revert pr breaking non-multi EKF gz

Added Zero Turn Lawnmower model (#22717 )
* Added Lawnmower airframe * Update 5005_gz_lawnmower Works all right * Update 5005_gz_lawnmower RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED * Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com> * Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com> * Renamed 5005_gz_lawnmower to 4011_gz_lawnmower also pulled latest GZ models hash --------- Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
2026-06-12 03:00:04 +08:00 · 2024-02-22 16:22:15 +01:00 · 2024-02-22 15:30:12 +01:00 · 2024-02-22 15:29:13 +01:00 · 2024-02-22 15:29:13 +01:00 · 2024-02-22 15:29:13 +01:00
48 changed files with 1006 additions and 730 deletions
@@ -0,0 +1,80 @@
+#!/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
@@ -82,6 +82,7 @@ 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
@@ -164,6 +164,10 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5

+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

@@ -10,7 +10,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -28,4 +27,5 @@ 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.lat = hil_gps.lat;
-	gps.lon = hil_gps.lon;
-	gps.alt = hil_gps.alt;
-	gps.alt_ellipsoid = hil_gps.alt;
+	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.s_variance_m_s = 0.25f;
 	gps.c_variance_rad = 0.5f;
@@ -173,6 +173,7 @@ set(msg_files
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
 	Rpm.msg
+	RtlStatus.msg
 	RtlTimeEstimate.msg
 	SatelliteInfo.msg
 	SensorAccel.msg
@@ -55,15 +55,9 @@ 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_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)
+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)


 # innovation test failures
@@ -0,0 +1,15 @@
+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
@@ -48,6 +48,8 @@

 #include <board_config.h>

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

 typedef struct {
 	hw_base_id_t             hw_base_id; /* The ID of the Base */
@@ -40,15 +40,34 @@
 #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();

@@ -45,6 +45,7 @@ px4_add_module(
 		voxl2_io.cpp
 		voxl2_io.hpp
 	DEPENDS
+		rc
 		px4_work_queue
 		mixer_module
 	MODULE_CONFIG
@@ -127,7 +127,8 @@ list(APPEND EKF_SRCS
 	EKF/height_control.cpp
 	EKF/imu_down_sampler.cpp
 	EKF/output_predictor.cpp
-	EKF/vel_pos_fusion.cpp
+	EKF/velocity_fusion.cpp
+	EKF/position_fusion.cpp
 	EKF/yaw_fusion.cpp
 	EKF/zero_innovation_heading_update.cpp

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

@@ -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.fuseVelPosHeight(innovation, innov_var(i), State::vel.idx + i);
+				ekf.fuseDirectStateMeasurement(innovation, innov_var(i), State::vel.idx + i);
 			}

 			_time_last_zero_velocity_fuse = imu_delayed.time_us;
@@ -42,10 +42,10 @@ void Ekf::controlAuxVelFusion()

 			resetEstimatorAidStatus(_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);
+			updateHorizontalVelocityAidSrcStatus(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()) {
-				fuseVelocity(_aid_src_aux_vel);
+				fuseHorizontalVelocity(_aid_src_aux_vel);
 			}
 		}
 	}
@@ -509,15 +509,9 @@ 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_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)
+		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)
 	} flags;
 	uint32_t value;
 };
@@ -327,8 +327,8 @@ public:
 #endif
 	}

-	// fuse single velocity and position measurement
-	bool fuseVelPosHeight(const float innov, const float innov_var, const int state_index);
+	// fuse single direct state measurement (eg NED velocity, NED position, mag earth field, etc)
+	bool fuseDirectStateMeasurement(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
@@ -477,7 +477,7 @@ public:

 		for (unsigned row = 0; row < State::size; row++) {
 			for (unsigned col = 0; col < State::size; col++) {
-				// Instad of literally computing KHP, use an equvalent
+				// Instead of literally computing KHP, use an equivalent
 				// equation involving less mathematical operations
 				KHP(row, col) = KS(row) * K(col);
 			}
@@ -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 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 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 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 fuseVelocity(estimator_aid_source2d_s &vel_aid_src);
+	void fuseHorizontalVelocity(estimator_aid_source2d_s &vel_aid_src);
 	void fuseVelocity(estimator_aid_source3d_s &vel_aid_src);

 #if defined(CONFIG_EKF2_TERRAIN)
@@ -1137,8 +1137,6 @@ 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)
@@ -45,121 +45,6 @@
 #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
@@ -171,68 +56,6 @@ 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
 {
@@ -684,7 +507,7 @@ 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 = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0);
+	soln_status.flags.attitude = attitude_valid();
 	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);
@@ -1015,3 +838,39 @@ 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 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);
+
+	if (healthy) {
+		// apply the covariance corrections
+		P -= KHP;
+
+		constrainStateVariances();
+
+		// apply the state corrections
+		fuse(Kfusion, innov);
+
+		return true;
+	}
+
+	return false;
+}
@@ -41,6 +41,7 @@
 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);
+	// bias_est.predict(_dt_ekf_avg) called by controlExternalVisionFusion()

 	// correct position for offset relative to IMU
 	const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
@@ -227,35 +227,52 @@ bool Ekf::fuseDeclination(float decl_sigma)
 		return false;
 	}

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

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

-	// 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;
+	} 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);
 	}

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

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

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

-	if (is_fused) {
-		limitDeclination();
+		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, innovation_variance, innovation);
+
+		_fault_status.flags.bad_mag_decl = !is_fused;
+
+		if (is_fused) {
+			limitDeclination();
+		}
+
+		return is_fused;
 	}

-	return is_fused;
+	return false;
 }

 void Ekf::limitDeclination()
@@ -274,7 +291,9 @@ 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) {
+	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
+		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
+		  ) {
 		// use parameter value if GPS isn't available
 		decl_reference = math::radians(_params.mag_declination_deg);
 	}
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file vel_pos_fusion.cpp
+ * @file optflow_fusion.cpp
 * Function for fusing gps and baro measurements/
 * equations generated using EKF/python/ekf_derivation/main.py
 *
@@ -0,0 +1,210 @@
+/****************************************************************************
+ *
+ *   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], State::pos.idx + 0)
+	    && fuseDirectStateMeasurement(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;
+
+		_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, 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));
+}
@@ -1,303 +0,0 @@
-/****************************************************************************
- *
- *   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;
-	}
-}
@@ -0,0 +1,195 @@
+/****************************************************************************
+ *
+ *   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], State::vel.idx + 0)
+	    && fuseDirectStateMeasurement(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;
+
+		_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], State::vel.idx + 0)
+	    && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1)
+	    && fuseDirectStateMeasurement(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;
+
+		_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));
+}
@@ -1896,12 +1896,6 @@ 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;
@@ -270,122 +270,122 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 26790000,0.78,0.074,-0.028,-0.62,1.1,0.83,-1.3,0.54,0.53,-3.7e+02,-0.00075,-0.0058,1e-05,0.0093,-0.02,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00041,0.00081,0.019,0.074,0.09,0.0061,0.39,0.4,0.033,5.8e-07,5.8e-07,5e-06,0.031,0.031,0.00015,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 26890000,0.78,0.096,-0.035,-0.62,1.2,0.92,-1.3,0.65,0.61,-3.7e+02,-0.00075,-0.0058,1e-05,0.0093,-0.02,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.0011,0.019,0.08,0.1,0.0061,0.42,0.43,0.034,5.8e-07,5.8e-07,5e-06,0.031,0.031,0.00015,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 26990000,0.77,0.12,-0.039,-0.62,1.4,1,-1.3,0.79,0.71,-3.7e+02,-0.00074,-0.0058,1e-05,0.0093,-0.02,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00052,0.0014,0.018,0.088,0.11,0.0061,0.45,0.47,0.033,5.8e-07,5.9e-07,5e-06,0.031,0.031,0.00015,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-27090000,0.77,0.12,-0.04,-0.62,1.6,1.2,-1.3,0.94,0.82,-3.7e+02,-0.00074,-0.0058,1e-05,0.0092,-0.02,-0.13,-0.1,-0.023,0.51,0.0048,-0.1,-0.04,0,0,0.00053,0.0015,0.018,0.097,0.13,0.0062,0.49,0.51,0.033,5.9e-07,5.9e-07,5e-06,0.031,0.031,0.00015,0.0013,0.00033,0.0013,0.00053,0.0013,0.0013,1,1
-27190000,0.77,0.11,-0.037,-0.63,1.8,1.3,-1.2,1.1,0.94,-3.7e+02,-0.00074,-0.0058,1e-05,0.0092,-0.02,-0.13,-0.11,-0.024,0.5,0.0049,-0.1,-0.041,0,0,0.0005,0.0013,0.019,0.11,0.14,0.0062,0.53,0.55,0.034,5.9e-07,5.9e-07,5e-06,0.031,0.031,0.00015,0.0012,0.00022,0.0013,0.00033,0.0013,0.0013,1,1
-27290000,0.77,0.097,-0.033,-0.63,1.9,1.4,-1.2,1.3,1.1,-3.7e+02,-0.00074,-0.0058,1e-05,0.0092,-0.019,-0.13,-0.11,-0.024,0.5,0.0051,-0.1,-0.042,0,0,0.00047,0.0011,0.019,0.11,0.16,0.0062,0.57,0.6,0.033,5.9e-07,5.9e-07,5e-06,0.031,0.031,0.00014,0.0012,0.00017,0.0013,0.00023,0.0013,0.0013,1,1
-27390000,0.77,0.08,-0.029,-0.63,2,1.5,-1.2,1.5,1.2,-3.7e+02,-0.00074,-0.0058,1e-05,0.0091,-0.019,-0.13,-0.11,-0.024,0.5,0.005,-0.1,-0.043,0,0,0.00044,0.00087,0.019,0.12,0.17,0.0063,0.61,0.65,0.033,5.9e-07,5.9e-07,5e-06,0.031,0.031,0.00014,0.0012,0.00014,0.0013,0.00018,0.0013,0.0012,1,1
-27490000,0.78,0.065,-0.025,-0.63,2.1,1.5,-1.2,1.7,1.4,-3.7e+02,-0.00074,-0.0058,1.1e-05,0.009,-0.019,-0.13,-0.11,-0.024,0.5,0.0045,-0.1,-0.043,0,0,0.00041,0.00071,0.019,0.13,0.18,0.0063,0.66,0.71,0.033,5.9e-07,5.9e-07,5e-06,0.031,0.031,0.00014,0.0012,0.00013,0.0012,0.00014,0.0012,0.0012,1,1
-27590000,0.78,0.052,-0.021,-0.63,2.1,1.6,-1.2,1.9,1.5,-3.7e+02,-0.00074,-0.0058,1.1e-05,0.0089,-0.019,-0.13,-0.11,-0.025,0.5,0.004,-0.099,-0.044,0,0,0.0004,0.0006,0.02,0.14,0.19,0.0063,0.71,0.77,0.034,5.9e-07,5.9e-07,5e-06,0.031,0.031,0.00014,0.0012,0.00012,0.0012,0.00012,0.0012,0.0012,1,1
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@@ -40,3 +40,5 @@ px4_add_library(FlightTaskUtility

 target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier SlewRate motion_planning mathlib)
 target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+px4_add_functional_gtest(SRC StickTiltXYTest.cpp LINKLIBS FlightTaskUtility)
@@ -40,7 +40,18 @@ using namespace matrix;

 StickTiltXY::StickTiltXY(ModuleParams *parent) :
 	ModuleParams(parent)
-{}
+{
+	updateParams();
+}
+
+void StickTiltXY::updateParams()
+{
+	ModuleParams::updateParams();
+	// Consider maximum tilt but only between [0.02,3]g sideways acceleration -> ~[1,71]° tilt
+	// Constrain tilt already because tanf(90+°) will give negative result
+	const float maximum_tilt = math::radians(math::constrain(_param_mpc_man_tilt_max.get(), 0.f, 89.f));
+	_maximum_acceleration = math::constrain(tanf(maximum_tilt), .02f, 3.f) * CONSTANTS_ONE_G;
+}

 Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
 		const float yaw_setpoint)
@@ -49,5 +60,5 @@ Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const flo
 	_man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
 	stick_xy = _man_input_filter.update(stick_xy);
 	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint);
-	return stick_xy * tanf(math::radians(_param_mpc_man_tilt_max.get())) * CONSTANTS_ONE_G;
+	return stick_xy * _maximum_acceleration;
 }
@@ -63,6 +63,9 @@ public:
 	matrix::Vector2f generateAccelerationSetpoints(matrix::Vector2f stick_xy, const float dt, const float yaw,
 			const float yaw_setpoint);
 private:
+	void updateParams() override;
+
+	float _maximum_acceleration{0.f};
 	AlphaFilter<matrix::Vector2f> _man_input_filter;

 	DEFINE_PARAMETERS(
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 <gtest/gtest.h>
+#include "StickTiltXY.hpp"
+
+#include <geo/geo.h>
+
+using namespace matrix;
+
+TEST(StickTiltXYTest, AllZeroCase)
+{
+	StickTiltXY stick_tilt_xy{nullptr};
+	Vector2f acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(), 0.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f());
+}
+
+TEST(StickTiltXYTest, NormalRollPitchCases)
+{
+	// Disable autosaving parameters to avoid busy loop in param_set()
+	param_control_autosave(false);
+
+	float value = 45.f;
+	param_set(param_find("MPC_MAN_TILT_MAX"), &value);
+
+	StickTiltXY stick_tilt_xy{nullptr};
+	// Pitch
+	Vector2f acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, 0.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G, 0.f));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(.5f, 0.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G / 2.f, 0.f));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-.5f, 0.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G / 2.f, 0.f));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-1.f, 0.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G, 0.f));
+	// Roll
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, 1.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(0.f, CONSTANTS_ONE_G));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, .5f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(0.f, CONSTANTS_ONE_G / 2.f));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, -.5f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(0.f, -CONSTANTS_ONE_G / 2.f));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(0.f, -1.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(0.f, -CONSTANTS_ONE_G));
+	// Roll & Pitch
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, 1.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G / M_SQRT2_F, CONSTANTS_ONE_G / M_SQRT2_F));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, -1.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(CONSTANTS_ONE_G / M_SQRT2_F, -CONSTANTS_ONE_G / M_SQRT2_F));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-1.f, 1.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G / M_SQRT2_F, CONSTANTS_ONE_G / M_SQRT2_F));
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(-1.f, -1.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(-CONSTANTS_ONE_G / M_SQRT2_F, -CONSTANTS_ONE_G / M_SQRT2_F));
+}
+
+TEST(StickTiltXYTest, 90degreeCase)
+{
+	// Disable autosaving parameters to avoid busy loop in param_set()
+	param_control_autosave(false);
+
+	float value = 90.f;
+	param_set(param_find("MPC_MAN_TILT_MAX"), &value);
+
+	StickTiltXY stick_tilt_xy{nullptr};
+	// Pitch
+	// Zero input leads to zero output
+	Vector2f acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f());
+	// Maximum input leads to the maximum of 3g sideways acceleration
+	acc_xy = stick_tilt_xy.generateAccelerationSetpoints(Vector2f(1.f, 0.f), 1.f, 0.f, 0.f);
+	EXPECT_EQ(acc_xy, Vector2f(3.f * CONSTANTS_ONE_G, 0.f));
+}
@@ -92,7 +92,7 @@ public:

 private:
 	bool _input_available{false};
-	matrix::Vector4f _positions; ///< unmodified manual stick inputs
+	matrix::Vector4f _positions; ///< unmodified manual stick inputs that usually move vehicle in x, y, z and yaw direction
 	matrix::Vector4f _positions_expo; ///< modified manual sticks using expo function

 	matrix::Vector<float, 6> _aux_positions;
@@ -102,6 +102,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
 	add_topic("rtl_time_estimate", 1000);
+	add_optional_topic("rtl_status", 5000);
 	add_optional_topic("sensor_airflow", 100);
 	add_topic("sensor_combined");
 	add_optional_topic("sensor_correction");
@@ -35,8 +35,8 @@
 * Maximal tilt angle in Stabilized or Altitude mode
 *
 * @unit deg
- * @min 0
- * @max 90
+ * @min 1
+ * @max 70
 * @decimal 0
 * @increment 1
 * @group Multicopter Position Control
@@ -275,10 +275,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 		uORB::Manager::get_instance()->set_uorb_communicator(
 			uORB::ProtobufChannel::GetInstance());

-		param_init();
-
 		px4::WorkQueueManagerStart();

+		param_init();
+
 		uORB::ProtobufChannel::GetInstance()->RegisterSendHandler(muorb_func_ptrs.topic_data_func_ptr);

 		// Configure the I2C driver function pointers
@@ -125,6 +125,12 @@ void FeasibilityChecker::updateData()
 		_current_position_lat_lon = matrix::Vector2d(vehicle_global_position.lat, vehicle_global_position.lon);
 	}

+	if (_rtl_status_sub.updated()) {
+		rtl_status_s rtl_status = {};
+		_rtl_status_sub.copy(&rtl_status);
+		_has_vtol_approach = rtl_status.has_vtol_approach;
+	}
+
 	param_t handle = param_find("FW_LND_ANG");

 	if (handle != PARAM_INVALID) {
@@ -577,17 +583,22 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 		break;

 	case 4:
-		result = _has_takeoff == _landing_valid;
+		result = hasMissionBothOrNeitherTakeoffAndLanding();

-		if (!result && (_has_takeoff)) {
-			mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Landing item or remove Takeoff.\t");
-			events::send(events::ID("navigator_mis_add_land_or_rm_to"), {events::Log::Error, events::LogInternal::Info},
-				     "Mission rejected: Add Landing item or remove Takeoff");
+		break;

-		} else if (!result && (_landing_valid)) {
-			mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Takeoff item or remove Landing.\t");
-			events::send(events::ID("navigator_mis_add_to_or_rm_land"), {events::Log::Error, events::LogInternal::Info},
-				     "Mission rejected: Add Takeoff item or remove Landing");
+	case 5:
+		if (!_is_landed && !_has_vtol_approach) {
+			result = _landing_valid;
+
+			if (!result) {
+				mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Landing waypoint/pattern required.");
+				events::send(events::ID("feasibility_mis_in_air_landing_req"), {events::Log::Error, events::LogInternal::Info},
+					     "Mission rejected: Landing waypoint/pattern required");
+			}
+
+		} else {
+			result = hasMissionBothOrNeitherTakeoffAndLanding();
 		}

 		break;
@@ -600,6 +611,23 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 	return result;
 }

+bool FeasibilityChecker::hasMissionBothOrNeitherTakeoffAndLanding()
+{
+	bool result{_has_takeoff == _landing_valid};
+
+	if (!result && (_has_takeoff)) {
+		mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Landing item or remove Takeoff.\t");
+		events::send(events::ID("navigator_mis_add_land_or_rm_to"), {events::Log::Error, events::LogInternal::Info},
+			     "Mission rejected: Add Landing item or remove Takeoff");
+
+	} else if (!result && (_landing_valid)) {
+		mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Add Takeoff item or remove Landing.\t");
+		events::send(events::ID("navigator_mis_add_to_or_rm_land"), {events::Log::Error, events::LogInternal::Info},
+			     "Mission rejected: Add Takeoff item or remove Landing");
+	}
+
+	return result;
+}

 bool FeasibilityChecker::checkHorizontalDistanceToFirstWaypoint(mission_item_s &mission_item)
 {
@@ -36,6 +36,7 @@
 #include "../navigation.h"
 #include <mathlib/mathlib.h>
 #include <uORB/topics/home_position.h>
+#include <uORB/topics/rtl_status.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_land_detected.h>
@@ -97,6 +98,7 @@ private:
 	uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
+	uORB::Subscription _rtl_status_sub{ORB_ID(rtl_status)};

 	// parameters
 	float _param_fw_lnd_ang{0.f};
@@ -106,6 +108,7 @@ private:

 	bool _is_landed{false};
 	float _home_alt_msl{NAN};
+	bool _has_vtol_approach{false};
 	matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
 	matrix::Vector2d _current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
 	VehicleType _vehicle_type{VehicleType::RotaryWing};
@@ -247,4 +250,8 @@ private:
 	 * @return False if the check failed.
 	*/
 	void doMulticopterChecks(mission_item_s &mission_item, const int current_index);
+
+	// Helper functions
+
+	bool hasMissionBothOrNeitherTakeoffAndLanding();
 };
@@ -83,7 +83,7 @@ Land::on_active()

 		// create a virtual wp 1m in front of the vehicle to track during the backtransition
 		waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
-						   _navigator->get_position_setpoint_triplet()->current.yaw, 1.f,
+						   _navigator->get_local_position()->heading, 1.f,
 						   &pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon);

 		_navigator->set_position_setpoint_triplet_updated();
@@ -89,10 +89,9 @@ MissionBase::updateDatamanCache()
 {
 	if ((_mission.count > 0) && (_mission.current_seq != _load_mission_index)) {

-		int32_t start_index = _mission.current_seq;
-		int32_t end_index = start_index + _dataman_cache_size_signed;
-
-		end_index = math::max(math::min(end_index, static_cast<int32_t>(_mission.count)), INT32_C(0));
+		const int32_t start_index = math::constrain(_mission.current_seq, INT32_C(0), int32_t(_mission.count) - 1);
+		const int32_t end_index = math::constrain(start_index + _dataman_cache_size_signed, INT32_C(0),
+					  int32_t(_mission.count) - 1);

 		for (int32_t index = start_index; index != end_index; index += math::signNoZero(_dataman_cache_size_signed)) {

@@ -115,8 +114,8 @@ void MissionBase::updateMavlinkMission()
 		const bool mission_data_changed = checkMissionDataChanged(new_mission);

 		if (new_mission.current_seq < 0) {
-			new_mission.current_seq = math::max(math::min(_mission.current_seq, static_cast<int32_t>(new_mission.count) - 1),
-							    INT32_C(0));
+			new_mission.current_seq = math::constrain(_mission.current_seq, INT32_C(0),
+						  static_cast<int32_t>(new_mission.count) - 1);
 		}

 		_mission = new_mission;
@@ -1147,22 +1146,20 @@ void MissionBase::resetMission()
 	}

 	/* Set a new mission*/
-	mission_s new_mission{_mission};
-	new_mission.timestamp = hrt_absolute_time();
-	new_mission.current_seq = 0;
-	new_mission.land_start_index = -1;
-	new_mission.land_index = -1;
-	new_mission.count = 0u;
-	new_mission.mission_id = 0u;
-	new_mission.mission_dataman_id = _mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ?
-					 DM_KEY_WAYPOINTS_OFFBOARD_1 :
-					 DM_KEY_WAYPOINTS_OFFBOARD_0;
+	_mission.timestamp = hrt_absolute_time();
+	_mission.current_seq = 0;
+	_mission.land_start_index = -1;
+	_mission.land_index = -1;
+	_mission.count = 0u;
+	_mission.mission_id = 0u;
+	_mission.mission_dataman_id = _mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ?
+				      DM_KEY_WAYPOINTS_OFFBOARD_1 :
+				      DM_KEY_WAYPOINTS_OFFBOARD_0;

-	bool success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&new_mission),
+	bool success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&_mission),
 			sizeof(mission_s));

 	if (success) {
-		_mission = new_mission;
 		_mission_pub.publish(_mission);

 	} else {
@@ -68,6 +68,7 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
 * @value 2 Require a landing
 * @value 3 Require a takeoff and a landing
 * @value 4 Require both a takeoff and a landing, or neither
+ * @value 5 Same as previous, but require a landing if in air and no valid VTOL landing approach is present
 * @group Mission
 */
 PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
@@ -208,7 +208,7 @@ void Navigator::run()

 			if (mission.safe_points_id != safe_points_id) {
 				safe_points_id = mission.safe_points_id;
-				_rtl.updateSafePoints();
+				_rtl.updateSafePoints(safe_points_id);
 			}
 		}

@@ -294,12 +294,14 @@ void RTL::setRtlTypeAndDestination()

 	init_rtl_mission_type();

+	uint8_t safe_point_index{0U};
+
 	if (_param_rtl_type.get() != 2) {
 		// check the closest allowed destination.
 		DestinationType destination_type{DestinationType::DESTINATION_TYPE_HOME};
 		PositionYawSetpoint rtl_position;
 		float rtl_alt;
-		findRtlDestination(destination_type, rtl_position, rtl_alt);
+		findRtlDestination(destination_type, rtl_position, rtl_alt, safe_point_index);

 		switch (destination_type) {
 		case DestinationType::DESTINATION_TYPE_MISSION_LAND:
@@ -331,9 +333,29 @@ void RTL::setRtlTypeAndDestination()
 			break;
 		}
 	}
+
+	// Publish rtl status
+	_rtl_status_pub.get().timestamp = hrt_absolute_time();
+	_rtl_status_pub.get().safe_points_id = _safe_points_id;
+	_rtl_status_pub.get().is_evaluation_pending = _dataman_state != DatamanState::UpdateRequestWait;
+	_rtl_status_pub.get().has_vtol_approach = false;
+
+	if ((_param_rtl_type.get() == 0) || (_param_rtl_type.get() == 3)) {
+		_rtl_status_pub.get().has_vtol_approach = _home_has_land_approach || _one_rally_point_has_land_approach;
+
+	} else if (_param_rtl_type.get() == 1) {
+		_rtl_status_pub.get().has_vtol_approach = _one_rally_point_has_land_approach;
+	}
+
+	_rtl_status_pub.get().rtl_type = static_cast<uint8_t>(_rtl_type);
+	_rtl_status_pub.get().safe_point_index = safe_point_index;
+
+	_rtl_status_pub.update();
+
 }

-void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt)
+void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt,
+			     uint8_t &safe_point_index)
 {
 	// set destination to home per default, then check if other valid landing spot is closer
 	rtl_position.alt = _home_pos_sub.get().alt;
@@ -352,8 +374,10 @@ void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpo
 	float home_dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, rtl_position.lat, rtl_position.lon)};
 	float min_dist;

+	_home_has_land_approach = hasVtolLandApproach(rtl_position);
+
 	if (((_param_rtl_type.get() == 1) && !vtol_in_rw_mode) || (vtol_in_fw_mode && (_param_rtl_approach_force.get() == 1)
-			&& !hasVtolLandApproach(rtl_position))) {
+			&& !_home_has_land_approach)) {
 		// Set minimum distance to maximum value when RTL_TYPE is set to 1 and we are not in RW mode or we forces approach landing for vtol in fw and it is not defined for home.
 		min_dist = FLT_MAX;

@@ -394,6 +418,8 @@ void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpo

 	if (_safe_points_updated) {

+		_one_rally_point_has_land_approach = false;
+
 		for (int current_seq = 0; current_seq < _dataman_cache_safepoint.size(); ++current_seq) {
 			mission_item_s mission_safe_point;

@@ -416,11 +442,16 @@ void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpo
 				PositionYawSetpoint safepoint_position;
 				setSafepointAsDestination(safepoint_position, mission_safe_point);

+				bool current_safe_point_has_approaches{hasVtolLandApproach(safepoint_position)};
+
+				_one_rally_point_has_land_approach |= current_safe_point_has_approaches;
+
 				if (((dist + MIN_DIST_THRESHOLD) < min_dist) && (!vtol_in_fw_mode || (_param_rtl_approach_force.get() == 0)
-						|| hasVtolLandApproach(safepoint_position))) {
+						|| current_safe_point_has_approaches)) {
 					min_dist = dist;
 					rtl_position = safepoint_position;
 					destination_type = DestinationType::DESTINATION_TYPE_SAFE_POINT;
+					safe_point_index = current_seq;
 				}
 			}
 		}
@@ -58,6 +58,7 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/rtl_status.h>
 #include <uORB/topics/rtl_time_estimate.h>

 class Navigator;
@@ -86,7 +87,7 @@ public:

 	void set_return_alt_min(bool min) { _enforce_rtl_alt = min; }

-	void updateSafePoints() { _initiate_safe_points_updated = true; }
+	void updateSafePoints(uint32_t new_safe_point_id) { _initiate_safe_points_updated = true; _safe_points_id = new_safe_point_id; }

 private:
 	enum class DestinationType {
@@ -109,7 +110,8 @@ private:
 	 * @brief Find RTL destination.
 	 *
 	 */
-	void findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt);
+	void findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt,
+				uint8_t &safe_point_index);

 	/**
 	 * @brief Set the position of the land start marker in the planned mission as destination.
@@ -188,6 +190,9 @@ private:

 	RtlType _rtl_type{RtlType::RTL_DIRECT};

+	bool _home_has_land_approach;			///< Flag if the home position has a land approach defined
+	bool _one_rally_point_has_land_approach;	///< Flag if a rally point has a land approach defined
+
 	DatamanState _dataman_state{DatamanState::UpdateRequestWait};
 	DatamanState _error_state{DatamanState::UpdateRequestWait};
 	uint32_t _opaque_id{0}; ///< dataman safepoint id: if it does not match, safe points data was updated
@@ -197,6 +202,7 @@ private:
 	bool _initiate_safe_points_updated{true}; ///< flag indicating if safe points update is needed
 	mutable DatamanCache _dataman_cache_landItem{"rtl_dm_cache_miss_land", 2};
 	uint32_t _mission_id = 0u;
+	uint32_t _safe_points_id = 0u;

 	mission_stats_entry_s _stats;

@@ -222,4 +228,5 @@ private:
 	uORB::SubscriptionData<wind_s>		_wind_sub{ORB_ID(wind)};

 	uORB::Publication<rtl_time_estimate_s> _rtl_time_estimate_pub{ORB_ID(rtl_time_estimate)};
+	uORB::PublicationData<rtl_status_s> _rtl_status_pub{ORB_ID(rtl_status)};
 };
@@ -438,15 +438,18 @@ void AutopilotTester::fly_forward_in_posctl()
 	}

 	CHECK(_manual_control->start_position_control() == ManualControl::Result::Success);
+	store_home();
+	wait_until_ready();
+	arm();

-	// Climb up for 20 seconds
-	for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) {
+	// Climb up for 5 seconds
+	for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
 		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
 		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
 	}

-	// Fly forward for 60 seconds
-	for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
+	// Fly forward for 10 seconds
+	for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) {
 		CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
 		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
 	}
@@ -473,15 +476,18 @@ void AutopilotTester::fly_forward_in_altctl()
 	}

 	CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success);
+	store_home();
+	wait_until_ready();
+	arm();

-	// Climb up for 20 seconds
-	for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) {
+	// Climb up for 5 seconds
+	for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
 		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
 		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
 	}

-	// Fly forward for 60 seconds
-	for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
+	// Fly forward for 10 seconds
+	for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) {
 		CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
 		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
 	}
@@ -38,9 +38,6 @@ TEST_CASE("Fly forward in position control", "[multicopter][vtol]")
 {
 	AutopilotTester tester;
 	tester.connect(connection_url);
-	tester.wait_until_ready();
-	tester.store_home();
-	tester.arm();
 	tester.fly_forward_in_posctl();
 	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
 	tester.wait_until_disarmed(until_disarmed_timeout);
@@ -51,9 +48,6 @@ TEST_CASE("Fly forward in altitude control", "[multicopter][vtol]")
 {
 	AutopilotTester tester;
 	tester.connect(connection_url);
-	tester.wait_until_ready();
-	tester.store_home();
-	tester.arm();
 	tester.fly_forward_in_altctl();
 	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
 	tester.wait_until_disarmed(until_disarmed_timeout);
@@ -34,6 +34,7 @@
 #include "autopilot_tester.h"
 #include <chrono>

+static constexpr float acceptance_radius = 0.3f;

 TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
 {
@@ -45,7 +46,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
 	tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
 	tester.arm();
 	std::chrono::seconds goto_timeout = std::chrono::seconds(90);
-	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
+	tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
 	tester.offboard_land();
 	tester.wait_until_disarmed(std::chrono::seconds(120));
 	tester.check_home_within(1.0f);
@@ -63,12 +64,12 @@ TEST_CASE("Offboard position control", "[multicopter][offboard]")
 	tester.store_home();
 	tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
 	tester.arm();
-	std::chrono::seconds goto_timeout = std::chrono::seconds(120);
-	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
-	tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
-	tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
-	tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
-	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
+	std::chrono::seconds goto_timeout = std::chrono::seconds(10);
+	tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
+	tester.offboard_goto(setpoint_1, acceptance_radius, goto_timeout);
+	tester.offboard_goto(setpoint_2, acceptance_radius, goto_timeout);
+	tester.offboard_goto(setpoint_3, acceptance_radius, goto_timeout);
+	tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
 	tester.offboard_land();
 	tester.wait_until_disarmed(std::chrono::seconds(120));
 	tester.check_home_within(1.0f);
Author	SHA1	Message	Date
PerFrivik	717ee531cb	revert pr breaking non-multi EKF gz	2024-02-22 16:22:15 +01:00
Sergei Grichine	b405d75553	Added Zero Turn Lawnmower model (#22717 ) * Added Lawnmower airframe * Update 5005_gz_lawnmower Works all right * Update 5005_gz_lawnmower RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED * Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com> * Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com> * Renamed 5005_gz_lawnmower to 4011_gz_lawnmower also pulled latest GZ models hash --------- Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>	2024-02-22 15:30:12 +01:00
Matthias Grob	4e3bd4f196	MAVSDK tests: shorten Position, Altitude control flights We get more than 5 meter away much quicker.	2024-02-22 15:29:13 +01:00
Matthias Grob	0cc4b41a51	MAVSDK test: Fix fly_forward_in_altctl() timing	2024-02-22 15:29:13 +01:00
Matthias Grob	f602228048	MAVSDK test: increase offboard position threshold This is a workaround to hotfix CI but the root cause is #22792 (MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)	2024-02-22 15:29:13 +01:00
PerFrivik	9b122adae4	Fix fly_forward_in_posctl() timing	2024-02-22 15:29:13 +01:00
Eric Katzfey	1ec0ba4736	Added param system command to voxl2 slpi build	2024-02-21 11:54:02 -05:00
Eric Katzfey	8da8b88a54	Fixed and added Qurt platform dsp_hitl driver	2024-02-21 11:54:02 -05:00
Eric Katzfey	be08c57a0a	Changed order of service startup in SLPI DSP muorb since parameter library now needs work queues	2024-02-21 11:54:02 -05:00
Eric Katzfey	a436a8f3b8	Fixed unresolved symbol error for qurt platform due to missing sbus library	2024-02-21 11:54:02 -05:00
Eric Katzfey	5ad0e68d8e	Fix build error for Qurt platform in pab_manifest.c	2024-02-21 11:54:02 -05:00
Eric Katzfey	f07eeaa776	Added special muorb startup ordering in px4_init for posix platform	2024-02-21 11:52:24 -05:00
Daniel Agar	506c60c471	ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL)	2024-02-21 09:45:44 -05:00
Niklas Hauser	643d3e3bf3	Navigator: Prevent busy-looping if Dataman read/write times out MissionBase did not initialize its mission data, thus could enter an infinite loop in updateDatamanCache() if the initMission() failed to read the mission off, for example, due to the SDCard storage task taking longer than the timeout to respond. This change constrains the loading loop and resets the mission data even if the data write failed.	2024-02-21 13:31:43 +01:00
Daniel Agar	8243b4f474	ekf2: move vel/pos reset helpers	2024-02-20 13:16:24 -05:00
Daniel Agar	22b957696d	ekf2: velocity/position fusion helper minor consistency cleanup	2024-02-20 13:16:24 -05:00
Daniel Agar	c338891677	ekf2: split vel_pos_fusion.cpp	2024-02-20 13:16:24 -05:00
Daniel Agar	c4c41c49e5	ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() - don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits	2024-02-20 13:16:24 -05:00
Daniel Agar	021dd0d0af	ekf2: fix EV height bias predict call - needs to be called every iteration	2024-02-20 11:47:53 -05:00
bresch	c221da27a7	ekf2: set attitude validity flag using centralized function	2024-02-20 11:33:30 -05:00
Matthias Grob	51fe4351c6	StickTiltXY: Fix too high maximum tilt problem And add unit tests.	2024-02-20 14:27:49 +01:00
Silvan Fuhrer	8a75733511	Navigator: fix VTOL land waypoint calculation The setpoint.yaw can be NAN, and this made the calculated land point NAN as well. Looking at the current yaw is anyway a better way to approximate the course over ground that fundamentally should be used. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-02-19 14:54:28 +01:00
Daniel Agar	1032dd3470	ekf: fix measurementUpdate comment typo	2024-02-19 09:41:49 +01:00
Konrad	424c3cd2cb	FeasibilityChecker: Add new TakeoffLandAvailable option ADd a new misison feasiblity checker option to check if a proper landing approach is defined when in air. There must be at least a mission landing or a VTOL approach defined in order for the mission to be accepted. Else, use the same logic as in MIS_TKO_LAND_REQ=4	2024-02-16 10:27:22 +01:00
Konrad	68100650da	RTL: publish a status message on currently chosen RTL point	2024-02-16 10:27:22 +01:00