15:32 -04:00
Daniel Agar	fb3adc3faa	ekf2: move baro compensation to delayed time horizon and add validity check - this removes an unnecessary virtual call and simplifies things a bit Co-authored-by: bresch <brescianimathieu@gmail.com>	2022-10-20 09:17:55 -04:00
Daniel Agar	b400b7fcc4	vehicle_angular_velocity: ESC RPM notch filters minimize filter resets (#20449 ) - vehicle_angular_velocity: ESC RPM notch filters minimize filter resets - only allow one filter init per axis per cycle - "park" ESC notch filters at min frequency instead of full disable - relax timeout before a notch filter is disabled - add new parameter IMU_GYRO_DNF_MIN for configuring the minimum notch filter frequency	2022-10-20 09:05:23 -04:00
bresch	89bc28e836	wind_est: extract utility functions to separate file	2022-10-20 11:41:46 +02:00
bresch	2549054b28	wind_est: remove old derivation replaced by derivation.py	2022-10-20 11:41:46 +02:00
bresch	7115d5643c	wind_est: auto-generate initialization of state and cov matrix	2022-10-20 11:41:46 +02:00
bresch	a7124d3738	wind_est: auto-generate beta fusion using Symforce	2022-10-20 11:41:46 +02:00
bresch	487b84e90b	wind_est: place codegen details in function	2022-10-20 11:41:46 +02:00