commander: skip estimatorCheck for now

simulator_mavlink: add heading_good_for_control
simulation: HIL_STATE_QUATERNION add angular acceleration and protect from initial lat/lon 0
2026-05-26 19:40:05 +08:00 · 2024-02-15 15:46:31 -05:00 · 2024-02-15 15:46:14 -05:00 · 2024-02-15 15:20:33 -05:00 · 2024-02-15 14:57:37 -05:00
126 changed files with 2046 additions and 4088 deletions
@@ -120,7 +120,7 @@ pipeline {
                     "px4_fmu-v6xrt_rover",
                     "px4_io-v2_default",
                     "raspberrypi_pico_default",
-                     "siyi_n7_default",
+                     "siyi_n7_default"
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "thepeach_k1_default",
@@ -1,80 +0,0 @@
-#!/bin/sh
-# @name Gazebo lawnmower
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-# We can arm and drive in manual mode when it slides and GPS check fails:
-param set-default COM_ARM_WO_GPS 1
-
-# Set Differential Drive Kinematics Library parameters:
-param set RDD_WHEEL_BASE 0.9
-param set RDD_WHEEL_RADIUS 0.22
-param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
-
-# Actuator mapping - set SITL motors/servos output parameters:
-
-# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#aram set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
-
-param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
-
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
-# controls in practical scenarios.
-
-# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
-
-# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
-#    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
-
-# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
-
-# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
-#param set-default SIM_GZ_SV_FUNC5 205
-#param set-default SIM_GZ_SV_MIN5 1000
-#param set-default SIM_GZ_SV_MAX5 2000
-#param set-default SIM_GZ_SV_DIS5 1000
-#param set-default SIM_GZ_SV_FAIL5 1000
-
-# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
-#param set-default SIM_GZ_SV_FUNC6 206
-
-# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
-#param set-default SIM_GZ_SV_FUNC7 207
-
-# Spare PCA9685 servo channel 8 - "Servo 8" (208):
-#param set-default SIM_GZ_SV_FUNC8 208
@@ -82,7 +82,6 @@ px4_add_romfs_files(
 	4008_gz_advanced_plane
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
-	4011_gz_lawnmower

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -253,7 +253,7 @@ fi
 tone_alarm start
 rc_update start
 manual_control start
-sensors start
+#sensors start
 commander start

 if ! pwm_out_sim start -m sim
@@ -34,79 +34,28 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-
+	rc.airship_apps
+	rc.airship_defaults
 	rc.autostart_ext
-
-	rcS
-	rc.sensors
-	rc.vehicle_setup
-
-	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
+	rc.boat_defaults
+	rc.fw_apps
+	rc.fw_defaults
+	rc.heli_defaults
+	rc.logging
+	rc.mc_apps
+	rc.mc_defaults
+	rcS
+	rc.sensors
+	rc.thermal_cal
+	rc.rover_apps
+	rc.rover_defaults
+	rc.rover_differential_apps
+	rc.rover_differential_defaults
+	rc.uuv_apps
+	rc.uuv_defaults
+	rc.vehicle_setup
+	rc.vtol_apps
+	rc.vtol_defaults
 )
-
-if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.airship_apps
-		rc.airship_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_FW_RATE_CONTROL)
-	px4_add_romfs_files(
-		rc.fw_apps
-		rc.fw_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_MC_RATE_CONTROL)
-	px4_add_romfs_files(
-		rc.heli_defaults
-		rc.mc_apps
-		rc.mc_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		rc.rover_apps
-		rc.rover_defaults
-
-		rc.boat_defaults # hack
-	)
-endif()
-
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
-	px4_add_romfs_files(
-		rc.rover_differential_apps
-		rc.rover_differential_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_UUV_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.uuv_apps
-		rc.uuv_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_VTOL_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.vtol_apps
-		rc.vtol_defaults
-	)
-endif()
-
-
-if(CONFIG_MODULES_LOGGER)
-	px4_add_romfs_files(
-		rc.logging
-	)
-endif()
-
-if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
-	px4_add_romfs_files(
-		rc.thermal_cal
-	)
-endif()
@@ -32,127 +32,94 @@
 ############################################################################

 px4_add_romfs_files(
-	# [0-999] Reserved (historical)
+	# [0-999] Reserved (historical)"
+
+	# [1000, 1999] Simulation setups"
+	1001_rc_quad_x.hil
+	1002_standard_vtol.hil
+	1100_rc_quad_x_sih.hil
+	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil
+
+	# [2000, 2999] Standard planes"
+	2100_standard_plane
+	2106_albatross
+
+	2507_cloudship
+
+	# [3000, 3999] Flying wing"
+	3000_generic_wing
+
+	# [4000, 4999] Quadrotor x"
+	4001_quad_x
+	4014_s500
+	4015_holybro_s500
+	4016_holybro_px4vision
+	4017_nxp_hovergames
+	4019_x500_v2
+	4020_holybro_px4vision_v1_5
+	4041_beta75x
+	4050_generic_250
+	4052_holybro_qav250
+	4053_holybro_kopis2
+	4061_atl_mantis_edu
+	4071_ifo
+	4073_ifo-s
+	4500_clover4
+	4901_crazyflie21
+
+	# [5000, 5999] Quadrotor +"
+	5001_quad_+
+
+	# [6000, 6999] Hexarotor x"
+	6001_hexa_x
+	6002_draco_r
+
+	# [7000, 7999] Hexarotor +"
+	7001_hexa_+
+
+	# [8000, 8999] Octorotor +"
+	8001_octo_x
+
+	# [9000, 9999] Octorotor +"
+	9001_octo_+
+
+	# [11000, 11999] Hexa Cox
+	11001_hexa_cox
+
+	# [12000, 12999] Octo Cox
+	12001_octo_cox
+
+	# [13000, 13999] VTOL
+	13000_generic_vtol_standard
+	13100_generic_vtol_tiltrotor
+	13013_deltaquad
+	13014_vtol_babyshark
+	13030_generic_vtol_quad_tiltrotor
+	13200_generic_vtol_tailsitter
+
+	# [14000, 14999] MC with tilt
+	14001_generic_mc_with_tilt
+
+	16001_helicopter
+
+	# [17000, 17999] Autogyro
+	17002_TF-AutoG2
+	17003_TF-G2

 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
+
+	24001_dodeca_cox
+
+	50000_generic_ground_vehicle
+	50004_nxpcup_car_dfrobot_gpx
+	50003_aion_robotics_r1_rover
+
+	# [60000, 61000] (Unmanned) Underwater Robots
+	60000_uuv_generic
+	60001_uuv_hippocampus
+	60002_uuv_bluerov2_heavy
 )
-
-if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
-	px4_add_romfs_files(
-		# [1000, 1999] Simulation setups
-		1001_rc_quad_x.hil
-		1002_standard_vtol.hil
-		1100_rc_quad_x_sih.hil
-		1101_rc_plane_sih.hil
-		1102_tailsitter_duo_sih.hil
-	)
-endif()
-
-if(CONFIG_MODULES_MC_RATE_CONTROL)
-	px4_add_romfs_files(
-		# [4000, 4999] Quadrotor x
-		4001_quad_x
-		4014_s500
-		4015_holybro_s500
-		4016_holybro_px4vision
-		4017_nxp_hovergames
-		4019_x500_v2
-		4020_holybro_px4vision_v1_5
-		4041_beta75x
-		4050_generic_250
-		4052_holybro_qav250
-		4053_holybro_kopis2
-		4061_atl_mantis_edu
-		4071_ifo
-		4073_ifo-s
-		4500_clover4
-		4901_crazyflie21
-
-		# [5000, 5999] Quadrotor +
-		5001_quad_+
-
-		# [6000, 6999] Hexarotor x
-		6001_hexa_x
-		6002_draco_r
-
-		# [7000, 7999] Hexarotor +
-		7001_hexa_+
-
-		# [8000, 8999] Octorotor +
-		8001_octo_x
-
-		# [9000, 9999] Octorotor +
-		9001_octo_+
-
-		# [11000, 11999] Hexa Cox
-		11001_hexa_cox
-
-		# [12000, 12999] Octo Cox
-		12001_octo_cox
-
-		# [14000, 14999] MC with tilt
-		14001_generic_mc_with_tilt
-
-		16001_helicopter
-
-		24001_dodeca_cox
-	)
-endif()
-
-if(CONFIG_MODULES_FW_RATE_CONTROL)
-	px4_add_romfs_files(
-		# [2000, 2999] Standard planes
-		2100_standard_plane
-		2106_albatross
-
-		# [3000, 3999] Flying wing
-		3000_generic_wing
-
-		# [17000, 17999] Autogyro
-		17002_TF-AutoG2
-		17003_TF-G2
-	)
-endif()
-
-if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
-	px4_add_romfs_files(
-		2507_cloudship
-	)
-endif()
-
-if(CONFIG_MODULES_VTOL_ATT_CONTROL)
-	px4_add_romfs_files(
-		# [13000, 13999] VTOL
-		13000_generic_vtol_standard
-		13100_generic_vtol_tiltrotor
-		13013_deltaquad
-		13014_vtol_babyshark
-		13030_generic_vtol_quad_tiltrotor
-		13200_generic_vtol_tailsitter
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		50000_generic_ground_vehicle
-		50004_nxpcup_car_dfrobot_gpx
-	)
-endif()
-
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
-	px4_add_romfs_files(
-		50003_aion_robotics_r1_rover
-	)
-endif()
-
-if(CONFIG_MODULES_UUV_ATT_CONTROL)
-	px4_add_romfs_files(
-		# [60000, 61000] (Unmanned) Underwater Robots
-		60000_uuv_generic
-		60001_uuv_hippocampus
-		60002_uuv_bluerov2_heavy
-	)
-endif()
@@ -28,6 +28,7 @@ param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
@@ -439,12 +439,7 @@ else
 	#
 	# Start a thermal calibration if required.
 	#
-	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
-	if [ -f ${RC_THERMAL_CAL} ]
-	then
-		. ${RC_THERMAL_CAL}
-	fi
-	unset RC_THERMAL_CAL
+	. ${R}etc/init.d/rc.thermal_cal

 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
@@ -505,12 +500,7 @@ else
 	#
 	# Start the logger.
 	#
-	set RC_LOGGING ${R}etc/init.d/rc.logging
-	if [ -f ${RC_LOGGING} ]
-	then
-		. ${RC_LOGGING}
-	fi
-	unset RC_LOGGING
+	. ${R}etc/init.d/rc.logging

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -64,6 +64,9 @@
 // Hacks for MAVLink RC button input
 #define ATL_MANTIS_RC_INPUT_HACKS

+// Hacks for MAVLink RC button input
+#define ATL_MANTIS_RC_INPUT_HACKS
+
 /*
 * ADC channels
 *
@@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -4,14 +4,13 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_QSHELL_QURT=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -29,5 +28,4 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_ORB_COMMUNICATOR=y
@@ -49,6 +49,6 @@ add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
+# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)
@@ -989,10 +989,10 @@ handle_message_hil_gps_dsp(mavlink_message_t *msg)

 	gps.device_id = device_id.devid;

-	gps.latitude_deg = hil_gps.lat;
-	gps.longitude_deg = hil_gps.lon;
-	gps.altitude_msl_m = hil_gps.alt;
-	gps.altitude_ellipsoid_m = hil_gps.alt;
+	gps.lat = hil_gps.lat;
+	gps.lon = hil_gps.lon;
+	gps.alt = hil_gps.alt;
+	gps.alt_ellipsoid = hil_gps.alt;

 	gps.s_variance_m_s = 0.25f;
 	gps.c_variance_rad = 0.5f;
@@ -16,7 +16,7 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-if ver hwbasecmp 008 009 00a 010 011
+if ver hwbasecmp 008 009 00a 010
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------

-if ver hwbasecmp 008 009 00a 010 011
+if ver hwbasecmp 008 009 00a 010
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
@@ -49,7 +49,7 @@ then
 	fi
 fi

-if ver hwbasecmp 008 009 00a 010 011
+if ver hwbasecmp 008 009 00a 010
 then
 	#SKYNODE base fmu board orientation

@@ -18,7 +18,7 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 0

-if ver hwbasecmp 009 010 011
+if ver hwbasecmp 009 010
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 # if skynode base board is detected start Mavlink on Telem2
-if ver hwbasecmp 009 010 011
+if ver hwbasecmp 009 010
 then
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

@@ -56,7 +56,7 @@ then
 fi

 #Start Auterion Power Module selector for Skynode boards
-if ver hwbasecmp 009 010 011
+if ver hwbasecmp 009 010
 then
 	pm_selector_auterion start
 else
@@ -93,7 +93,7 @@ else
 		icm20649 -s -R 6 start
 	else
 		# Internal SPI BMI088
-		if ver hwbasecmp 009 010 011
+		if ver hwbasecmp 009 010
 		then
 			bmi088 -A -R 6 -s start
 			bmi088 -G -R 6 -s start
@@ -110,7 +110,7 @@ else
 	fi

 	# Internal SPI bus ICM42688p
-	if ver hwbasecmp 009 010 011
+	if ver hwbasecmp 009 010
 	then
 		icm42688p -R 12 -s start
 	else
@@ -127,7 +127,7 @@ else
 		# Internal SPI bus ICM-42670-P (hard-mounted)
 		icm42670p -R 10 -s start
 	else
-		if ver hwbasecmp 009 010 011
+		if ver hwbasecmp 009 010
 		then
 			icm20602 -R 6 -s start
 		else
@@ -6,30 +6,21 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
-CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -41,20 +32,14 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_COMMON_UWB=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -72,15 +57,11 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 # if skynode base board is detected start Mavlink on Telem2
-if ver hwbasecmp 009 010 011
+if ver hwbasecmp 009 010
 then
 	mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

@@ -257,7 +257,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=2032
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -1,9 +1,4 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
@@ -11,7 +6,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
@@ -0,0 +1,5 @@
+CONFIG_EKF2_AUX_GLOBAL_POSITION=n
+CONFIG_EKF2_VERBOSE_STATUS=n
+CONFIG_MODULES_EKF2=n
+CONFIG_MODULES_SENSORS=y
+CONFIG_BOARD_NOLOCKSTEP=y
@@ -173,7 +173,6 @@ set(msg_files
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
 	Rpm.msg
-	RtlStatus.msg
 	RtlTimeEstimate.msg
 	SatelliteInfo.msg
 	SensorAccel.msg
@@ -55,9 +55,15 @@ bool fs_bad_airspeed          #  5 - true if fusion of the airspeed has encounte
 bool fs_bad_sideslip          #  6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
 bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis has encountered a numerical error
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
-bool fs_bad_acc_bias          #  9 - true if bad delta velocity bias estimates have been detected
-bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
-bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
+bool fs_bad_vel_n             #  9 - true if fusion of the North velocity has encountered a numerical error
+bool fs_bad_vel_e             # 10 - true if fusion of the East velocity has encountered a numerical error
+bool fs_bad_vel_d             # 11 - true if fusion of the Down velocity has encountered a numerical error
+bool fs_bad_pos_n             # 12 - true if fusion of the North position has encountered a numerical error
+bool fs_bad_pos_e             # 13 - true if fusion of the East position has encountered a numerical error
+bool fs_bad_pos_d             # 14 - true if fusion of the Down position has encountered a numerical error
+bool fs_bad_acc_bias          # 15 - true if bad delta velocity bias estimates have been detected
+bool fs_bad_acc_vertical      # 16 - true if bad vertical accelerometer data has been detected
+bool fs_bad_acc_clipping      # 17 - true if delta velocity data contains clipping (asymmetric railing)


 # innovation test failures
@@ -1,15 +0,0 @@
-uint64 timestamp                      # time since system start (microseconds)
-
-uint32 safe_points_id 		      # unique ID of active set of safe_point_items
-bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).
-
-bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting
-
-uint8 rtl_type	      		      # Type of RTL chosen
-uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
-
-uint8 RTL_STATUS_TYPE_NONE=0       # RTL type is pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
-uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # RTL type is chosen to directly go to a safe point or home position
-uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # RTL type is going straight to the beginning of the mission landing
-uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 	# RTL type is following the mission from closest point to mission landing
-uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # RTL type is following the mission in reverse to the start position
@@ -52,7 +52,6 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
-	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)
@@ -1,143 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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 <px4_platform_common/Serial.hpp>
-
-namespace device
-{
-
-Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-	       FlowControl flowcontrol) :
-	_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
-{
-	// If no baudrate was specified then set it to a reasonable default value
-	if (baudrate == 0) {
-		(void) _impl.setBaudrate(9600);
-	}
-}
-
-Serial::~Serial()
-{
-}
-
-bool Serial::open()
-{
-	return _impl.open();
-}
-
-bool Serial::isOpen() const
-{
-	return _impl.isOpen();
-}
-
-bool Serial::close()
-{
-	return _impl.close();
-}
-
-ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
-{
-	return _impl.read(buffer, buffer_size);
-}
-
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
-}
-
-ssize_t Serial::write(const void *buffer, size_t buffer_size)
-{
-	return _impl.write(buffer, buffer_size);
-}
-
-void Serial::flush()
-{
-	return _impl.flush();
-}
-
-uint32_t Serial::getBaudrate() const
-{
-	return _impl.getBaudrate();
-}
-
-bool Serial::setBaudrate(uint32_t baudrate)
-{
-	return _impl.setBaudrate(baudrate);
-}
-
-ByteSize Serial::getBytesize() const
-{
-	return _impl.getBytesize();
-}
-
-bool Serial::setBytesize(ByteSize bytesize)
-{
-	return _impl.setBytesize(bytesize);
-}
-
-Parity Serial::getParity() const
-{
-	return _impl.getParity();
-}
-
-bool Serial::setParity(Parity parity)
-{
-	return _impl.setParity(parity);
-}
-
-StopBits Serial::getStopbits() const
-{
-	return _impl.getStopbits();
-}
-
-bool Serial::setStopbits(StopBits stopbits)
-{
-	return _impl.setStopbits(stopbits);
-}
-
-FlowControl Serial::getFlowcontrol() const
-{
-	return _impl.getFlowcontrol();
-}
-
-bool Serial::setFlowcontrol(FlowControl flowcontrol)
-{
-	return _impl.setFlowcontrol(flowcontrol);
-}
-
-const char *Serial::getPort() const
-{
-	return _impl.getPort();
-}
-
-} // namespace device
@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <SerialImpl.hpp>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device __EXPORT
-{
-
-class Serial
-{
-public:
-	Serial(const char *port, uint32_t baudrate = 57600,
-	       ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
-	       StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
-	virtual ~Serial();
-
-	// Open sets up the port and gets it configured based on desired configuration
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	// If port is already open then the following configuration functions
-	// will reconfigure the port. If the port is not yet open then they will
-	// simply store the configuration in preparation for the port to be opened.
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-	const char *getPort() const;
-
-private:
-	// Disable copy constructors
-	Serial(const Serial &);
-	Serial &operator=(const Serial &);
-
-	// platform implementation
-	SerialImpl _impl;
-};
-
-} // namespace device
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-namespace device
-{
-namespace SerialConfig
-{
-
-
-// ByteSize: number of data bits
-enum class ByteSize {
-	FiveBits  = 5,
-	SixBits   = 6,
-	SevenBits = 7,
-	EightBits = 8,
-};
-
-// Parity: enable parity checking
-enum class Parity {
-	None = 0,
-	Odd  = 1,
-	Even = 2,
-};
-
-// StopBits: number of stop bits
-enum class StopBits {
-	One = 1,
-	Two = 2
-};
-
-// FlowControl: enable flow control
-enum class FlowControl {
-	Disabled = 0,
-	Enabled  = 1,
-};
-
-} // namespace SerialConfig
-} // namespace device
@@ -13,21 +13,11 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif

-#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
-
-__BEGIN_DECLS
-__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
-__END_DECLS
-
-#else
-
-#define px4_clock_settime system_clock_settime
-
-#endif
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)

 __BEGIN_DECLS
+__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -37,6 +27,7 @@ __END_DECLS

 #else

+#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait
@@ -48,8 +48,6 @@

 #include <board_config.h>

-#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
-
 #include <inttypes.h>
 #include <stdbool.h>
 #include <syslog.h>
@@ -59,6 +57,7 @@
 /****************************************************************************
 * Pre-Processor Definitions
 ****************************************************************************/
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)

 typedef struct {
 	hw_base_id_t             hw_base_id; /* The ID of the Base */
@@ -293,6 +292,12 @@ static const px4_hw_mft_item_t base_configuration_9[] = {
 		.mandatory   = 1,
 		.connection  = px4_hw_con_onboard,
 	},
+	{
+		.id          =  PX4_MFT_PM2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
 	{
 		.id          = PX4_MFT_ETHERNET,
 		.present     = 1,
@@ -310,52 +315,6 @@ static const px4_hw_mft_item_t base_configuration_9[] = {
 // BASE ID 10  Skynode QS no USB Alaised to ID 9
 // BASE ID 16  Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0

-// BASE ID 17  Auterion Skynode RC13 with many parts removed
-static const px4_hw_mft_item_t base_configuration_17[] = {
-	{
-		.id          = PX4_MFT_PX4IO,
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		.id          = PX4_MFT_USB,
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		.id          = PX4_MFT_CAN2,
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		.id          = PX4_MFT_CAN3,
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		.id          = PX4_MFT_PM2,
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		.id          = PX4_MFT_ETHERNET,
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_connector,
-	},
-	{
-		.id          = PX4_MFT_T100_ETH,
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-

 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
@@ -369,7 +328,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{HW_BASE_ID(9),  base_configuration_9, arraySize(base_configuration_9)},  // Auterion Skynode ver 9
 	{HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)},  // Auterion Skynode ver 10
 	{HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)},  // Auterion Skynode ver 16
-	{HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)},  // Auterion Skynode ver 17
 };

 /************************************************************************************
@@ -1,391 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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 <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-#define MODULE_NAME "SerialImpl"
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-	}
-
-	return written;
-}
-
-void SerialImpl::flush()
-{
-	if (_open) {
-		tcflush(_serial_fd, TCIOFLUSH);
-	}
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device
@@ -1,106 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-
-};
-
-} // namespace device
@@ -3,8 +3,6 @@
 add_library(px4_layer
 		${KERNEL_SRCS}
 		cdc_acm_check.cpp
-		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-		SerialImpl.cpp
 	)

 target_link_libraries(px4_layer
@@ -15,8 +15,6 @@ add_library(px4_layer
 	usr_board_ctrl.c
 	usr_hrt.cpp
 	usr_mcu_version.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )

 target_link_libraries(px4_layer
@@ -1,105 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-};
-
-} // namespace device
@@ -46,8 +46,6 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
@@ -1,391 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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 <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-
-	}
-
-	return written;
-}
-
-void SerialImpl::flush()
-{
-	if (_open) {
-		tcflush(_serial_fd, TCIOFLUSH);
-	}
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device
@@ -40,34 +40,15 @@
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <uORB/uORB.h>

-#if defined(CONFIG_MODULES_MUORB_APPS)
-extern "C" { int muorb_init(); }
-#endif
-
 int px4_platform_init(void)
 {
 	hrt_init();

 	px4::WorkQueueManagerStart();

-// MUORB has slightly different startup requirements
-#if defined(CONFIG_MODULES_MUORB_APPS)
-	//Put sleeper in here to allow wq to finish initializing before param_init is called
-	usleep(10000);
-
-	uorb_start();
-
-	muorb_init();
-
-	// Give muorb some time to setup the DSP
-	usleep(100000);
-
-	param_init();
-#else
 	param_init();

 	uorb_start();
-#endif

 	px4_log_initialize();

@@ -50,4 +50,5 @@ add_library(px4 SHARED
 target_link_libraries(px4
 	modules__muorb__slpi
 	${module_libraries}
+	px4_layer
 	)
@@ -1,110 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	const char *getPort() const;
-	bool setPort(const char *port);
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-
-	// Mutex used to lock the read functions
-	//pthread_mutex_t read_mutex;
-
-	// Mutex used to lock the write functions
-	//pthread_mutex_t write_mutex;
-};
-
-} // namespace device
@@ -38,7 +38,6 @@ set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
 	main.cpp
 	qurt_log.cpp
-	SerialImpl.cpp
 	)

 add_library(px4_layer
@@ -1,335 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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 <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <px4_log.h>
-#include <drivers/device/qurt/uart.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	if ((baudrate != 9600)   &&
-	    (baudrate != 38400)  &&
-	    (baudrate != 57600)  &&
-	    (baudrate != 115200) &&
-	    (baudrate != 230400) &&
-	    (baudrate != 250000) &&
-	    (baudrate != 420000) &&
-	    (baudrate != 460800) &&
-	    (baudrate != 921600) &&
-	    (baudrate != 1000000) &&
-	    (baudrate != 1843200) &&
-	    (baudrate != 2000000)) {
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	// There's no harm in calling open multiple times on the same port.
-	// In fact, that's the only way to change the baudrate
-
-	_open = false;
-	_serial_fd = -1;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", _baudrate);
-		return false;
-	}
-
-	if (_bytesize != ByteSize::EightBits) {
-		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
-		return false;
-	}
-
-	if (_parity != Parity::None) {
-		PX4_ERR("Qurt platform only supports Parity::None");
-		return false;
-	}
-
-	if (_stopbits != StopBits::One) {
-		PX4_ERR("Qurt platform only supports StopBits::One");
-		return false;
-	}
-
-	if (_flowcontrol != FlowControl::Disabled) {
-		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
-		return false;
-	}
-
-	// qurt_uart_open will check validity of port and baudrate
-	int serial_fd = qurt_uart_open(_port, _baudrate);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
-		return false;
-
-	} else {
-		PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
-	}
-
-	_serial_fd = serial_fd;
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	// No close defined for qurt uart yet
-	// if (_serial_fd >= 0) {
-	// 	qurt_uart_close(_serial_fd);
-	// }
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
-
-	if (ret_read < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret_read);
-
-	}
-
-	return ret_read;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while (total_bytes_read < (int) character_count) {
-
-		if (timeout_us > 0) {
-			const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-
-			if (elapsed_us >= timeout_us) {
-				// If there was a partial read but not enough to satisfy the minimum then they will be lost
-				// but this really should never happen when everything is working normally.
-				// PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us);
-				// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-				return total_bytes_read;
-			}
-		}
-
-		int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-		if (current_bytes_read < 0) {
-			// Again, if there was a partial read but not enough to satisfy the minimum then they will be lost
-			// but this really should never happen when everything is working normally.
-			PX4_ERR("%s failed to read uart", __FUNCTION__);
-			// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-			return -1;
-		}
-
-		// Current bytes read could be zero
-		total_bytes_read += current_bytes_read;
-
-		// If we have at least reached our desired minimum number of characters
-		// then we can return now
-		if (total_bytes_read >= (int) character_count) {
-			return total_bytes_read;
-		}
-
-		// Wait a set amount of time before trying again or the remaining time
-		// until the timeout if we are getting close
-		const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-		int64_t time_until_timeout = timeout_us - elapsed_us;
-		uint64_t time_to_sleep = 5000;
-
-		if ((time_until_timeout >= 0) &&
-		    (time_until_timeout < (int64_t) time_to_sleep)) {
-			time_to_sleep = time_until_timeout;
-		}
-
-		px4_usleep(time_to_sleep);
-	}
-
-	return -1;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
-
-	if (ret_write < 0) {
-		PX4_ERR("%s write error %d", _port, ret_write);
-
-	}
-
-	return ret_write;
-}
-
-void SerialImpl::flush()
-{
-	if (_open) {
-		uint8_t buffer[4];
-		// A read clears out all current data
-		read(buffer, 4);
-	}
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return open();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device
@@ -81,7 +81,7 @@ static void hrt_unlock()
 	px4_sem_post(&_hrt_lock);
 }

-int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
 {
 	return 0;
 }
@@ -77,7 +77,6 @@ BMP388::init()

 	if (_chip_id == BMP390_CHIP_ID) {
 		_interface->set_device_type(DRV_BARO_DEVTYPE_BMP390);
-		this->_item_name = "bmp390";
 	}

 	_chip_rev_id = _interface->get_reg(BMP3_REV_ID_ADDR);
@@ -45,6 +45,7 @@
 #include <poll.h>
 #endif

+#include <termios.h>
 #include <cstring>

 #include <drivers/drv_sensor.h>
@@ -56,8 +57,6 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/Serial.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
@@ -82,7 +81,6 @@
 #include <linux/spi/spidev.h>
 #endif /* __PX4_LINUX */

-using namespace device;
 using namespace time_literals;

 #define TIMEOUT_1HZ		1300	//!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@@ -171,10 +169,7 @@ public:
 	void reset_if_scheduled();

 private:
-#ifdef __PX4_LINUX
-	int				_spi_fd {-1};					///< SPI interface to GPS
-#endif
-	Serial 			*_uart = nullptr;				///< UART interface to GPS
+	int				_serial_fd{-1};					///< serial interface to GPS
 	unsigned			_baudrate{0};					///< current baudrate
 	const unsigned			_configured_baudrate{0};			///< configured baudrate (0=auto-detect)
 	char				_port[20] {};					///< device / serial port path
@@ -334,11 +329,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
 		char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
 		set_device_bus(c - 48); // sub 48 to convert char to integer

-#ifdef __PX4_LINUX
-
 	} else if (_interface == GPSHelper::Interface::SPI) {
 		set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
-#endif
 	}

 	if (_mode == gps_driver_mode_t::None) {
@@ -411,23 +403,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 			return num_read;
 		}

-	case GPSCallbackType::writeDeviceData: {
-			gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
+	case GPSCallbackType::writeDeviceData:
+		gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);

-			int ret = 0;
-
-			if (gps->_uart) {
-				ret = gps->_uart->write((void *) data1, (size_t) data2);
-
-#ifdef __PX4_LINUX
-
-			} else if (gps->_spi_fd >= 0) {
-				ret = ::write(gps->_spi_fd, data1, (size_t)data2);
-#endif
-			}
-
-			return ret;
-		}
+		return ::write(gps->_serial_fd, data1, (size_t)data2);

 	case GPSCallbackType::setBaudrate:
 		return gps->setBaudrate(data2);
@@ -470,64 +449,72 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)

 int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 {
-	int ret = 0;
-	const unsigned character_count = 32; // minimum bytes that we want to read
-	const int max_timeout = 50;
-	int timeout_adjusted = math::min(max_timeout, timeout);
-
 	handleInjectDataTopic();

-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
+#if !defined(__PX4_QURT)

-// SPI is only supported on LInux
-#if defined(__PX4_LINUX)
+	/* For non QURT, use the usual polling. */

-	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
+	//Poll only for the serial data. In the same thread we also need to handle orb messages,
+	//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
+	//two pollings use different underlying mechanisms (at least under posix), which makes this
+	//impossible. Instead we limit the maximum polling interval and regularly check for new orb
+	//messages.
+	//FIXME: add a unified poll() API
+	const int max_timeout = 50;

-		//Poll only for the SPI data. In the same thread we also need to handle orb messages,
-		//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
-		//two pollings use different underlying mechanisms (at least under posix), which makes this
-		//impossible. Instead we limit the maximum polling interval and regularly check for new orb
-		//messages.
-		//FIXME: add a unified poll() API
+	pollfd fds[1];
+	fds[0].fd = _serial_fd;
+	fds[0].events = POLLIN;

-		pollfd fds[1];
-		fds[0].fd = _spi_fd;
-		fds[0].events = POLLIN;
+	int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));

-		ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
+	if (ret > 0) {
+		/* if we have new data from GPS, go handle it */
+		if (fds[0].revents & POLLIN) {
+			/*
+			 * We are here because poll says there is some data, so this
+			 * won't block even on a blocking device. But don't read immediately
+			 * by 1-2 bytes, wait for some more data to save expensive read() calls.
+			 * If we have all requested data available, read it without waiting.
+			 * If more bytes are available, we'll go back to poll() again.
+			 */
+			const unsigned character_count = 32; // minimum bytes that we want to read
+			unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
+			const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);

-		if (ret > 0) {
-			/* if we have new data from GPS, go handle it */
-			if (fds[0].revents & POLLIN) {
-				/*
-				 * We are here because poll says there is some data, so this
-				 * won't block even on a blocking device. But don't read immediately
-				 * by 1-2 bytes, wait for some more data to save expensive read() calls.
-				 * If we have all requested data available, read it without waiting.
-				 * If more bytes are available, we'll go back to poll() again.
-				 */
-				unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
-				const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
+#ifdef __PX4_NUTTX
+			int err = 0;
+			int bytes_available = 0;
+			err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);

+			if (err != 0 || bytes_available < (int)character_count) {
 				px4_usleep(sleeptime);
-
-				ret = ::read(_spi_fd, buf, buf_length);
-
-				if (ret > 0) {
-					_num_bytes_read += ret;
-				}
-
-			} else {
-				ret = -1;
 			}
-		}

+#else
+			px4_usleep(sleeptime);
 #endif
+
+			ret = ::read(_serial_fd, buf, buf_length);
+
+			if (ret > 0) {
+				_num_bytes_read += ret;
+			}
+
+		} else {
+			ret = -1;
+		}
 	}

 	return ret;
+
+#else
+	/* For QURT, just use read for now, since this doesn't block, we need to slow it down
+	 * just a bit. */
+	px4_usleep(10000);
+	return ::read(_serial_fd, buf, buf_length);
+#endif
 }

 void GPS::handleInjectDataTopic()
@@ -596,38 +583,105 @@ bool GPS::injectData(uint8_t *data, size_t len)
 {
 	dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);

-	size_t written = 0;
-
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		written = _uart->write((const void *) data, len);
-
-#ifdef __PX4_LINUX
-
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		written = ::write(_spi_fd, data, len);
-		::fsync(_spi_fd);
-#endif
-	}
-
+	size_t written = ::write(_serial_fd, data, len);
+	::fsync(_serial_fd);
 	return written == len;
 }

 int GPS::setBaudrate(unsigned baud)
 {
-	if (_interface == GPSHelper::Interface::UART) {
-		if ((_uart) && (_uart->setBaudrate(baud))) {
-			return 0;
-		}
+	/* process baud rate */
+	int speed;

-#ifdef __PX4_LINUX
+	switch (baud) {
+	case 9600:   speed = B9600;   break;

-	} else if (_interface == GPSHelper::Interface::SPI) {
-		// Can't set the baudrate on a SPI port but just return a success
-		return 0;
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+#ifndef B460800
+#define B460800 460800
 #endif
+
+	case 460800: speed = B460800; break;
+
+#ifndef B921600
+#define B921600 921600
+#endif
+
+	case 921600: speed = B921600; break;
+
+	default:
+		PX4_ERR("ERR: unknown baudrate: %d", baud);
+		return -EINVAL;
 	}

-	return -1;
+	struct termios uart_config;
+
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(_serial_fd, &uart_config);
+
+	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
+
+	//
+	// Input flags - Turn off input processing
+	//
+	// convert break to null byte, no CR to NL translation,
+	// no NL to CR translation, don't mark parity errors or breaks
+	// no input parity check, don't strip high bit off,
+	// no XON/XOFF software flow control
+	//
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
+				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
+	//
+	// Output flags - Turn off output processing
+	//
+	// no CR to NL translation, no NL to CR-NL translation,
+	// no NL to CR translation, no column 0 CR suppression,
+	// no Ctrl-D suppression, no fill characters, no case mapping,
+	// no local output processing
+	//
+	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
+	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
+	uart_config.c_oflag = 0;
+
+	//
+	// No line processing
+	//
+	// echo off, echo newline off, canonical mode off,
+	// extended input processing off, signal chars off
+	//
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	/* no parity, one stop bit, disable flow control */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		GPS_ERR("ERR: %d (tcsetattr)", termios_state);
+		return -1;
+	}
+
+	return 0;
 }

 void GPS::initializeCommunicationDump()
@@ -786,58 +840,31 @@ GPS::run()
 			_helper = nullptr;
 		}

-		if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
+		if (_serial_fd < 0) {
+			/* open the serial port */
+			_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);

-			// Create the UART port instance
-			_uart = new Serial(_port);
-
-			if (_uart == nullptr) {
-				PX4_ERR("Error creating serial device %s", _port);
-				px4_sleep(1);
-				continue;
-			}
-		}
-
-		if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
-			// Configure the desired baudrate if one was specified by the user.
-			// Otherwise the default baudrate will be used.
-			if (_configured_baudrate) {
-				if (! _uart->setBaudrate(_configured_baudrate)) {
-					PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
-					px4_sleep(1);
-					continue;
-				}
-			}
-
-			// Open the UART. If this is successful then the UART is ready to use.
-			if (! _uart->open()) {
-				PX4_ERR("Error opening serial device  %s", _port);
+			if (_serial_fd < 0) {
+				PX4_ERR("failed to open %s err: %d", _port, errno);
 				px4_sleep(1);
 				continue;
 			}

 #ifdef __PX4_LINUX

-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
-			_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
+			if (_interface == GPSHelper::Interface::SPI) {
+				int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
+				int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);

-			if (_spi_fd < 0) {
-				PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
-				px4_sleep(1);
-				continue;
-			}
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}

-			int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
-			int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+				status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);

-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-
-			status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 			}

 #endif /* __PX4_LINUX */
@@ -1029,17 +1056,9 @@ GPS::run()
 			}
 		}

-		if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-
-#ifdef __PX4_LINUX
-
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
-			::close(_spi_fd);
-			_spi_fd = -1;
-#endif
+		if (_serial_fd >= 0) {
+			::close(_serial_fd);
+			_serial_fd = -1;
 		}

 		if (_mode_auto) {
@@ -1458,12 +1477,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;

 		case 'i':
-			if (!strcmp(myoptarg, "uart")) {
-				interface = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;
@@ -1471,12 +1490,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;

 		case 'j':
-			if (!strcmp(myoptarg, "uart")) {
-				interface_secondary = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface_secondary = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface_secondary = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface for secondary: %s", myoptarg);
 				error_flag = true;
@@ -46,4 +46,6 @@ px4_add_module(

 	MODULE_CONFIG
 		module.yaml
+	DEPENDS
+		rc
 	)
@@ -43,7 +43,6 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <string.h>
-#include <px4_log.h>
 #include "QueueBuffer.hpp"
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"
@@ -162,8 +161,6 @@ static float MapF(const float x, const float in_min, const float in_max, const f
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }

-#define CONSTRAIN_CHAN(x) ConstrainF(x, CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX)
-
 static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet)
 {
 	uint32_t raw_channels[CRSF_CHANNEL_COUNT];
@@ -172,24 +169,25 @@ static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPac
 	new_packet->message_type = CRSF_MESSAGE_TYPE_RC_CHANNELS;

 	// Decode channel data
-	raw_channels[0] = CONSTRAIN_CHAN((data[0] | data[1] << 8) & 0x07FF);
-	raw_channels[1] = CONSTRAIN_CHAN((data[1]  >> 3 | data[2] << 5) & 0x07FF);
-	raw_channels[2] = CONSTRAIN_CHAN((data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF);
-	raw_channels[3] = CONSTRAIN_CHAN((data[4] >> 1 | data[5] << 7) & 0x07FF);
-	raw_channels[4] = CONSTRAIN_CHAN((data[5] >> 4 | data[6] << 4) & 0x07FF);
-	raw_channels[5] = CONSTRAIN_CHAN((data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF);
-	raw_channels[6] = CONSTRAIN_CHAN((data[8] >> 2 | data[9] << 6) & 0x07FF);
-	raw_channels[7] = CONSTRAIN_CHAN((data[9] >> 5 | data[10] << 3) & 0x07FF);
-	raw_channels[8] = CONSTRAIN_CHAN((data[11] | data[12] << 8) & 0x07FF);
-	raw_channels[9] = CONSTRAIN_CHAN((data[12] >> 3 | data[13] << 5) & 0x07FF);
-	raw_channels[10] = CONSTRAIN_CHAN((data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF);
-	raw_channels[11] = CONSTRAIN_CHAN((data[15] >> 1 | data[16] << 7) & 0x07FF);
-	raw_channels[12] = CONSTRAIN_CHAN((data[16] >> 4 | data[17] << 4) & 0x07FF);
-	raw_channels[13] = CONSTRAIN_CHAN((data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF);
-	raw_channels[14] = CONSTRAIN_CHAN((data[19] >> 2 | data[20] << 6) & 0x07FF);
-	raw_channels[15] = CONSTRAIN_CHAN((data[20] >> 5 | data[21] << 3) & 0x07FF);
+	raw_channels[0] = (data[0] | data[1] << 8) & 0x07FF;
+	raw_channels[1] = (data[1]  >> 3 | data[2] << 5) & 0x07FF;
+	raw_channels[2] = (data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF;
+	raw_channels[3] = (data[4] >> 1 | data[5] << 7) & 0x07FF;
+	raw_channels[4] = (data[5] >> 4 | data[6] << 4) & 0x07FF;
+	raw_channels[5] = (data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF;
+	raw_channels[6] = (data[8] >> 2 | data[9] << 6) & 0x07FF;
+	raw_channels[7] = (data[9] >> 5 | data[10] << 3) & 0x07FF;
+	raw_channels[8] = (data[11] | data[12] << 8) & 0x07FF;
+	raw_channels[9] = (data[12] >> 3 | data[13] << 5) & 0x07FF;
+	raw_channels[10] = (data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF;
+	raw_channels[11] = (data[15] >> 1 | data[16] << 7) & 0x07FF;
+	raw_channels[12] = (data[16] >> 4 | data[17] << 4) & 0x07FF;
+	raw_channels[13] = (data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF;
+	raw_channels[14] = (data[19] >> 2 | data[20] << 6) & 0x07FF;
+	raw_channels[15] = (data[20] >> 5 | data[21] << 3) & 0x07FF;

 	for (i = 0; i < CRSF_CHANNEL_COUNT; i++) {
+		raw_channels[i] = ConstrainF(raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX);
 		new_packet->channel_data.channels[i] = MapF((float)raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX,
 						       1000.0f, 2000.0f);
 	}
@@ -35,6 +35,8 @@
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"

+#include <poll.h>
+#include <termios.h>
 #include <fcntl.h>

 #include <uORB/topics/battery_status.h>
@@ -116,78 +118,76 @@ void CrsfRc::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-
-		if (_uart) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-		}
-
+		::close(_rc_fd);
+		_rc_fd = -1;
 		exit_and_cleanup();
 		return;
 	}

-	if (_uart == nullptr) {
-		// Create the UART port instance
-		_uart = new Serial(_device);
+	if (_rc_fd < 0) {
+		_rc_fd = ::open(_device, O_RDWR | O_NONBLOCK);

-		if (_uart == nullptr) {
-			PX4_ERR("Error creating serial device %s", _device);
-			px4_sleep(1);
-			return;
-		}
-	}
+		if (_rc_fd >= 0) {
+			struct termios t;

-	if (! _uart->isOpen()) {
-		// Configure the desired baudrate if one was specified by the user.
-		// Otherwise the default baudrate will be used.
-		if (! _uart->setBaudrate(CRSF_BAUDRATE)) {
-			PX4_ERR("Error setting baudrate to %u on %s", CRSF_BAUDRATE, _device);
-			px4_sleep(1);
-			return;
-		}
+			tcgetattr(_rc_fd, &t);
+			cfsetspeed(&t, CRSF_BAUDRATE);
+			t.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+			t.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+			t.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
+			t.c_oflag = 0;
+			tcsetattr(_rc_fd, TCSANOW, &t);

-		// Open the UART. If this is successful then the UART is ready to use.
-		if (! _uart->open()) {
-			PX4_ERR("Error opening serial device  %s", _device);
-			px4_sleep(1);
-			return;
-		}
-
-		if (board_rc_swap_rxtx(_device)) {
+			if (board_rc_swap_rxtx(_device)) {
 #if defined(TIOCSSWAP)
-			ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+				ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
 #endif // TIOCSSWAP
-		}
+			}

-		if (board_rc_singlewire(_device)) {
-			_is_singlewire = true;
+			if (board_rc_singlewire(_device)) {
+				_is_singlewire = true;
 #if defined(TIOCSSINGLEWIRE)
-			ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+				ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
 #endif // TIOCSSINGLEWIRE
+			}
+
+			PX4_INFO("Crsf serial opened sucessfully");
+
+			if (_is_singlewire) {
+				PX4_INFO("Crsf serial is single wire. Telemetry disabled");
+			}
+
+			tcflush(_rc_fd, TCIOFLUSH);
+
+			Crc8Init(0xd5);
 		}

-		PX4_INFO("Crsf serial opened sucessfully");
-
-		if (_is_singlewire) {
-			PX4_INFO("Crsf serial is single wire. Telemetry disabled");
-		}
-
-		_uart->flush();
-
-		Crc8Init(0xd5);
-
 		_input_rc.rssi_dbm = NAN;
 		_input_rc.link_quality = -1;

 		CrsfParser_Init();
+
+
+	}
+
+	// poll with 100mS timeout
+	pollfd fds[1];
+	fds[0].fd = _rc_fd;
+	fds[0].events = POLLIN;
+	int ret = ::poll(fds, 1, 100);
+
+	if (ret < 0) {
+		PX4_ERR("poll error");
+		// try again with delay
+		ScheduleDelayed(100_ms);
+		return;
 	}

 	const hrt_abstime time_now_us = hrt_absolute_time();
 	perf_count_interval(_cycle_interval_perf, time_now_us);

 	// Read all available data from the serial RC input UART
-	int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100);
+	int new_bytes = ::read(_rc_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE);

 	if (new_bytes > 0) {
 		_bytes_rx += new_bytes;
@@ -433,8 +433,7 @@ bool CrsfRc::SendTelemetryBattery(const uint16_t voltage, const uint16_t current
 	write_uint24_t(buf, offset, fuel);
 	write_uint8_t(buf, offset, remaining);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return _uart->write((void *) buf, (size_t) offset);
-
+	return write(_rc_fd, buf, offset) == offset;
 }

 bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed,
@@ -450,7 +449,7 @@ bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, c
 	write_uint16_t(buf, offset, altitude);
 	write_uint8_t(buf, offset, num_satellites);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return _uart->write((void *) buf, (size_t) offset);
+	return write(_rc_fd, buf, offset) == offset;
 }

 bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw)
@@ -462,7 +461,7 @@ bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, cons
 	write_uint16_t(buf, offset, roll);
 	write_uint16_t(buf, offset, yaw);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return _uart->write((void *) buf, (size_t) offset);
+	return write(_rc_fd, buf, offset) == offset;
 }

 bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
@@ -481,7 +480,7 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
 	offset += length;
 	buf[offset - 1] = 0; // ensure null-terminated string
 	WriteFrameCrc(buf, offset, length + 4);
-	return _uart->write((void *) buf, (size_t) offset);
+	return write(_rc_fd, buf, offset) == offset;
 }

 int CrsfRc::print_status()
@@ -40,7 +40,6 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
-#include <px4_platform_common/Serial.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
@@ -54,8 +53,6 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_status.h>

-using namespace device;
-
 class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
@@ -90,8 +87,7 @@ private:

 	bool SendTelemetryFlightMode(const char *flight_mode);

-	Serial *_uart = nullptr; ///< UART interface to RC
-
+	int _rc_fd{-1};
 	char _device[20] {}; ///< device / serial port path
 	bool _is_singlewire{false};

@@ -45,7 +45,6 @@ px4_add_module(
 		voxl2_io.cpp
 		voxl2_io.hpp
 	DEPENDS
-		rc
 		px4_work_queue
 		mixer_module
 	MODULE_CONFIG
@@ -42,7 +42,7 @@ class GeoTest : public ::testing::Test
 public:
 	void SetUp() override
 	{
-		proj.initReference(473566094 / 1e7, 85190237 / 1e7, 0);
+		proj.initReference(math::radians(473566094 / 1e7), math::radians(85190237 / 1e7), 0);
 	}

 protected:
@@ -73,7 +73,7 @@ TEST_F(GeoTest, reprojectProject)

 TEST_F(GeoTest, projectReproject)
 {
-	// GIVEN: lat and lon coordinates in the geographic coordinate system
+	// GIVEN: x and y coordinates in the local cartesian frame
 	double lat = 47.356616973876953;
 	double lon = 8.5190505981445313;
 	float x;
@@ -391,6 +391,12 @@ public:
 			for (unsigned j = 0; j < N; j++) {
 				double d = static_cast<double>(self(i, j));

+				// Matrix diagonal elements
+				if (N > 1 && M > 1 && i == j) {
+					// make diagonal elements bold (ANSI CSI n 1)
+					printf("\033[1m");
+				}
+
 				// if symmetric don't print upper triangular elements
 				if ((M == N) && (j > i) && (i < N) && (j < M)
 				    && (fabs(d - static_cast<double>(self(j, i))) < (double)eps)
@@ -411,6 +417,12 @@ public:
 						printf("% 6.5f ", d);
 					}
 				}
+
+				// Matrix diagonal elements
+				if (N > 1 && M > 1 && i == j) {
+					// reset any formatting (ANSI CSI n 0)
+					printf("\033[0m");
+				}
 			}

 			printf("\n");
@@ -14,7 +14,7 @@ class XMLInject():
    def __init__(self, injected_xml_filename):
        self.groups=[]

-        valid_parameter_attributes = set(["category", "default", "name", "type", "volatile", "boolean"])
+        valid_parameter_attributes = set(["category", "default", "name", "type", "volatile"])
        valid_field_tags = set(["board","short_desc", "long_desc", "min", "max", "unit", "decimal", "increment", "reboot_required"])
        valid_other_top_level_tags = set(["group","values"])

@@ -42,8 +42,7 @@ class XMLInject():
                        new_param.default = iparam.get('default')
                    elif param_attrib == 'volatile':
                        new_param.SetVolatile()
-                    elif param_attrib == "boolean":
-                        new_param.SetBoolean()
+

                #get param info stored as child tags
                for child in iparam:
@@ -156,18 +156,18 @@ private:
 #ifndef CONSTRAINED_FLASH
 		&_external_checks,
 #endif
-		&_accelerometer_checks,
-		&_airspeed_checks,
+		//&_accelerometer_checks,
+		//&_airspeed_checks,
 		&_arm_permission_checks,
-		&_baro_checks,
+		//&_baro_checks,
 		&_cpu_resource_checks,
 		&_distance_sensor_checks,
 		&_esc_checks,
 		&_estimator_checks,
 		&_failure_detector_checks,
-		&_gyro_checks,
-		&_imu_consistency_checks,
-		&_magnetometer_checks,
+		//&_gyro_checks,
+		//&_imu_consistency_checks,
+		//&_magnetometer_checks,
 		&_manual_control_checks,
 		&_home_position_checks,
 		&_mission_checks,
@@ -99,7 +99,7 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}

-	if (missing_data && _param_sys_mc_est_group.get() == 2) {
+	if (missing_data && _param_sys_mc_est_group.get() == 2 && false) {
 		/* EVENT
 		 */
 		reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate,
@@ -1006,8 +1006,8 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
 			return PX4_ERROR;
 		}

-		calibration_log_info(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees",
-				     (double)math::degrees(heading_radians));
+		calibration_log_critical(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees",
+					 (double)math::radians(heading_radians));

 		matrix::Eulerf euler{matrix::Quatf{attitude.q}};
 		euler(2) = heading_radians;
@@ -127,8 +127,7 @@ list(APPEND EKF_SRCS
 	EKF/height_control.cpp
 	EKF/imu_down_sampler.cpp
 	EKF/output_predictor.cpp
-	EKF/velocity_fusion.cpp
-	EKF/position_fusion.cpp
+	EKF/vel_pos_fusion.cpp
 	EKF/yaw_fusion.cpp
 	EKF/zero_innovation_heading_update.cpp

@@ -44,8 +44,7 @@ list(APPEND EKF_SRCS
 	height_control.cpp
 	imu_down_sampler.cpp
 	output_predictor.cpp
-	velocity_fusion.cpp
-	position_fusion.cpp
+	vel_pos_fusion.cpp
 	yaw_fusion.cpp
 	zero_innovation_heading_update.cpp

@@ -60,13 +60,22 @@ bool ZeroGyroUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
 		if (zero_gyro_update_data_ready) {

 			Vector3f gyro_bias = _zgup_delta_ang / _zgup_delta_ang_dt;
+			Vector3f innovation = ekf.state().gyro_bias - gyro_bias;

 			const float obs_var = sq(math::constrain(ekf.getGyroNoise(), 0.f, 1.f));

-			for (unsigned i = 0; i < 3; i++) {
-				const float innovation = ekf.state().gyro_bias(i) - gyro_bias(i);
-				const float innov_var = ekf.getGyroBiasVariance()(i) + obs_var;
-				ekf.fuseDirectStateMeasurement(innovation, innov_var, obs_var, State::gyro_bias.idx + i);
+			const Vector3f innov_var = ekf.getGyroBiasVariance() + obs_var;
+
+			for (int i = 0; i < 3; i++) {
+				Ekf::VectorState K;  // Kalman gain vector for any single observation - sequential fusion is used.
+				const unsigned state_index = State::gyro_bias.idx + i;
+
+				// calculate kalman gain K = PHS, where S = 1/innovation variance
+				for (int row = 0; row < State::size; row++) {
+					K(row) = ekf.stateCovariance(row, state_index) / innov_var(i);
+				}
+
+				ekf.measurementUpdate(K, innov_var(i), innovation(i));
 			}

 			// Reset the integrators
@@ -66,7 +66,7 @@ bool ZeroVelocityUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delaye

 			for (unsigned i = 0; i < 3; i++) {
 				const float innovation = ekf.state().vel(i) - vel_obs(i);
-				ekf.fuseDirectStateMeasurement(innovation, innov_var(i), obs_var, State::vel.idx + i);
+				ekf.fuseVelPosHeight(innovation, innov_var(i), State::vel.idx + i);
 			}

 			_time_last_zero_velocity_fuse = imu_delayed.time_us;
@@ -93,7 +93,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 		const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr;
 		const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f);
 		const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant
-		                                         && (is_airspeed_consistent || !_control_status.flags.wind || _control_status.flags.inertial_dead_reckoning);
+		                                         && (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion

 		if (_control_status.flags.fuse_aspd) {
 			if (continuing_conditions_passing) {
@@ -118,16 +118,17 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 		} else if (starting_conditions_passing) {
 			ECL_INFO("starting airspeed fusion");

-			if (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent) {
-				resetVelUsingAirspeed(airspeed_sample);
+			// If starting wind state estimation, reset the wind states and covariances before fusing any data
+			// Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet.
+			const Vector2f wind_var_xy = getWindVelocityVariance();

-			} else if (!_control_status.flags.wind || getWindVelocityVariance().longerThan(_params.initial_wind_uncertainty)) {
-				// If starting wind state estimation, reset the wind states and covariances before fusing any data
-				// Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet.
+			if (!_control_status.flags.wind || (wind_var_xy(0) + wind_var_xy(1) > sq(_params.initial_wind_uncertainty))) {
+				// activate the wind states
+				_control_status.flags.wind = true;
+				// reset the wind speed states and corresponding covariances
 				resetWindUsingAirspeed(airspeed_sample);
 			}

-			_control_status.flags.wind = true;
 			_control_status.flags.fuse_aspd = true;
 		}

@@ -207,7 +208,7 @@ void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_sour
 		K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) = K_wind;
 	}

-	const bool is_fused = measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation);
+	const bool is_fused = measurementUpdate(K, aid_src.innovation_variance, aid_src.innovation);

 	aid_src.fused = is_fused;
 	_fault_status.flags.bad_airspeed = !is_fused;
@@ -246,18 +247,3 @@ void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample)

 	_aid_src_airspeed.time_last_fuse = _time_delayed_us;
 }
-
-void Ekf::resetVelUsingAirspeed(const airspeedSample &airspeed_sample)
-{
-	const float euler_yaw = getEulerYaw(_R_to_earth);
-
-	// Estimate velocity using zero sideslip assumption and airspeed measurement
-	Vector2f horizontal_velocity;
-	horizontal_velocity(0) = _state.wind_vel(0) + airspeed_sample.true_airspeed * cosf(euler_yaw);
-	horizontal_velocity(1) = _state.wind_vel(1) + airspeed_sample.true_airspeed * sinf(euler_yaw);
-
-	float vel_var = NAN; // Do not reset the velocity variance as wind variance estimate is most likely not correct
-	resetHorizontalVelocityTo(horizontal_velocity, vel_var);
-
-	_aid_src_airspeed.time_last_fuse = _time_delayed_us;
-}
@@ -42,10 +42,10 @@ void Ekf::controlAuxVelFusion()

 			resetEstimatorAidStatus(_aid_src_aux_vel);

-			updateHorizontalVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
+			updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);

 			if (isHorizontalAidingActive()) {
-				fuseHorizontalVelocity(_aid_src_aux_vel);
+				fuseVelocity(_aid_src_aux_vel);
 			}
 		}
 	}
@@ -364,6 +364,7 @@ struct parameters {
 	int32_t mag_declination_source{7};      ///< bitmask used to control the handling of declination data
 	int32_t mag_fusion_type{0};             ///< integer used to specify the type of magnetometer fusion used
 	float mag_acc_gate{0.5f};               ///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2)
+	float mag_yaw_rate_gate{0.20f};         ///< yaw rate threshold used by mode select logic (rad/sec)

 	// compute synthetic magnetomter Z value if possible
 	int32_t synthesize_mag_z{0};
@@ -508,9 +509,15 @@ union fault_status_u {
 		bool bad_sideslip      : 1; ///< 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
 		bool bad_optflow_X     : 1; ///< 7 - true if fusion of the optical flow X axis has encountered a numerical error
 		bool bad_optflow_Y     : 1; ///< 8 - true if fusion of the optical flow Y axis has encountered a numerical error
-		bool bad_acc_bias      : 1; ///< 9 - true if bad delta velocity bias estimates have been detected
-		bool bad_acc_vertical  : 1; ///< 10 - true if bad vertical accelerometer data has been detected
-		bool bad_acc_clipping  : 1; ///< 11 - true if delta velocity data contains clipping (asymmetric railing)
+		bool bad_vel_N         : 1; ///< 9 - true if fusion of the North velocity has encountered a numerical error
+		bool bad_vel_E         : 1; ///< 10 - true if fusion of the East velocity has encountered a numerical error
+		bool bad_vel_D         : 1; ///< 11 - true if fusion of the Down velocity has encountered a numerical error
+		bool bad_pos_N         : 1; ///< 12 - true if fusion of the North position has encountered a numerical error
+		bool bad_pos_E         : 1; ///< 13 - true if fusion of the East position has encountered a numerical error
+		bool bad_pos_D         : 1; ///< 14 - true if fusion of the Down position has encountered a numerical error
+		bool bad_acc_bias      : 1; ///< 15 - true if bad delta velocity bias estimates have been detected
+		bool bad_acc_vertical  : 1; ///< 16 - true if bad vertical accelerometer data has been detected
+		bool bad_acc_clipping  : 1; ///< 17 - true if delta velocity data contains clipping (asymmetric railing)
 	} flags;
 	uint32_t value;
 };
@@ -222,6 +222,14 @@ void Ekf::constrainStateVariances()
 #endif // CONFIG_EKF2_WIND
 }

+void Ekf::forceCovarianceSymmetry()
+{
+	// DEBUG
+	// P.isBlockSymmetric(0, 1e-9f);
+
+	P.makeRowColSymmetric<State::size>(0);
+}
+
 void Ekf::constrainStateVar(const IdxDof &state, float min, float max)
 {
 	for (unsigned i = state.idx; i < (state.idx + state.dof); i++) {
@@ -248,6 +256,22 @@ void Ekf::constrainStateVarLimitRatio(const IdxDof &state, float min, float max,
 	}
 }

+// if the covariance correction will result in a negative variance, then
+// the covariance matrix is unhealthy and must be corrected
+bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP)
+{
+	bool healthy = true;
+
+	for (int i = 0; i < State::size; i++) {
+		if (P(i, i) < KHP(i, i)) {
+			P.uncorrelateCovarianceSetVariance<1>(i, 0.f);
+			healthy = false;
+		}
+	}
+
+	return healthy;
+}
+
 void Ekf::resetQuatCov(const float yaw_noise)
 {
 	const float tilt_var = sq(math::max(_params.initial_tilt_err, 0.01f));
@@ -160,7 +160,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample)

 			VectorState K = P * H / _aid_src_drag.innovation_variance[axis_index];

-			if (measurementUpdate(K, H, R_ACC, _aid_src_drag.innovation[axis_index])) {
+			if (measurementUpdate(K, _aid_src_drag.innovation_variance[axis_index], _aid_src_drag.innovation[axis_index])) {
 				fused[axis_index] = true;
 			}
 		}
@@ -326,6 +326,14 @@ void Ekf::predictState(const imuSample &imu_delayed)
 	const float alpha = 1.0f - imu_delayed.delta_vel_dt;
 	_accel_lpf_NE = _accel_lpf_NE * alpha + corrected_delta_vel_ef.xy();

+	// calculate a yaw change about the earth frame vertical
+	const float spin_del_ang_D = corrected_delta_ang.dot(Vector3f(_R_to_earth.row(2)));
+	_yaw_delta_ef += spin_del_ang_D;
+
+	// Calculate filtered yaw rate to be used by the magnetometer fusion type selection logic
+	// Note fixed coefficients are used to save operations. The exact time constant is not important.
+	_yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / imu_delayed.delta_ang_dt;
+
 	// Calculate low pass filtered height rate
 	float alpha_height_rate_lpf = 0.1f * imu_delayed.delta_vel_dt; // 10 seconds time constant
 	_height_rate_lpf = _height_rate_lpf * (1.0f - alpha_height_rate_lpf) + _state.vel(2) * alpha_height_rate_lpf;
@@ -327,8 +327,8 @@ public:
 #endif
 	}

-	// fuse single direct state measurement (eg NED velocity, NED position, mag earth field, etc)
-	bool fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index);
+	// fuse single velocity and position measurement
+	bool fuseVelPosHeight(const float innov, const float innov_var, const int state_index);

 	// gyro bias
 	const Vector3f &getGyroBias() const { return _state.gyro_bias; } // get the gyroscope bias in rad/s
@@ -468,39 +468,35 @@ public:
 	const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; }
 #endif // CONFIG_EKF2_AUXVEL

-	bool measurementUpdate(VectorState &K, const VectorState &H, const float R, const float innovation)
+	bool measurementUpdate(VectorState &K, float innovation_variance, float innovation)
 	{
 		clearInhibitedStateKalmanGains(K);

-		// Efficient implementation of the Joseph stabilized covariance update
-		// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
+		const VectorState KS = K * innovation_variance;
+		SquareMatrixState KHP;

-		// Step 1: conventional update
-		VectorState PH = P * H;
-
-		for (unsigned i = 0; i < State::size; i++) {
-			for (unsigned j = 0; j <= i; j++) {
-				P(i, j) = P(i, j) - K(i) * PH(j);
-				P(j, i) = P(i, j);
+		for (unsigned row = 0; row < State::size; row++) {
+			for (unsigned col = 0; col < State::size; col++) {
+				// Instad of literally computing KHP, use an equvalent
+				// equation involving less mathematical operations
+				KHP(row, col) = KS(row) * K(col);
 			}
 		}

-		// Step 2: stabilized update
-		PH = P * H;
+		const bool is_healthy = checkAndFixCovarianceUpdate(KHP);

-		for (unsigned i = 0; i < State::size; i++) {
-			for (unsigned j = 0; j <= i; j++) {
-				float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
-				P(i, j) = s + K(i) * R * K(j);
-				P(j, i) = P(i, j);
-			}
+		if (is_healthy) {
+			// apply the covariance corrections
+			P -= KHP;
+
+			constrainStateVariances();
+			forceCovarianceSymmetry();
+
+			// apply the state corrections
+			fuse(K, innovation);
 		}

-		constrainStateVariances();
-
-		// apply the state corrections
-		fuse(K, innovation);
-		return true;
+		return is_healthy;
 	}

 	void resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
@@ -576,6 +572,8 @@ private:

 	Vector2f _accel_lpf_NE{};			///< Low pass filtered horizontal earth frame acceleration (m/sec**2)
 	float _height_rate_lpf{0.0f};
+	float _yaw_delta_ef{0.0f};		///< Recent change in yaw angle measured about the earth frame D axis (rad)
+	float _yaw_rate_lpf_ef{0.0f};		///< Filtered angular rate about earth frame D axis (rad/sec)

 	SquareMatrixState P{};	///< state covariance matrix

@@ -704,7 +702,9 @@ private:
 	float _mag_heading_pred_prev{};            ///< previous value of yaw state used by mag heading fusion (rad)

 	// used by magnetometer fusion mode selection
+	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
 	AlphaFilter<float> _mag_heading_innov_lpf{0.1f};
 	float _mag_heading_last_declination{}; ///< last magnetic field declination used for heading fusion (rad)
 	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
@@ -720,6 +720,7 @@ private:

 	// Variables used to control activation of post takeoff functionality
 	uint64_t _flt_mag_align_start_time{0};	///< time that inflight magnetic field alignment started (uSec)
+	uint64_t _time_last_mov_3d_mag_suitable{0};	///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)
 	uint64_t _time_last_mag_check_failing{0};
 #endif // CONFIG_EKF2_MAGNETOMETER

@@ -783,7 +784,6 @@ private:

 	// Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip
 	void resetWindUsingAirspeed(const airspeedSample &airspeed_sample);
-	void resetVelUsingAirspeed(const airspeedSample &airspeed_sample);
 #endif // CONFIG_EKF2_AIRSPEED

 #if defined(CONFIG_EKF2_SIDESLIP)
@@ -828,7 +828,7 @@ private:
 	void updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, const float innov_gate, estimator_aid_source1d_s &aid_src) const;

 	// 2d & 3d velocity aid source
-	void updateHorizontalVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;
+	void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;
 	void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, const float innov_gate, estimator_aid_source3d_s &aid_src) const;

 	// horizontal and vertical position fusion
@@ -836,7 +836,7 @@ private:
 	void fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src);

 	// 2d & 3d velocity fusion
-	void fuseHorizontalVelocity(estimator_aid_source2d_s &vel_aid_src);
+	void fuseVelocity(estimator_aid_source2d_s &vel_aid_src);
 	void fuseVelocity(estimator_aid_source3d_s &vel_aid_src);

 #if defined(CONFIG_EKF2_TERRAIN)
@@ -942,9 +942,15 @@ private:
 #endif // CONFIG_EKF2_WIND
 	}

+	// if the covariance correction will result in a negative variance, then
+	// the covariance matrix is unhealthy and must be corrected
+	bool checkAndFixCovarianceUpdate(const SquareMatrixState &KHP);
+
 	// limit the diagonal of the covariance matrix
 	void constrainStateVariances();

+	void forceCovarianceSymmetry();
+
 	void constrainStateVar(const IdxDof &state, float min, float max);
 	void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f);

@@ -1043,6 +1049,7 @@ private:
 	bool haglYawResetReq();

 	void checkYawAngleObservability();
+	void checkMagBiasObservability();
 	void checkMagHeadingConsistency();

 	bool checkMagField(const Vector3f &mag);
@@ -1130,6 +1137,8 @@ private:
 	void resetFakePosFusion();
 	void stopFakePosFusion();

+	void setVelPosStatus(const int state_index, const bool healthy);
+
 	// reset the quaternion states and covariances to the new yaw value, preserving the roll and pitch
 	// yaw : Euler yaw angle (rad)
 	// yaw_variance : yaw error variance (rad^2)
@@ -45,6 +45,121 @@
 #include <lib/world_magnetic_model/geo_mag_declination.h>
 #include <cstdlib>

+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}, 25.f);
+}
+
+void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var)
+{
+	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, 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>(State::vel.idx, math::max(sq(0.01f), new_horz_vel_var(0)));
+	}
+
+	if (PX4_ISFINITE(new_horz_vel_var(1))) {
+		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 1, math::max(sq(0.01f), new_horz_vel_var(1)));
+	}
+
+	_output_predictor.resetHorizontalVelocityTo(delta_horz_vel);
+
+	// record the state change
+	if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) {
+		_state_reset_status.velNE_change = delta_horz_vel;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.velNE_change += delta_horz_vel;
+	}
+
+	_state_reset_status.reset_count.velNE++;
+
+	// Reset the timout timer
+	_time_last_hor_vel_fuse = _time_delayed_us;
+}
+
+void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
+{
+	const float delta_vert_vel = new_vert_vel - _state.vel(2);
+	_state.vel(2) = new_vert_vel;
+
+	if (PX4_ISFINITE(new_vert_vel_var)) {
+		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 2, math::max(sq(0.01f), new_vert_vel_var));
+	}
+
+	_output_predictor.resetVerticalVelocityTo(delta_vert_vel);
+
+	// record the state change
+	if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) {
+		_state_reset_status.velD_change = delta_vert_vel;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.velD_change += delta_vert_vel;
+	}
+
+	_state_reset_status.reset_count.velD++;
+
+	// Reset the timout timer
+	_time_last_ver_vel_fuse = _time_delayed_us;
+}
+
+void Ekf::resetHorizontalPositionToLastKnown()
+{
+	ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1));
+
+	_information_events.flags.reset_pos_to_last_known = true;
+
+	// Used when falling back to non-aiding mode of operation
+	resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise));
+}
+
+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>(State::pos.idx, math::max(sq(0.01f), new_horz_pos_var(0)));
+	}
+
+	if (PX4_ISFINITE(new_horz_pos_var(1))) {
+		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, math::max(sq(0.01f), new_horz_pos_var(1)));
+	}
+
+	_output_predictor.resetHorizontalPositionTo(delta_horz_pos);
+
+	// record the state change
+	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
+		_state_reset_status.posNE_change = delta_horz_pos;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.posNE_change += delta_horz_pos;
+	}
+
+	_state_reset_status.reset_count.posNE++;
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
+
+	// Reset the timout timer
+	_time_last_hor_pos_fuse = _time_delayed_us;
+}
+
 bool Ekf::isHeightResetRequired() const
 {
 	// check if height is continuously failing because of accel errors
@@ -56,6 +171,68 @@ bool Ekf::isHeightResetRequired() const
 	return (continuous_bad_accel_hgt || hgt_fusion_timeout);
 }

+void Ekf::resetHorizontalPositionToExternal(const Vector2f &new_horiz_pos, float horiz_accuracy) {
+    _information_events.flags.reset_pos_to_ext_obs = true;
+    ECL_INFO("reset position to external observation");
+    resetHorizontalPositionTo(new_horiz_pos, sq(horiz_accuracy));
+}
+
+void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
+{
+	const float old_vert_pos = _state.pos(2);
+	_state.pos(2) = new_vert_pos;
+
+	if (PX4_ISFINITE(new_vert_pos_var)) {
+		// the state variance is the same as the observation
+		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, math::max(sq(0.01f), new_vert_pos_var));
+	}
+
+	const float delta_z = new_vert_pos - old_vert_pos;
+
+	// apply the change in height / height rate to our newest height / height rate estimate
+	// which have already been taken out from the output buffer
+	_output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z);
+
+	// record the state change
+	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
+		_state_reset_status.posD_change = delta_z;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.posD_change += delta_z;
+	}
+
+	_state_reset_status.reset_count.posD++;
+
+#if defined(CONFIG_EKF2_BAROMETER)
+	_baro_b_est.setBias(_baro_b_est.getBias() + delta_z);
+#endif // CONFIG_EKF2_BAROMETER
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - delta_z);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+#if defined(CONFIG_EKF2_GNSS)
+	_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + delta_z);
+#endif // CONFIG_EKF2_GNSS
+#if defined(CONFIG_EKF2_RANGE_FINDER)
+	_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + delta_z);
+#endif // CONFIG_EKF2_RANGE_FINDER
+
+#if defined(CONFIG_EKF2_TERRAIN)
+	terrainHandleVerticalPositionReset(delta_z);
+#endif
+
+	// Reset the timout timer
+	_time_last_hgt_fuse = _time_delayed_us;
+}
+
+void Ekf::resetVerticalVelocityToZero()
+{
+	// we don't know what the vertical velocity is, so set it to zero
+	// Set the variance to a value large enough to allow the state to converge quickly
+	// that does not destabilise the filter
+	resetVerticalVelocityTo(0.0f, 10.f);
+}
+
 #if defined(CONFIG_EKF2_BARO_COMPENSATION)
 float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
 {
@@ -507,7 +684,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
 {
 	ekf_solution_status_u soln_status{};
 	// TODO: Is this accurate enough?
-	soln_status.flags.attitude = attitude_valid();
+	soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0);
 	soln_status.flags.velocity_horiz = (isHorizontalAidingActive() || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0);
 	soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0);
 	soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
@@ -838,45 +1015,3 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
 		_accel_bias_inhibit[index] = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable;
 	}
 }
-
-bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index)
-{
-	VectorState K;  // Kalman gain vector for any single observation - sequential fusion is used.
-
-	// calculate kalman gain K = PHS, where S = 1/innovation variance
-	for (int row = 0; row < State::size; row++) {
-		K(row) = P(row, state_index) / innov_var;
-	}
-
-	clearInhibitedStateKalmanGains(K);
-
-	// Efficient implementation of the Joseph stabilized covariance update
-	// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
-
-	// Step 1: conventional update
-	VectorState PH = P.row(state_index);
-
-	for (unsigned i = 0; i < State::size; i++) {
-		for (unsigned j = 0; j <= i; j++) {
-			P(i, j) = P(i, j) - K(i) * PH(j);
-			P(j, i) = P(i, j);
-		}
-	}
-
-	// Step 2: stabilized update
-	PH = P.row(state_index);
-
-	for (unsigned i = 0; i < State::size; i++) {
-		for (unsigned j = 0; j <= i; j++) {
-			float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
-			P(i, j) = s + K(i) * R * K(j);
-			P(j, i) = P(i, j);
-		}
-	}
-
-	constrainStateVariances();
-
-	// apply the state corrections
-	fuse(K, innov);
-	return true;
-}
@@ -41,7 +41,6 @@
 void Ekf::controlExternalVisionFusion()
 {
 	_ev_pos_b_est.predict(_dt_ekf_avg);
-	_ev_hgt_b_est.predict(_dt_ekf_avg);

 	// Check for new external vision data
 	extVisionSample ev_sample;
@@ -45,7 +45,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com

 	HeightBiasEstimator &bias_est = _ev_hgt_b_est;

-	// bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion()
+	bias_est.predict(_dt_ekf_avg);

 	// correct position for offset relative to IMU
 	const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
@@ -134,7 +134,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
 	// only calculate gains for states we are using
 	VectorState Kfusion = P * H / gnss_yaw.innovation_variance;

-	const bool is_fused = measurementUpdate(Kfusion, H, gnss_yaw.observation_variance, gnss_yaw.innovation);
+	const bool is_fused = measurementUpdate(Kfusion, gnss_yaw.innovation_variance, gnss_yaw.innovation);
 	_fault_status.flags.bad_hdg = !is_fused;
 	gnss_yaw.fused = is_fused;

@@ -111,7 +111,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 		const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];

 		if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
-			fused[index] = measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
+			fused[index] = measurementUpdate(K, _aid_src_gravity.innovation_variance[index], _aid_src_gravity.innovation[index]);
 		}
 	}

@@ -45,12 +45,13 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star

 	resetEstimatorAidStatus(aid_src);

-	const bool wmm_updated = (_wmm_gps_time_last_set >= aid_src.time_last_fuse); // WMM update can occur on the last epoch, just after mag fusion
+	const bool wmm_updated = (_wmm_gps_time_last_set > aid_src.time_last_fuse);

 	// determine if we should use mag fusion
 	bool continuing_conditions_passing = (_params.mag_fusion_type != MagFuseType::NONE)
 					     && _control_status.flags.tilt_align
 					     && (_control_status.flags.yaw_align || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
+					     && (wmm_updated || checkHaglYawResetReq() || isRecent(_time_last_mov_3d_mag_suitable, (uint64_t)3e6))
 					     && mag_sample.mag.longerThan(0.f)
 					     && mag_sample.mag.isAllFinite();

@@ -64,6 +65,8 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 				       && _control_status.flags.mag_aligned_in_flight
 				       && (_control_status.flags.mag_heading_consistent || !_control_status.flags.gps)
 				       && !_control_status.flags.mag_fault
+				       && isRecent(aid_src.time_last_fuse, 500'000)
+				       && getMagBiasVariance().longerThan(0.f) && !getMagBiasVariance().longerThan(sq(0.02f))
 				       && !_control_status.flags.ev_yaw
 				       && !_control_status.flags.gps_yaw;

@@ -89,7 +92,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star

 		if (continuing_conditions_passing && _control_status.flags.yaw_align) {

-			if (mag_sample.reset || checkHaglYawResetReq() || wmm_updated) {
+			if (mag_sample.reset || checkHaglYawResetReq()) {
 				ECL_INFO("reset to %s", AID_SRC_NAME);
 				resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 				aid_src.time_last_fuse = _time_delayed_us;
@@ -47,9 +47,15 @@ void Ekf::controlMagFusion()
 		_control_status.flags.mag_aligned_in_flight = false;
 	}

+	// check mag state observability
 	checkYawAngleObservability();
+	checkMagBiasObservability();
 	checkMagHeadingConsistency();

+	if (_mag_bias_observable || _yaw_angle_observable) {
+		_time_last_mov_3d_mag_suitable = _time_delayed_us;
+	}
+
 	if (_params.mag_fusion_type == MagFuseType::NONE) {
 		stopMagFusion();
 		stopMagHdgFusion();
@@ -239,6 +245,24 @@ void Ekf::checkYawAngleObservability()
 	}
 }

+void Ekf::checkMagBiasObservability()
+{
+	// check if there is enough yaw rotation to make the mag bias states observable
+	if (!_mag_bias_observable && (fabsf(_yaw_rate_lpf_ef) > _params.mag_yaw_rate_gate)) {
+		// initial yaw motion is detected
+		_mag_bias_observable = true;
+
+	} else if (_mag_bias_observable) {
+		// require sustained yaw motion of 50% the initial yaw rate threshold
+		const float yaw_dt = 1e-6f * (float)(_time_delayed_us - _time_yaw_started);
+		const float min_yaw_change_req =  0.5f * _params.mag_yaw_rate_gate * yaw_dt;
+		_mag_bias_observable = fabsf(_yaw_delta_ef) > min_yaw_change_req;
+	}
+
+	_yaw_delta_ef = 0.0f;
+	_time_yaw_started = _time_delayed_us;
+}
+
 void Ekf::checkMagHeadingConsistency()
 {
 	if (fabsf(_mag_heading_innov_lpf.getState()) < _params.mag_heading_noise) {
@@ -191,7 +191,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
 			Kfusion.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) = K_mag_B;
 		}

-		if (measurementUpdate(Kfusion, H, aid_src_mag.observation_variance[index], aid_src_mag.innovation[index])) {
+		if (measurementUpdate(Kfusion, aid_src_mag.innovation_variance[index], aid_src_mag.innovation[index])) {
 			fused[index] = true;
 			limitDeclination();

@@ -227,52 +227,35 @@ bool Ekf::fuseDeclination(float decl_sigma)
 		return false;
 	}

-	float decl_measurement = NAN;
+	// observation variance (rad**2)
+	const float R_DECL = sq(decl_sigma);

-	if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL)
-	    && PX4_ISFINITE(_mag_declination_gps)
-	   ) {
-		decl_measurement = _mag_declination_gps;
+	VectorState H;
+	float decl_pred;
+	float innovation_variance;

-	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
-		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
-		  ) {
-		decl_measurement = math::radians(_params.mag_declination_deg);
+	// TODO: review getMagDeclination() usage, use mag_I, _mag_declination_gps, or parameter?
+	sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H);
+
+	const float innovation = wrap_pi(decl_pred - getMagDeclination());
+
+	if (innovation_variance < R_DECL) {
+		// variance calculation is badly conditioned
+		return false;
 	}

-	if (PX4_ISFINITE(decl_measurement)) {
+	// Calculate the Kalman gains
+	VectorState Kfusion = P * H / innovation_variance;

-		// observation variance (rad**2)
-		const float R_DECL = sq(decl_sigma);
+	const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation);

-		VectorState H;
-		float decl_pred;
-		float innovation_variance;
+	_fault_status.flags.bad_mag_decl = !is_fused;

-		sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H);
-
-		const float innovation = wrap_pi(decl_pred - decl_measurement);
-
-		if (innovation_variance < R_DECL) {
-			// variance calculation is badly conditioned
-			return false;
-		}
-
-		// Calculate the Kalman gains
-		VectorState Kfusion = P * H / innovation_variance;
-
-		const bool is_fused = measurementUpdate(Kfusion, H, R_DECL, innovation);
-
-		_fault_status.flags.bad_mag_decl = !is_fused;
-
-		if (is_fused) {
-			limitDeclination();
-		}
-
-		return is_fused;
+	if (is_fused) {
+		limitDeclination();
 	}

-	return false;
+	return is_fused;
 }

 void Ekf::limitDeclination()
@@ -291,9 +274,7 @@ void Ekf::limitDeclination()
 		// set to 50% of the horizontal strength from geo tables if location is known
 		h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));

-	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
-		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
-		  ) {
+	} else if (_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) {
 		// use parameter value if GPS isn't available
 		decl_reference = math::radians(_params.mag_declination_deg);
 	}
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file optflow_fusion.cpp
+ * @file vel_pos_fusion.cpp
 * Function for fusing gps and baro measurements/
 * equations generated using EKF/python/ekf_derivation/main.py
 *
@@ -146,7 +146,7 @@ void Ekf::fuseOptFlow()

 		VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index];

-		if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index], _aid_src_optical_flow.innovation[index])) {
+		if (measurementUpdate(Kfusion, _aid_src_optical_flow.innovation_variance[index], _aid_src_optical_flow.innovation[index])) {
 			fused[index] = true;
 		}
 	}
@@ -1,210 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015-2024 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 "ekf.h"
-
-void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var,
-		const float innov_gate, estimator_aid_source2d_s &aid_src) const
-{
-	resetEstimatorAidStatus(aid_src);
-
-	for (int i = 0; i < 2; i++) {
-		aid_src.observation[i] = obs(i);
-		aid_src.innovation[i] = _state.pos(i) - aid_src.observation[i];
-
-		aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
-		const int state_index = State::pos.idx + i;
-		aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
-	}
-
-	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
-
-	aid_src.timestamp_sample = time_us;
-}
-
-void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var,
-		const float innov_gate, estimator_aid_source1d_s &aid_src) const
-{
-	resetEstimatorAidStatus(aid_src);
-
-	aid_src.observation = obs;
-	aid_src.innovation = _state.pos(2) - aid_src.observation;
-
-	aid_src.observation_variance = math::max(sq(0.01f), obs_var);
-	aid_src.innovation_variance = P(State::pos.idx + 2, State::pos.idx + 2) + aid_src.observation_variance;
-
-	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
-
-	// z special case if there is bad vertical acceleration data, then don't reject measurement,
-	// but limit innovation to prevent spikes that could destabilise the filter
-	if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) {
-		const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance);
-		aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit);
-		aid_src.innovation_rejected = false;
-	}
-
-	aid_src.timestamp_sample = time_us;
-}
-
-void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src)
-{
-	// x & y
-	if (!aid_src.innovation_rejected
-	    && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], State::pos.idx + 0)
-	    && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], State::pos.idx + 1)
-	   ) {
-		aid_src.fused = true;
-		aid_src.time_last_fuse = _time_delayed_us;
-
-		_time_last_hor_pos_fuse = _time_delayed_us;
-
-	} else {
-		aid_src.fused = false;
-	}
-}
-
-void Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src)
-{
-	// z
-	if (!aid_src.innovation_rejected
-	    && fuseDirectStateMeasurement(aid_src.innovation, aid_src.innovation_variance, aid_src.observation_variance, State::pos.idx + 2)
-	   ) {
-		aid_src.fused = true;
-		aid_src.time_last_fuse = _time_delayed_us;
-
-		_time_last_hgt_fuse = _time_delayed_us;
-
-	} else {
-		aid_src.fused = false;
-	}
-}
-
-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>(State::pos.idx, math::max(sq(0.01f), new_horz_pos_var(0)));
-	}
-
-	if (PX4_ISFINITE(new_horz_pos_var(1))) {
-		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, math::max(sq(0.01f), new_horz_pos_var(1)));
-	}
-
-	_output_predictor.resetHorizontalPositionTo(delta_horz_pos);
-
-	// record the state change
-	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
-		_state_reset_status.posNE_change = delta_horz_pos;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.posNE_change += delta_horz_pos;
-	}
-
-	_state_reset_status.reset_count.posNE++;
-
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change);
-#endif // CONFIG_EKF2_EXTERNAL_VISION
-	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
-
-	// Reset the timout timer
-	_time_last_hor_pos_fuse = _time_delayed_us;
-}
-
-void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
-{
-	const float old_vert_pos = _state.pos(2);
-	_state.pos(2) = new_vert_pos;
-
-	if (PX4_ISFINITE(new_vert_pos_var)) {
-		// the state variance is the same as the observation
-		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, math::max(sq(0.01f), new_vert_pos_var));
-	}
-
-	const float delta_z = new_vert_pos - old_vert_pos;
-
-	// apply the change in height / height rate to our newest height / height rate estimate
-	// which have already been taken out from the output buffer
-	_output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z);
-
-	// record the state change
-	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
-		_state_reset_status.posD_change = delta_z;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.posD_change += delta_z;
-	}
-
-	_state_reset_status.reset_count.posD++;
-
-#if defined(CONFIG_EKF2_BAROMETER)
-	_baro_b_est.setBias(_baro_b_est.getBias() + delta_z);
-#endif // CONFIG_EKF2_BAROMETER
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - delta_z);
-#endif // CONFIG_EKF2_EXTERNAL_VISION
-#if defined(CONFIG_EKF2_GNSS)
-	_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + delta_z);
-#endif // CONFIG_EKF2_GNSS
-#if defined(CONFIG_EKF2_RANGE_FINDER)
-	_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + delta_z);
-#endif // CONFIG_EKF2_RANGE_FINDER
-
-#if defined(CONFIG_EKF2_TERRAIN)
-	terrainHandleVerticalPositionReset(delta_z);
-#endif
-
-	// Reset the timout timer
-	_time_last_hgt_fuse = _time_delayed_us;
-}
-
-void Ekf::resetHorizontalPositionToLastKnown()
-{
-	ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1));
-	_information_events.flags.reset_pos_to_last_known = true;
-
-	// Used when falling back to non-aiding mode of operation
-	resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise));
-}
-
-void Ekf::resetHorizontalPositionToExternal(const Vector2f &new_horiz_pos, float horiz_accuracy)
-{
-	ECL_INFO("reset position to external observation");
-	_information_events.flags.reset_pos_to_ext_obs = true;
-
-	resetHorizontalPositionTo(new_horiz_pos, sq(horiz_accuracy));
-}
@@ -44,7 +44,7 @@ from pyulog.px4 import PX4ULog
 import numpy as np
 import quaternion
 from scipy import optimize
-from scipy.signal import sosfilt, butter
+from scipy.signal import detrend

 def getAllData(logfile):
    log = ULog(logfile)
@@ -59,6 +59,9 @@ def getAllData(logfile):
    baro = getData(log, 'vehicle_air_data', 'baro_alt_meter')
    t_baro = ms2s(getData(log, 'vehicle_air_data', 'timestamp'))

+    baro_bias = getData(log, 'estimator_baro_bias', 'bias')
+    t_baro_bias = ms2s(getData(log, 'estimator_baro_bias', 'timestamp'))
+
    q = np.matrix([getData(log, 'vehicle_attitude', 'q[0]'),
              getData(log, 'vehicle_attitude', 'q[1]'),
              getData(log, 'vehicle_attitude', 'q[2]'),
@@ -68,17 +71,18 @@ def getAllData(logfile):
    gnss_h = getData(log, 'vehicle_gps_position', 'altitude_msl_m')
    t_gnss = ms2s(getData(log, 'vehicle_gps_position', 'timestamp'))

-    (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) = alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h)
+    (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) = alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h, t_baro_bias, baro_bias)

    t_aligned -= t_aligned[0]

-    return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned)
+    return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned)

-def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h):
+def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h, t_baro_bias, baro_bias):
    #TODO: use resample?
    len_q = len(t_q)
    len_l = len(t_local)
    len_g = len(t_gnss)
+    len_bb = len(t_baro_bias)
    i_q = 0
    i_l = 0
    i_g = 0
@@ -87,6 +91,7 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_
    baro_aligned = []
    gnss_h_aligned = []
    v_local_z_aligned = []
+    baro_bias_aligned = []
    t_aligned = []

    for i_b in range(len(t_baro)):
@@ -97,6 +102,8 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_
            i_q += 1
        while t_gnss[i_g] < t and i_g < len_g-1:
            i_g += 1
+        while t_baro_bias[i_bb] < t and i_bb < len_bb-1:
+            i_bb += 1

        # Only use in air data
        if dist_bottom[i_l] < 1.0:
@@ -111,9 +118,10 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_
        baro_aligned = np.append(baro_aligned, baro[i_b])
        v_local_z_aligned = np.append(v_local_z_aligned, v_local[2, i_l])
        gnss_h_aligned = np.append(gnss_h_aligned, gnss_h[i_g])
+        baro_bias_aligned = np.append(baro_bias_aligned, baro_bias[i_bb])
        t_aligned.append(t)

-    return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned)
+    return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned)

 def getData(log, topic_name, variable_name, instance=0):
    variable_data = np.array([])
@@ -151,19 +159,15 @@ def baroCorrection(x, v_body):
    return correction

 def run(logfile):
-    (t, v_body, baro, v_local_z, gnss_h) = getAllData(logfile)
+    (t, v_body, baro, v_local_z, gnss_h, baro_bias) = getAllData(logfile)

    # x[0]: pcoef_xn / g
    # x[1]: pcoef_xp / g
    # x[2]: pcoef_yn / g
    # x[3]: pcoef_yp / g
    # x[4]: pcoef_z / g
-    baro_error = (gnss_h - baro)
-
-    # Remove low ferquency part of the signal as we're only interested in the short-term errors
-    baro_error -= baro_error[0]
-    sos = butter(4, 0.01, 'hp', fs=1/(t[1]-t[0]), output='sos')
-    baro_error = sosfilt(sos, baro_error)
+    baro -= baro_bias
+    baro_error = detrend(gnss_h - baro)

    J = lambda x: np.sum(np.power(baro_error - baroCorrection(x, v_body), 2.0)) # cost function

@@ -142,7 +142,7 @@ void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)
 		K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) = K_wind;
 	}

-	const bool is_fused = measurementUpdate(K, H, sideslip.observation_variance, sideslip.innovation);
+	const bool is_fused = measurementUpdate(K, sideslip.innovation_variance, sideslip.innovation);

 	sideslip.fused = is_fused;
 	_fault_status.flags.bad_sideslip = !is_fused;
@@ -0,0 +1,303 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vel_pos_fusion.cpp
+ *
+ * @author Roman Bast <bapstroman@gmail.com>
+ * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
+ * @author Paul Riseborough <p_riseborough@live.com.au>
+ *
+ */
+
+#include <mathlib/mathlib.h>
+#include "ekf.h"
+
+void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var,
+				     const float innov_gate, estimator_aid_source2d_s &aid_src) const
+{
+	resetEstimatorAidStatus(aid_src);
+
+	for (int i = 0; i < 2; i++) {
+		aid_src.observation[i] = obs(i);
+		aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i];
+
+		aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
+		const int state_index = State::vel.idx + i;
+		aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
+	}
+
+	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
+
+	aid_src.timestamp_sample = time_us;
+}
+
+void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var,
+				     const float innov_gate, estimator_aid_source3d_s &aid_src) const
+{
+	resetEstimatorAidStatus(aid_src);
+
+	for (int i = 0; i < 3; i++) {
+		aid_src.observation[i] = obs(i);
+		aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i];
+
+		aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
+		const int state_index = State::vel.idx + i;
+		aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
+	}
+
+	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
+
+	// vz special case if there is bad vertical acceleration data, then don't reject measurement,
+	// but limit innovation to prevent spikes that could destabilise the filter
+	if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) {
+		const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance[2]);
+		aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit);
+		aid_src.innovation_rejected = false;
+	}
+
+	aid_src.timestamp_sample = time_us;
+}
+
+void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var,
+		const float innov_gate, estimator_aid_source1d_s &aid_src) const
+{
+	resetEstimatorAidStatus(aid_src);
+
+	aid_src.observation = obs;
+	aid_src.innovation = _state.pos(2) - aid_src.observation;
+
+	aid_src.observation_variance = math::max(sq(0.01f), obs_var);
+	aid_src.innovation_variance = P(State::pos.idx + 2, State::pos.idx + 2) + aid_src.observation_variance;
+
+	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
+
+	// z special case if there is bad vertical acceleration data, then don't reject measurement,
+	// but limit innovation to prevent spikes that could destabilise the filter
+	if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) {
+		const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance);
+		aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit);
+		aid_src.innovation_rejected = false;
+	}
+
+	aid_src.timestamp_sample = time_us;
+}
+
+void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var,
+		const float innov_gate, estimator_aid_source2d_s &aid_src) const
+{
+	resetEstimatorAidStatus(aid_src);
+
+	for (int i = 0; i < 2; i++) {
+		aid_src.observation[i] = obs(i);
+		aid_src.innovation[i] = _state.pos(i) - aid_src.observation[i];
+
+		aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
+		const int state_index = State::pos.idx + i;
+		aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
+	}
+
+	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
+
+	aid_src.timestamp_sample = time_us;
+}
+
+void Ekf::fuseVelocity(estimator_aid_source2d_s &aid_src)
+{
+	if (!aid_src.innovation_rejected) {
+		// vx, vy
+		if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx)
+		    && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1)
+		   ) {
+			aid_src.fused = true;
+			aid_src.time_last_fuse = _time_delayed_us;
+
+		} else {
+			aid_src.fused = false;
+		}
+	}
+}
+
+void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src)
+{
+	if (!aid_src.innovation_rejected) {
+		// vx, vy, vz
+		if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx)
+		    && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1)
+		    && fuseVelPosHeight(aid_src.innovation[2], aid_src.innovation_variance[2], State::vel.idx + 2)
+		   ) {
+			aid_src.fused = true;
+			aid_src.time_last_fuse = _time_delayed_us;
+
+		} else {
+			aid_src.fused = false;
+		}
+	}
+}
+
+void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src)
+{
+	// x & y
+	if (!aid_src.innovation_rejected) {
+		if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::pos.idx)
+		    && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::pos.idx + 1)
+		   ) {
+			aid_src.fused = true;
+			aid_src.time_last_fuse = _time_delayed_us;
+
+		} else {
+			aid_src.fused = false;
+		}
+	}
+}
+
+void Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src)
+{
+	// z
+	if (!aid_src.innovation_rejected) {
+		if (fuseVelPosHeight(aid_src.innovation, aid_src.innovation_variance, State::pos.idx + 2)) {
+			aid_src.fused = true;
+			aid_src.time_last_fuse = _time_delayed_us;
+		}
+	}
+}
+
+// Helper function that fuses a single velocity or position measurement
+bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int state_index)
+{
+	VectorState Kfusion;  // Kalman gain vector for any single observation - sequential fusion is used.
+
+	// calculate kalman gain K = PHS, where S = 1/innovation variance
+	for (int row = 0; row < State::size; row++) {
+		Kfusion(row) = P(row, state_index) / innov_var;
+	}
+
+	clearInhibitedStateKalmanGains(Kfusion);
+
+	SquareMatrixState KHP;
+
+	for (unsigned row = 0; row < State::size; row++) {
+		for (unsigned column = 0; column < State::size; column++) {
+			KHP(row, column) = Kfusion(row) * P(state_index, column);
+		}
+	}
+
+	const bool healthy = checkAndFixCovarianceUpdate(KHP);
+
+	setVelPosStatus(state_index, healthy);
+
+	if (healthy) {
+		// apply the covariance corrections
+		P -= KHP;
+
+		constrainStateVariances();
+
+		// apply the state corrections
+		fuse(Kfusion, innov);
+
+		return true;
+	}
+
+	return false;
+}
+
+void Ekf::setVelPosStatus(const int state_index, const bool healthy)
+{
+	switch (state_index) {
+	case State::vel.idx:
+		if (healthy) {
+			_fault_status.flags.bad_vel_N = false;
+			_time_last_hor_vel_fuse = _time_delayed_us;
+
+		} else {
+			_fault_status.flags.bad_vel_N = true;
+		}
+
+		break;
+
+	case State::vel.idx + 1:
+		if (healthy) {
+			_fault_status.flags.bad_vel_E = false;
+			_time_last_hor_vel_fuse = _time_delayed_us;
+
+		} else {
+			_fault_status.flags.bad_vel_E = true;
+		}
+
+		break;
+
+	case State::vel.idx + 2:
+		if (healthy) {
+			_fault_status.flags.bad_vel_D = false;
+			_time_last_ver_vel_fuse = _time_delayed_us;
+
+		} else {
+			_fault_status.flags.bad_vel_D = true;
+		}
+
+		break;
+
+	case State::pos.idx:
+		if (healthy) {
+			_fault_status.flags.bad_pos_N = false;
+			_time_last_hor_pos_fuse = _time_delayed_us;
+
+		} else {
+			_fault_status.flags.bad_pos_N = true;
+		}
+
+		break;
+
+	case State::pos.idx + 1:
+		if (healthy) {
+			_fault_status.flags.bad_pos_E = false;
+			_time_last_hor_pos_fuse = _time_delayed_us;
+
+		} else {
+			_fault_status.flags.bad_pos_E = true;
+		}
+
+		break;
+
+	case State::pos.idx + 2:
+		if (healthy) {
+			_fault_status.flags.bad_pos_D = false;
+			_time_last_hgt_fuse = _time_delayed_us;
+
+		} else {
+			_fault_status.flags.bad_pos_D = true;
+		}
+
+		break;
+	}
+}
@@ -1,195 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015-2024 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 "ekf.h"
-
-void Ekf::updateHorizontalVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var,
-		const float innov_gate, estimator_aid_source2d_s &aid_src) const
-{
-	resetEstimatorAidStatus(aid_src);
-
-	for (int i = 0; i < 2; i++) {
-		aid_src.observation[i] = obs(i);
-		aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i];
-
-		aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
-		const int state_index = State::vel.idx + i;
-		aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
-	}
-
-	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
-
-	aid_src.timestamp_sample = time_us;
-}
-
-void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var,
-				     const float innov_gate, estimator_aid_source3d_s &aid_src) const
-{
-	resetEstimatorAidStatus(aid_src);
-
-	for (int i = 0; i < 3; i++) {
-		aid_src.observation[i] = obs(i);
-		aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i];
-
-		aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
-		const int state_index = State::vel.idx + i;
-		aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
-	}
-
-	setEstimatorAidStatusTestRatio(aid_src, innov_gate);
-
-	// vz special case if there is bad vertical acceleration data, then don't reject measurement,
-	// but limit innovation to prevent spikes that could destabilise the filter
-	if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) {
-		const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance[2]);
-		aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit);
-		aid_src.innovation_rejected = false;
-	}
-
-	aid_src.timestamp_sample = time_us;
-}
-
-void Ekf::fuseHorizontalVelocity(estimator_aid_source2d_s &aid_src)
-{
-	// vx, vy
-	if (!aid_src.innovation_rejected
-	    && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], State::vel.idx + 0)
-	    && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], State::vel.idx + 1)
-	   ) {
-		aid_src.fused = true;
-		aid_src.time_last_fuse = _time_delayed_us;
-
-		_time_last_hor_vel_fuse = _time_delayed_us;
-
-	} else {
-		aid_src.fused = false;
-	}
-}
-
-void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src)
-{
-	// vx, vy, vz
-	if (!aid_src.innovation_rejected
-	    && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], State::vel.idx + 0)
-	    && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], State::vel.idx + 1)
-	    && fuseDirectStateMeasurement(aid_src.innovation[2], aid_src.innovation_variance[2], aid_src.observation_variance[2], State::vel.idx + 2)
-	   ) {
-		aid_src.fused = true;
-		aid_src.time_last_fuse = _time_delayed_us;
-
-		_time_last_hor_vel_fuse = _time_delayed_us;
-		_time_last_ver_vel_fuse = _time_delayed_us;
-
-	} else {
-		aid_src.fused = false;
-	}
-}
-
-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>(State::vel.idx, math::max(sq(0.01f), new_horz_vel_var(0)));
-	}
-
-	if (PX4_ISFINITE(new_horz_vel_var(1))) {
-		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 1, math::max(sq(0.01f), new_horz_vel_var(1)));
-	}
-
-	_output_predictor.resetHorizontalVelocityTo(delta_horz_vel);
-
-	// record the state change
-	if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) {
-		_state_reset_status.velNE_change = delta_horz_vel;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.velNE_change += delta_horz_vel;
-	}
-
-	_state_reset_status.reset_count.velNE++;
-
-	// Reset the timout timer
-	_time_last_hor_vel_fuse = _time_delayed_us;
-}
-
-void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
-{
-	const float delta_vert_vel = new_vert_vel - _state.vel(2);
-	_state.vel(2) = new_vert_vel;
-
-	if (PX4_ISFINITE(new_vert_vel_var)) {
-		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 2, math::max(sq(0.01f), new_vert_vel_var));
-	}
-
-	_output_predictor.resetVerticalVelocityTo(delta_vert_vel);
-
-	// record the state change
-	if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) {
-		_state_reset_status.velD_change = delta_vert_vel;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.velD_change += delta_vert_vel;
-	}
-
-	_state_reset_status.reset_count.velD++;
-
-	// Reset the timout timer
-	_time_last_ver_vel_fuse = _time_delayed_us;
-}
-
-void Ekf::resetHorizontalVelocityToZero()
-{
-	ECL_INFO("reset velocity to zero");
-	_information_events.flags.reset_vel_to_zero = true;
-
-	// Used when falling back to non-aiding mode of operation
-	resetHorizontalVelocityTo(Vector2f{0.f, 0.f}, 25.f);
-}
-
-void Ekf::resetVerticalVelocityToZero()
-{
-	// we don't know what the vertical velocity is, so set it to zero
-	// Set the variance to a value large enough to allow the state to converge quickly
-	// that does not destabilise the filter
-	resetVerticalVelocityTo(0.0f, 10.f);
-}
-
-void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var)
-{
-	resetHorizontalVelocityTo(Vector2f(new_vel), Vector2f(new_vel_var(0), new_vel_var(1)));
-	resetVerticalVelocityTo(new_vel(2), new_vel_var(2));
-}
@@ -113,7 +113,7 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
 		_innov_check_fail_status.flags.reject_yaw = false;
 	}

-	if (measurementUpdate(Kfusion, H_YAW, aid_src_status.observation_variance, aid_src_status.innovation)) {
+	if (measurementUpdate(Kfusion, aid_src_status.innovation_variance, aid_src_status.innovation)) {

 		_time_last_heading_fuse = _time_delayed_us;

@@ -135,6 +135,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_decl_type(_params->mag_declination_source),
 	_param_ekf2_mag_type(_params->mag_fusion_type),
 	_param_ekf2_mag_acclim(_params->mag_acc_gate),
+	_param_ekf2_mag_yawlim(_params->mag_yaw_rate_gate),
 	_param_ekf2_mag_check(_params->mag_check),
 	_param_ekf2_mag_chk_str(_params->mag_check_strength_tolerance_gs),
 	_param_ekf2_mag_chk_inc(_params->mag_check_inclination_tolerance_deg),
@@ -1895,6 +1896,12 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.fs_bad_sideslip          = _ekf.fault_status_flags().bad_sideslip;
 		status_flags.fs_bad_optflow_x         = _ekf.fault_status_flags().bad_optflow_X;
 		status_flags.fs_bad_optflow_y         = _ekf.fault_status_flags().bad_optflow_Y;
+		status_flags.fs_bad_vel_n             = _ekf.fault_status_flags().bad_vel_N;
+		status_flags.fs_bad_vel_e             = _ekf.fault_status_flags().bad_vel_E;
+		status_flags.fs_bad_vel_d             = _ekf.fault_status_flags().bad_vel_D;
+		status_flags.fs_bad_pos_n             = _ekf.fault_status_flags().bad_pos_N;
+		status_flags.fs_bad_pos_e             = _ekf.fault_status_flags().bad_pos_E;
+		status_flags.fs_bad_pos_d             = _ekf.fault_status_flags().bad_pos_D;
 		status_flags.fs_bad_acc_bias          = _ekf.fault_status_flags().bad_acc_bias;
 		status_flags.fs_bad_acc_vertical      = _ekf.fault_status_flags().bad_acc_vertical;
 		status_flags.fs_bad_acc_clipping      = _ekf.fault_status_flags().bad_acc_clipping;
@@ -605,6 +605,7 @@ private:
 		(ParamExtInt<px4::params::EKF2_DECL_TYPE>) _param_ekf2_decl_type,
 		(ParamExtInt<px4::params::EKF2_MAG_TYPE>) _param_ekf2_mag_type,
 		(ParamExtFloat<px4::params::EKF2_MAG_ACCLIM>) _param_ekf2_mag_acclim,
+		(ParamExtFloat<px4::params::EKF2_MAG_YAWLIM>) _param_ekf2_mag_yawlim,
 		(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check,
 		(ParamExtFloat<px4::params::EKF2_MAG_CHK_STR>) _param_ekf2_mag_chk_str,
 		(ParamExtFloat<px4::params::EKF2_MAG_CHK_INC>) _param_ekf2_mag_chk_inc,
@@ -503,9 +503,9 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
 PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);

 /**
- * Horizontal acceleration threshold used for heading observability check
+ * Horizontal acceleration threshold used by automatic selection of magnetometer fusion method.
 *
- * The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.
+ * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
 *
 * @group EKF2
 * @min 0.0
@@ -515,6 +515,19 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
 */
 PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f);

+/**
+ * Yaw rate threshold used by automatic selection of magnetometer fusion method.
+ *
+ * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
+ *
+ * @group EKF2
+ * @min 0.0
+ * @max 1.0
+ * @unit rad/s
+ * @decimal 2
+ */
+PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.20f);
+
 /**
 * Gate size for barometric and GPS height fusion
 *
@@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,3.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 1090000,1,-0.01,-0.014,0.00012,0.016,0.0051,-0.11,0.0018,0.00086,-0.039,4.1e-05,-6.2e-05,9.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.023,0.023,0.00046,0.93,0.93,2,0.17,0.17,0.84,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 1190000,1,-0.01,-0.014,9.8e-05,0.02,0.0053,-0.12,0.0035,0.0014,-0.051,4.1e-05,-6.2e-05,9.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.025,0.025,0.00054,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1290000,1,-0.01,-0.014,0.00015,0.02,0.0044,-0.14,0.0027,0.00088,-0.064,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.026,0.026,0.00041,0.89,0.89,2,0.15,0.15,1.4,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
+1290000,1,-0.01,-0.014,0.00015,0.02,0.0044,-0.14,0.0027,0.00089,-0.064,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.026,0.026,0.00041,0.89,0.89,2,0.15,0.15,1.4,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 1390000,1,-0.01,-0.014,0.00016,0.026,0.0042,-0.15,0.0051,0.0013,-0.078,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.028,0.028,0.00047,1.2,1.2,2,0.21,0.21,1.7,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1490000,1,-0.01,-0.014,0.00014,0.024,0.0029,-0.16,0.0037,0.00083,-0.093,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.027,0.027,0.00036,0.96,0.96,2,0.14,0.14,2.1,0.0088,0.0089,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1590000,1,-0.01,-0.014,0.00013,0.03,0.0035,-0.18,0.0065,0.0012,-0.11,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.03,0.03,0.00042,1.3,1.3,2,0.21,0.21,2.6,0.0088,0.0089,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1690000,1,-0.011,-0.014,9.6e-05,0.028,-9.9e-05,-0.19,0.0045,0.00063,-0.13,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.026,0.026,0.00033,1,1,2,0.14,0.14,3,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1790000,1,-0.011,-0.014,6.5e-05,0.035,-0.002,-0.2,0.0076,0.00054,-0.15,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.028,0.028,0.00037,1.3,1.3,2,0.21,0.21,3.5,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
+1490000,1,-0.01,-0.014,0.00014,0.024,0.0029,-0.16,0.0038,0.00083,-0.093,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.027,0.027,0.00036,0.96,0.96,2,0.14,0.14,2.1,0.0088,0.0088,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
+1590000,1,-0.01,-0.014,0.00013,0.031,0.0035,-0.18,0.0065,0.0012,-0.11,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.03,0.03,0.00042,1.3,1.3,2,0.2,0.2,2.6,0.0088,0.0088,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
+1690000,1,-0.011,-0.014,9.6e-05,0.028,-9.5e-05,-0.19,0.0045,0.00063,-0.13,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.026,0.026,0.00033,1,1,2,0.14,0.14,3,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
+1790000,1,-0.011,-0.014,6.5e-05,0.035,-0.0019,-0.2,0.0076,0.00054,-0.15,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.028,0.028,0.00037,1.3,1.3,2,0.2,0.2,3.5,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 1890000,1,-0.011,-0.015,4.4e-05,0.043,-0.0032,-0.22,0.011,0.00029,-0.17,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.031,0.031,0.00042,1.7,1.7,2,0.31,0.31,4.1,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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@@ -100,11 +100,6 @@ bool EkfWrapper::isIntendingBetaFusion() const
 	return _ekf->control_status_flags().fuse_beta;
 }

-bool EkfWrapper::isIntendingAirspeedFusion() const
-{
-	return _ekf->control_status_flags().fuse_aspd;
-}
-
 void EkfWrapper::enableGpsFusion()
 {
 	_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL);
@@ -73,8 +73,6 @@ public:
 	void disableBetaFusion();
 	bool isIntendingBetaFusion() const;

-	bool isIntendingAirspeedFusion() const;
-
 	void enableGpsFusion();
 	void disableGpsFusion();
 	bool isIntendingGpsFusion() const;
@@ -132,7 +132,7 @@ void SensorSimulator::setSensorDataToDefault()
 	_flow.setData(_flow.dataAtRest());
 	_gps.setData(_gps.getDefaultGpsData());
 	_imu.setData(Vector3f{0.0f, 0.0f, -CONSTANTS_ONE_G}, Vector3f{0.0f, 0.0f, 0.0f});
-	_mag.setData(Vector3f{0.218f, 0.f, 0.43f});
+	_mag.setData(Vector3f{0.2f, 0.0f, 0.4f});
 	_rng.setData(0.2f, 100);
 	_vio.setData(_vio.dataAtRest());
 }
@@ -358,7 +358,7 @@ void SensorSimulator::setSensorDataFromTrajectory()

 	// Magnetometer
 	if (_mag.isRunning()) {
-		const Vector3f world_mag_field = Vector3f{0.218f, 0.f, 0.43f};
+		const Vector3f world_mag_field = Vector3f{0.2f, 0.0f, 0.4f};
 		const Vector3f mag_field_body = R_world_to_body * world_mag_field;
 		_mag.setData(mag_field_body);
 	}
@@ -419,10 +419,7 @@ void SensorSimulator::simulateOrientation(Quatf orientation)
 	_R_body_to_world = Dcmf(orientation);

 	const Vector3f world_sensed_gravity = {0.0f, 0.0f, -CONSTANTS_ONE_G};
-
-	// The world mag field Y component is 0 as most unit tests assume no magnetic dectination
-	const Vector3f world_mag_field = Vector3f{0.218f, 0.f, 0.43f};
-
+	const Vector3f world_mag_field = Vector3f{0.2f, 0.0f, 0.4f};
 	const Vector3f sensed_gravity_body = _R_body_to_world.transpose() * world_sensed_gravity;
 	const Vector3f body_mag_field = _R_body_to_world.transpose() * world_mag_field;

@@ -166,39 +166,3 @@ TEST_F(EkfAirspeedTest, testResetWindUsingAirspeed)
 	EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1.f);
 	EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1.f);
 }
-
-TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
-{
-	const Vector3f simulated_velocity_earth(-3.6f, 8.f, 0.0f);
-	const Vector2f airspeed_body(15.f, 0.0f);
-	_sensor_simulator.runSeconds(10);
-
-	_ekf->set_in_air_status(true);
-	_ekf->set_vehicle_at_rest(false);
-	_ekf->set_is_fixed_wing(true);
-
-	const double latitude_new  = -15.0000005;
-	const double longitude_new = -115.0000005;
-	const float altitude_new  = 1500.0;
-
-	_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new);
-	_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, 50.f, 0);
-
-	// Simulate the fact that the sideslip can start immediately, without
-	// waiting for a measurement sample.
-	_ekf_wrapper.enableBetaFusion();
-	_sensor_simulator.runSeconds(1.f);
-	EXPECT_TRUE(_ekf_wrapper.isIntendingBetaFusion());
-
-	_sensor_simulator.startAirspeedSensor();
-	_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
-	_sensor_simulator.runSeconds(1.f);
-	EXPECT_TRUE(_ekf_wrapper.isIntendingAirspeedFusion());
-
-	EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
-	const Vector3f vel = _ekf->getVelocity();
-	EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-3f);
-	const Vector2f vel_wind_earth = _ekf->getWindVelocity();
-	EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f);
-	EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f);
-}
@@ -107,8 +107,7 @@ TEST_F(EkfBasicsTest, initialControlMode)
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow);
 	EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
-	EXPECT_EQ(1, (int) _ekf->control_status_flags().mag);
-	EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec);
+	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().wind);
 	EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt);
@@ -162,8 +161,7 @@ TEST_F(EkfBasicsTest, gpsFusion)
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow);
 	EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
-	EXPECT_EQ(1, (int) _ekf->control_status_flags().mag);
-	EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec);
+	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().wind);
 	EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt);
@@ -144,10 +144,8 @@ TEST_F(EkfDragFusionTest, testLateralMomentumDrag)
 	predicted_accel(0) =   CONSTANTS_ONE_G * sinf(pitch);
 	predicted_accel(1) = - CONSTANTS_ONE_G * sinf(roll);
 	Vector2f wind_speed = predicted_accel / mcoef;
-	// Note that the wind direction is stightly incorrect heading estimate due to a mismatch between
-	// the simulated mag field and assumed dectination from the WMM
-	EXPECT_NEAR(vel_wind_earth(0), wind_speed(0), fmaxf(1.0f, 0.15f * fabsf(wind_speed.norm())));
-	EXPECT_NEAR(vel_wind_earth(1), wind_speed(1), fmaxf(1.0f, 0.15f * fabsf(wind_speed.norm())));
+	EXPECT_NEAR(vel_wind_earth(0), wind_speed(0), fmaxf(1.0f, 0.1f * fabsf(wind_speed(0))));
+	EXPECT_NEAR(vel_wind_earth(1), wind_speed(1), fmaxf(1.0f, 0.1f * fabsf(wind_speed(1))));
 };

 TEST_F(EkfDragFusionTest, testForwardBluffBodyDrag)
@@ -241,7 +241,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData)
 	_sensor_simulator.runSeconds(5.f);

 	// AND WHEN: there is a pure yaw rotation
-	const Vector3f body_rate(0.f, 0.f, 2.9f);
+	const Vector3f body_rate(0.f, 0.f, 3.14159f);
 	const Vector3f flow_offset(0.15, -0.05f, 0.2f);
 	_ekf_wrapper.setFlowOffset(flow_offset);

@@ -277,47 +277,6 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData)

 	_sensor_simulator.runSeconds(5.f);

-	// AND WHEN: there is a pure yaw rotation
-	const Vector3f body_rate(0.f, 0.f, 2.9f);
-	const Vector3f flow_offset(-0.15, 0.05f, 0.2f);
-	_ekf_wrapper.setFlowOffset(flow_offset);
-
-	const Vector2f simulated_horz_velocity(body_rate % flow_offset);
-	flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
-	setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground);
-
-	// use flow sensor gyro data
-	// for clarification of the sign, see definition of flowSample
-	flow_sample.gyro_rate = -body_rate;
-
-	_sensor_simulator._flow.setData(flow_sample);
-	_sensor_simulator._imu.setGyroData(body_rate);
-	_sensor_simulator.runSeconds(10.f);
-
-	// THEN: the flow due to the yaw rotation and the offsets is canceled
-	// and the velocity estimate stays 0
-	const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
-	EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
-			<< "estimated vel = " << estimated_horz_velocity(0);
-	EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
-			<< "estimated vel = " << estimated_horz_velocity(1);
-	_ekf->state().vector().print();
-	_ekf->covariances().print();
-}
-
-TEST_F(EkfFlowTest, yawMotionNoMagFusion)
-{
-	// WHEN: fusing range finder and optical flow data in air
-	const float simulated_distance_to_ground = 5.f;
-	startRangeFinderFusion(simulated_distance_to_ground);
-	startZeroFlowFusion();
-	_ekf_wrapper.setMagFuseTypeNone();
-
-	_ekf->set_in_air_status(true);
-	_ekf->set_vehicle_at_rest(false);
-
-	_sensor_simulator.runSeconds(5.f);
-
 	// AND WHEN: there is a pure yaw rotation
 	const Vector3f body_rate(0.f, 0.f, 3.14159f);
 	const Vector3f flow_offset(-0.15, 0.05f, 0.2f);
@@ -342,6 +301,4 @@ TEST_F(EkfFlowTest, yawMotionNoMagFusion)
 			<< "estimated vel = " << estimated_horz_velocity(0);
 	EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
 			<< "estimated vel = " << estimated_horz_velocity(1);
-	_ekf->state().vector().print();
-	_ekf->covariances().print();
 }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	c11f61d57d	commander: skip estimatorCheck for now	2024-02-15 15:46:31 -05:00
Daniel Agar	d9a924225c	simulator_mavlink: add heading_good_for_control	2024-02-15 15:46:14 -05:00
Daniel Agar	5f91c7fc2b	simulation: HIL_STATE_QUATERNION add angular acceleration and protect from initial lat/lon 0	2024-02-15 15:20:33 -05:00
Daniel Agar	79538ac013	[WIP] simple simulation without sensor/estimator	2024-02-15 14:57:37 -05:00