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
2026-05-27 22:00:04 +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
149 changed files with 3873 additions and 2325 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.
@@ -30,5 +30,4 @@ exec find boards msg src platforms test \
    -path src/lib/cdrstream/cyclonedds -prune -o \
    -path src/lib/cdrstream/rosidl -prune -o \
    -path src/modules/zenoh/zenoh-pico -prune -o \
-    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -73,16 +73,9 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>

-@{
-queue_length = 1
-for constant in spec.constants:
-	if constant.name == 'ORB_QUEUE_LENGTH':
-		queue_length = constant.val
-}@
-
@[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
@[end for]

 void print_message(const orb_metadata *meta, const @uorb_struct& message)
@@ -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
 *
@@ -4,13 +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_IMU_INVENSENSE_ICM42688P=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_QSHELL_QURT=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -28,5 +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
@@ -44,10 +44,11 @@ add_library(drivers_board
    )

 # Add custom drivers for SLPI
+# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
 add_subdirectory(${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;
@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__invensense__icm42688p
+	MAIN icm42688p
+	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
+	SRCS
+		icm42688p_main.cpp
+		ICM42688P.cpp
+		ICM42688P.hpp
+		InvenSense_ICM42688P_registers.hpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers__device
+	)
@@ -0,0 +1,991 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 "ICM42688P.hpp"
+
+bool hitl_mode = false;
+
+using namespace time_literals;
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
+	// SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
+	// I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+	// _drdy_gpio(drdy_gpio)
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
+{
+	if (config.drdy_gpio != 0) {
+		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
+	}
+
+	if (!hitl_mode) {
+		// _px4_accel = std::make_shared<PX4Accelerometer>(get_device_id(), rotation);
+		// _px4_gyro = std::make_shared<PX4Gyroscope>(get_device_id(), rotation);
+		ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+		// _imu_server_pub.advertise();
+
+	} else {
+		ConfigureSampleRate(0);
+	}
+}
+
+ICM42688P::~ICM42688P()
+{
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+	perf_free(_fifo_empty_perf);
+	perf_free(_fifo_overflow_perf);
+	perf_free(_fifo_reset_perf);
+	perf_free(_drdy_missed_perf);
+
+	// if (!hitl_mode){
+	//  		_imu_server_pub.unadvertise();
+	// }
+}
+
+int ICM42688P::init()
+{
+	int ret = SPI::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("SPI::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool ICM42688P::Reset()
+{
+	_state = STATE::RESET;
+	DataReadyInterruptDisable();
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void ICM42688P::exit_and_cleanup()
+{
+	DataReadyInterruptDisable();
+	I2CSPIDriverBase::exit_and_cleanup();
+}
+
+void ICM42688P::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
+
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_fifo_empty_perf);
+	perf_print_counter(_fifo_overflow_perf);
+	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_drdy_missed_perf);
+}
+
+int ICM42688P::probe()
+{
+	for (int i = 0; i < 3; i++) {
+		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+
+		if (whoami == WHOAMI) {
+			PX4_INFO("ICM42688P::probe successful!");
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+
+			uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL);
+			int bank = reg_bank_sel >> 4;
+
+			if (bank >= 1 && bank <= 3) {
+				DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank);
+				// force bank selection and retry
+				SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true);
+			}
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+void ICM42688P::RunImpl()
+{
+	PX4_INFO(">>> ICM42688P this: %p", this);
+
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// DEVICE_CONFIG: Software reset configuration
+		RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective
+		break;
+
+	case STATE::WAIT_FOR_RESET:
+		if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
+		    && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00)
+		    && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) {
+
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
+
+		} else {
+			// RESET not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Reset failed, retrying");
+				_state = STATE::RESET;
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_DEBUG("Reset not complete, check again in 10 ms");
+				ScheduleDelayed(10_ms);
+			}
+		}
+
+		break;
+
+	case STATE::CONFIGURE:
+
+		if (Configure()) {
+
+			// Wakeup accel and gyro after configuring registers
+			ScheduleDelayed(1_ms); // add a delay here to be safe
+			RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE);
+			ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
+
+			// if configure succeeded then start reading from FIFO
+			_state = STATE::FIFO_READ;
+
+			if (DataReadyInterruptConfigure()) {
+				_data_ready_interrupt_enabled = true;
+
+				// backup schedule as a watchdog timeout
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_ERR("ICM42688P::RunImpl interrupt configuration failed");
+
+				_data_ready_interrupt_enabled = false;
+				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+			}
+
+			FIFOReset();
+
+		} else {
+
+			PX4_ERR("ICM42688P::RunImpl configuration failed");
+
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::FIFO_READ: {
+#ifndef __PX4_QURT
+			uint32_t samples = 0;
+
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
+				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+					perf_count(_drdy_missed_perf);
+
+				} else {
+					samples = _fifo_gyro_samples;
+				}
+
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			if (samples == 0) {
+				// check current FIFO count
+				const uint16_t fifo_count = FIFOReadCount();
+
+				if (fifo_count >= FIFO::SIZE) {
+					FIFOReset();
+					perf_count(_fifo_overflow_perf);
+
+				} else if (fifo_count == 0) {
+					perf_count(_fifo_empty_perf);
+
+				} else {
+					// FIFO count (size in bytes)
+					samples = (fifo_count / sizeof(FIFO::DATA));
+
+					if (samples > FIFO_MAX_SAMPLES) {
+						// not technically an overflow, but more samples than we expected or can publish
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
+						samples = 0;
+					}
+				}
+			}
+
+			bool success = false;
+
+			if (samples >= 1) {
+				if (FIFORead(now, samples)) {
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
+					}
+				}
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			// check configuration registers periodically or immediately following any failure
+			if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
+			    && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
+			    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
+			   ) {
+				_last_config_check_timestamp = now;
+				_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
+				_checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg;
+				_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
+
+			} else {
+				// register check failed, force reset
+				perf_count(_bad_register_perf);
+				Reset();
+			}
+
+#endif
+		}
+
+		break;
+	}
+}
+
+void ICM42688P::ConfigureSampleRate(int sample_rate)
+{
+	if (sample_rate == 0) {
+		sample_rate = 800; // default to 800 Hz
+	}
+
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
+	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
+
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+
+	// recompute FIFO empty interval (us) with actual gyro sample limit
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+
+	ConfigureFIFOWatermark(_fifo_gyro_samples);
+}
+
+void ICM42688P::ConfigureFIFOWatermark(uint8_t samples)
+{
+	// FIFO watermark threshold in number of bytes
+	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
+
+	for (auto &r : _register_bank0_cfg) {
+		if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
+			// FIFO_WM[7:0]  FIFO_CONFIG2
+			r.set_bits = fifo_watermark_threshold & 0xFF;
+
+		} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
+			// FIFO_WM[11:8] FIFO_CONFIG3
+			r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
+		}
+	}
+}
+
+void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force)
+{
+	if (bank != _last_register_bank || force) {
+		// select BANK_0
+		uint8_t cmd_bank_sel[2] {};
+		cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
+		cmd_bank_sel[1] = bank;
+		transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
+
+		_last_register_bank = bank;
+	}
+}
+
+bool ICM42688P::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_bank0_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	for (const auto &reg_cfg : _register_bank1_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	for (const auto &reg_cfg : _register_bank2_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	// now check that all are configured
+	bool success = true;
+
+	for (const auto &reg_cfg : _register_bank0_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg_cfg : _register_bank1_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg_cfg : _register_bank2_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	// // 20-bits data format used
+	// //  the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
+	if (!hitl_mode) {
+		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+		_px4_gyro.set_range(math::radians(2000.f));
+		_px4_gyro.set_scale(math::radians(1.f / 131.f));
+	}
+
+	return success;
+}
+
+static bool interrupt_debug = false;
+static uint32_t interrupt_debug_count = 0;
+static const uint32_t interrupt_debug_trigger = 800;
+static hrt_abstime last_interrupt_time = 0;
+static hrt_abstime avg_interrupt_delta = 0;
+static hrt_abstime max_interrupt_delta = 0;
+static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000;
+static hrt_abstime cumulative_interrupt_delta = 0;
+
+int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg)
+{
+	hrt_abstime current_interrupt_time = hrt_absolute_time();
+
+	if (interrupt_debug) {
+		if (last_interrupt_time) {
+			hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time;
+
+			if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; }
+
+			if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; }
+
+			cumulative_interrupt_delta += interrupt_delta_time;
+		}
+
+		last_interrupt_time = current_interrupt_time;
+
+		interrupt_debug_count++;
+
+		if (interrupt_debug_count == interrupt_debug_trigger) {
+			avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger;
+			PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta,
+				 min_interrupt_delta, avg_interrupt_delta);
+			interrupt_debug_count = 0;
+			cumulative_interrupt_delta = 0;
+		}
+	}
+
+	static_cast<ICM42688P *>(arg)->DataReady();
+
+	return 0;
+}
+
+void ICM42688P::DataReady()
+{
+#ifndef __PX4_QURT
+	uint32_t expected = 0;
+
+	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
+		ScheduleNow();
+	}
+
+#else
+	uint16_t fifo_byte_count = FIFOReadCount();
+
+	FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA));
+#endif
+}
+
+bool ICM42688P::DataReadyInterruptConfigure()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	// Setup data ready on falling edge
+	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+}
+
+bool ICM42688P::DataReadyInterruptDisable()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+}
+
+template <typename T>
+bool ICM42688P::RegisterCheck(const T &reg_cfg)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	return success;
+}
+
+template <typename T>
+uint8_t ICM42688P::RegisterRead(T reg)
+{
+	uint8_t cmd[2] {};
+	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
+	SelectRegisterBank(reg);
+	transfer(cmd, cmd, sizeof(cmd));
+	return cmd[1];
+}
+
+template <typename T>
+void ICM42688P::RegisterWrite(T reg, uint8_t value)
+{
+	uint8_t cmd[2] { (uint8_t)reg, value };
+	SelectRegisterBank(reg);
+	transfer(cmd, cmd, sizeof(cmd));
+}
+
+template <typename T>
+void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+
+	uint8_t val = (orig_val & ~clearbits) | setbits;
+
+	if (orig_val != val) {
+		RegisterWrite(reg, val);
+	}
+}
+
+uint16_t ICM42688P::FIFOReadCount()
+{
+	// read FIFO count
+	uint8_t fifo_count_buf[3] {};
+	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return 0;
+	}
+
+	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+}
+
+// static uint32_t debug_decimator = 0;
+// static hrt_abstime last_sample_time = 0;
+// static bool imu_debug = true;
+
+bool ICM42688P::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
+{
+	FIFOTransferBuffer buffer{};
+	const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4;
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_size);
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
+
+	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	// check FIFO header in every sample
+	uint16_t valid_samples = 0;
+
+	// for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
+	for (int i = 0; i < math::min(samples, (uint16_t) 10); i++) {
+		bool valid = true;
+
+		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
+
+		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
+			// FIFO sample empty if HEADER_MSG set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
+			// accel bit not set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
+			// gyro bit not set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
+			// Packet does not contain a new and valid extended 20-bit data
+			valid = false;
+
+		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
+			// accel ODR changed
+			valid = false;
+
+		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
+			// gyro ODR changed
+			valid = false;
+		}
+
+		if (valid) {
+			valid_samples++;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			break;
+		}
+	}
+
+	// if (imu_debug) {
+	// 	debug_decimator++;
+	// 	if (debug_decimator == 801) {
+	// 		debug_decimator = 0;
+	// 		PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time);
+	// 	}
+	// 	last_sample_time = timestamp_sample;
+	// }
+
+	if (valid_samples > 0) {
+		if (ProcessTemperature(buffer.f, valid_samples)) {
+			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
+			ProcessAccel(timestamp_sample, buffer.f, valid_samples);
+			ProcessIMU(timestamp_sample, buffer.f, valid_samples);
+			return true;
+		}
+	}
+
+	return false;
+}
+
+void ICM42688P::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// SIGNAL_PATH_RESET: FIFO flush
+	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
+
+	// reset while FIFO is disabled
+	_drdy_fifo_read_samples.store(0);
+}
+
+static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
+{
+	// 0xXXXAABBC
+	uint32_t high   = ((a << 12) & 0x000FF000);
+	uint32_t low    = ((b << 4)  & 0x00000FF0);
+	uint32_t lowest = (c         & 0x0000000F);
+
+	uint32_t x = high | low | lowest;
+
+	if (a & Bit7) {
+		// sign extend
+		x |= 0xFFF00000u;
+	}
+
+	return static_cast<int32_t>(x);
+}
+
+void ICM42688P::ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0;
+	float gyro_x = 0.0,  gyro_y = 0.0,  gyro_z = 0.0;
+
+	for (int i = 0; i < samples; i++) {
+		_imu_server_decimator++;
+
+		if (_imu_server_decimator == 8) {
+			_imu_server_decimator = 0;
+			// 20 bit hires mode
+
+			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+			// Accel data is 18 bit
+			int32_t temp_accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
+								fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+			int32_t temp_accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
+								fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+			int32_t temp_accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
+								fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+			// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+			int32_t temp_gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0,
+							       fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
+			int32_t temp_gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0,
+							       fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
+			int32_t temp_gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0,
+							       fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
+
+			// accel samples invalid if -524288
+			if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) {
+				// shift accel by 2 (2 least significant bits are always 0)
+				accel_x = (float) temp_accel_x / 4.f;
+				accel_y = (float) temp_accel_y / 4.f;
+				accel_z = (float) temp_accel_z / 4.f;
+
+				// shift gyro by 1 (least significant bit is always 0)
+				gyro_x = (float) temp_gyro_x / 2.f;
+				gyro_y = (float) temp_gyro_y / 2.f;
+				gyro_z = (float) temp_gyro_z / 2.f;
+
+				// correct frame for publication
+				// sensor's frame is +x forward, +y left, +z up
+				// flip y & z to publish right handed with z down (x forward, y right, z down)
+				accel_y = -accel_y;
+				accel_z = -accel_z;
+				gyro_y  = -gyro_y;
+				gyro_z  = -gyro_z;
+
+				// Scale everything appropriately
+				float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f);
+				accel_x *= accel_scale_factor;
+				accel_y *= accel_scale_factor;
+				accel_z *= accel_scale_factor;
+
+				float gyro_scale_factor = math::radians(1.f / 131.f);
+				gyro_x *= gyro_scale_factor;
+				gyro_y *= gyro_scale_factor;
+				gyro_z *= gyro_scale_factor;
+
+				// Store the data in our array
+				_imu_server_data.accel_x[_imu_server_index] = accel_x;
+				_imu_server_data.accel_y[_imu_server_index] = accel_y;
+				_imu_server_data.accel_z[_imu_server_index] = accel_z;
+				_imu_server_data.gyro_x[_imu_server_index]  = gyro_x;
+				_imu_server_data.gyro_y[_imu_server_index]  = gyro_y;
+				_imu_server_data.gyro_z[_imu_server_index]  = gyro_z;
+				_imu_server_data.ts[_imu_server_index]      = timestamp_sample - (125 * (samples - 1 - i));
+				_imu_server_index++;
+
+				// If array is full, publish the data
+				if (_imu_server_index == 10) {
+					_imu_server_index = 0;
+					_imu_server_data.timestamp = hrt_absolute_time();
+					_imu_server_data.temperature = 0; // Not used right now
+					_imu_server_pub.publish(_imu_server_data);
+				}
+			}
+		}
+	}
+}
+
+void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	sensor_accel_fifo_s accel{};
+	accel.timestamp_sample = timestamp_sample;
+	accel.samples = 0;
+	accel.dt = FIFO_SAMPLE_DT;
+
+	// 18-bits of accelerometer data
+	bool scale_20bit = false;
+
+	// first pass
+	for (int i = 0; i < samples; i++) {
+		// 20 bit hires mode
+		// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+		// Accel data is 18 bit ()
+		int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
+						   fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+		int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
+						   fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+		int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
+						   fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+		// sample invalid if -524288
+		if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
+			// check if any values are going to exceed int16 limits
+			static constexpr int16_t max_accel = INT16_MAX;
+			static constexpr int16_t min_accel = INT16_MIN;
+
+			if (accel_x >= max_accel || accel_x <= min_accel) {
+				scale_20bit = true;
+			}
+
+			if (accel_y >= max_accel || accel_y <= min_accel) {
+				scale_20bit = true;
+			}
+
+			if (accel_z >= max_accel || accel_z <= min_accel) {
+				scale_20bit = true;
+			}
+
+			// shift by 2 (2 least significant bits are always 0)
+			accel.x[accel.samples] = accel_x / 4;
+			accel.y[accel.samples] = accel_y / 4;
+			accel.z[accel.samples] = accel_z / 4;
+			accel.samples++;
+		}
+	}
+
+	if (!scale_20bit) {
+		// if highres enabled accel data is always 8192 LSB/g
+		if (!hitl_mode) {
+			_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+		}
+
+	} else {
+		// 20 bit data scaled to 16 bit (2^4)
+		for (int i = 0; i < samples; i++) {
+			// 20 bit hires mode
+			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+			// Accel data is 18 bit ()
+			int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
+			int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
+			int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
+
+			accel.x[i] = accel_x;
+			accel.y[i] = accel_y;
+			accel.z[i] = accel_z;
+		}
+
+		if (!hitl_mode) {
+			_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
+		}
+	}
+
+	// correct frame for publication
+	for (int i = 0; i < accel.samples; i++) {
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		accel.x[i] = accel.x[i];
+		accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
+		accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
+	}
+
+	if (!hitl_mode) {
+		_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	}
+
+	if (accel.samples > 0) {
+		if (!hitl_mode) {
+			_px4_accel.updateFIFO(accel);
+		}
+	}
+}
+
+void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	sensor_gyro_fifo_s gyro{};
+	gyro.timestamp_sample = timestamp_sample;
+	gyro.samples = 0;
+	gyro.dt = FIFO_SAMPLE_DT;
+
+	// 20-bits of gyroscope data
+	bool scale_20bit = false;
+
+	// first pass
+	for (int i = 0; i < samples; i++) {
+		// 20 bit hires mode
+		// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+		int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
+		int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
+		int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
+
+		// check if any values are going to exceed int16 limits
+		static constexpr int16_t max_gyro = INT16_MAX;
+		static constexpr int16_t min_gyro = INT16_MIN;
+
+		if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		gyro.x[gyro.samples] = gyro_x / 2;
+		gyro.y[gyro.samples] = gyro_y / 2;
+		gyro.z[gyro.samples] = gyro_z / 2;
+		gyro.samples++;
+	}
+
+	if (!scale_20bit) {
+		// if highres enabled gyro data is always 131 LSB/dps
+		if (!hitl_mode) {
+			_px4_gyro.set_scale(math::radians(1.f / 131.f));
+		}
+
+	} else {
+		// 20 bit data scaled to 16 bit (2^4)
+		for (int i = 0; i < samples; i++) {
+			gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
+			gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
+			gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
+		}
+
+		if (!hitl_mode) {
+			_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
+		}
+	}
+
+	// correct frame for publication
+	for (int i = 0; i < gyro.samples; i++) {
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		gyro.x[i] = gyro.x[i];
+		gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
+		gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
+	}
+
+	if (!hitl_mode) {
+		_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	}
+
+	if (gyro.samples > 0) {
+		if (!hitl_mode) {
+			_px4_gyro.updateFIFO(gyro);
+		}
+	}
+}
+
+bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
+{
+	int16_t temperature[FIFO_MAX_SAMPLES];
+	float temperature_sum{0};
+
+	int valid_samples = 0;
+
+	for (int i = 0; i < samples; i++) {
+		const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
+
+		// sample invalid if -32768
+		if (t != -32768) {
+			temperature_sum += t;
+			temperature[valid_samples] = t;
+			valid_samples++;
+		}
+	}
+
+	if (valid_samples > 0) {
+		const float temperature_avg = temperature_sum / valid_samples;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// temperature changing wildly is an indication of a transfer error
+			if (fabsf(temperature[i] - temperature_avg) > 1000) {
+				perf_count(_bad_transfer_perf);
+				return false;
+			}
+		}
+
+		// use average temperature reading
+		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+		if (PX4_ISFINITE(TEMP_degC)) {
+			if (!hitl_mode) {
+				_px4_accel.set_temperature(TEMP_degC);
+				_px4_gyro.set_temperature(TEMP_degC);
+				return true;
+			}
+
+		} else {
+			perf_count(_bad_transfer_perf);
+		}
+	}
+
+	return false;
+}
@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 ICM42688P.hpp
+ *
+ * Driver for the Invensense ICM42688P connected via SPI.
+ *
+ */
+
+#pragma once
+
+#include "InvenSense_ICM42688P_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/device/spi.h>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <lib/geo/geo.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/imu_server.h>
+#include <uORB/topics/sensor_accel_fifo.h>
+#include <uORB/topics/sensor_gyro_fifo.h>
+#include <memory>
+
+using namespace InvenSense_ICM42688P;
+
+extern bool hitl_mode;
+
+class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
+{
+public:
+	// ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+	// 	  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM42688P(const I2CSPIDriverConfig &config);
+	~ICM42688P() override;
+
+	// static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+	// 				     int runtime_instance);
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured
+	static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR};
+	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	// static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr uint32_t FIFO_MAX_SAMPLES{10};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)),
+		      "Invalid FIFOTransferBuffer size");
+
+	struct register_bank0_config_t {
+		Register::BANK_0 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank1_config_t {
+		Register::BANK_1 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank2_config_t {
+		Register::BANK_2 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+	void ConfigureSampleRate(int sample_rate);
+	void ConfigureFIFOWatermark(uint8_t samples);
+
+	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
+	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
+	void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); }
+	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	template <typename T> bool RegisterCheck(const T &reg_cfg);
+	template <typename T> uint8_t RegisterRead(T reg);
+	template <typename T> void RegisterWrite(T reg, uint8_t value);
+	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
+	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
+	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
+
+	uint16_t FIFOReadCount();
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
+	void FIFOReset();
+
+	void ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
+
+	const spi_drdy_gpio_t _drdy_gpio;
+
+	// std::shared_ptr<PX4Accelerometer> _px4_accel;
+	// std::shared_ptr<PX4Gyroscope> _px4_gyro;
+	PX4Accelerometer _px4_accel;
+	PX4Gyroscope _px4_gyro;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _drdy_missed_perf{nullptr};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+	int _failure_count{0};
+
+	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
+
+	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	bool _data_ready_interrupt_enabled{false};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		FIFO_READ,
+	} _state{STATE::RESET};
+
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
+	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+
+	uint8_t _checked_register_bank0{0};
+	static constexpr uint8_t size_register_bank0_cfg{12};
+	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
+		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
+		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
+		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
+		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
+		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
+		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
+		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
+		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
+	};
+
+	uint8_t _checked_register_bank1{0};
+	static constexpr uint8_t size_register_bank1_cfg{4};
+	register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_1::GYRO_CONFIG_STATIC2,  0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
+		{ Register::BANK_1::GYRO_CONFIG_STATIC3,  GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC4,  GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC5,  GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR},
+	};
+
+	uint8_t _checked_register_bank2{0};
+	static constexpr uint8_t size_register_bank2_cfg{3};
+	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR },
+	};
+
+	uint32_t _temperature_samples{0};
+
+	// Support for the IMU server
+	uint32_t _imu_server_index{0};
+	uint32_t _imu_server_decimator{0};
+	imu_server_s _imu_server_data;
+	uORB::Publication<imu_server_s> _imu_server_pub{ORB_ID(imu_server)};
+
+};
@@ -0,0 +1,430 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 InvenSense_ICM42688P_registers.hpp
+ *
+ * Invensense ICM-42688-P registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace InvenSense_ICM42688P
+{
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t WHOAMI = 0x47;
+
+static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
+
+namespace Register
+{
+
+enum class BANK_0 : uint8_t {
+	DEVICE_CONFIG      = 0x11,
+
+	INT_CONFIG         = 0x14,
+
+	FIFO_CONFIG        = 0x16,
+
+	TEMP_DATA1         = 0x1D,
+	TEMP_DATA0         = 0x1E,
+
+	INT_STATUS         = 0x2D,
+	FIFO_COUNTH        = 0x2E,
+	FIFO_COUNTL        = 0x2F,
+	FIFO_DATA          = 0x30,
+
+	SIGNAL_PATH_RESET  = 0x4B,
+	INTF_CONFIG0       = 0x4C,
+	INTF_CONFIG1       = 0x4D,
+	PWR_MGMT0          = 0x4E,
+	GYRO_CONFIG0       = 0x4F,
+	ACCEL_CONFIG0      = 0x50,
+	GYRO_CONFIG1       = 0x51,
+	GYRO_ACCEL_CONFIG0 = 0x52,
+	ACCEL_CONFIG1      = 0x53,
+
+	FIFO_CONFIG1       = 0x5F,
+	FIFO_CONFIG2       = 0x60,
+	FIFO_CONFIG3       = 0x61,
+
+	INT_CONFIG0        = 0x63,
+
+	INT_SOURCE0        = 0x65,
+
+	SELF_TEST_CONFIG   = 0x70,
+
+	WHO_AM_I           = 0x75,
+	REG_BANK_SEL       = 0x76,
+};
+
+enum class BANK_1 : uint8_t {
+	GYRO_CONFIG_STATIC2 = 0x0B,
+	GYRO_CONFIG_STATIC3 = 0x0C,
+	GYRO_CONFIG_STATIC4 = 0x0D,
+	GYRO_CONFIG_STATIC5 = 0x0E,
+	INTF_CONFIG5        = 0x7B,
+};
+enum class BANK_2 : uint8_t {
+	ACCEL_CONFIG_STATIC2 = 0x03,
+	ACCEL_CONFIG_STATIC3 = 0x04,
+	ACCEL_CONFIG_STATIC4 = 0x05,
+};
+
+};
+
+//---------------- BANK0 Register bits
+
+// DEVICE_CONFIG
+enum DEVICE_CONFIG_BIT : uint8_t {
+	SOFT_RESET_CONFIG = Bit0, //
+};
+
+// INT_CONFIG
+enum INT_CONFIG_BIT : uint8_t {
+	INT1_MODE           = Bit2,
+	INT1_DRIVE_CIRCUIT  = Bit1,
+	INT1_POLARITY       = Bit0,
+};
+
+// FIFO_CONFIG
+enum FIFO_CONFIG_BIT : uint8_t {
+	// 7:6 FIFO_MODE
+	FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
+};
+
+// INT_STATUS
+enum INT_STATUS_BIT : uint8_t {
+	RESET_DONE_INT = Bit4,
+	DATA_RDY_INT   = Bit3,
+	FIFO_THS_INT   = Bit2,
+	FIFO_FULL_INT  = Bit1,
+};
+
+// SIGNAL_PATH_RESET
+enum SIGNAL_PATH_RESET_BIT : uint8_t {
+	ABORT_AND_RESET = Bit3,
+	FIFO_FLUSH      = Bit1,
+};
+
+// PWR_MGMT0
+enum PWR_MGMT0_BIT : uint8_t {
+	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
+	ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
+};
+
+// GYRO_CONFIG0
+enum GYRO_CONFIG0_BIT : uint8_t {
+	// 7:5 GYRO_FS_SEL
+	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
+	GYRO_FS_SEL_1000_DPS = Bit5,
+	GYRO_FS_SEL_500_DPS  = Bit6,
+	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
+	GYRO_FS_SEL_125_DPS  = Bit7,
+
+
+	// 3:0 GYRO_ODR
+	//  0001: 32kHz
+	GYRO_ODR_32KHZ_SET   = Bit0,
+	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	GYRO_ODR_16KHZ_SET   = Bit1,
+	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// ACCEL_CONFIG0
+enum ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:5 ACCEL_FS_SEL
+	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
+	ACCEL_FS_SEL_8G  = Bit5,
+	ACCEL_FS_SEL_4G  = Bit6,
+	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
+
+
+	// 3:0 ACCEL_ODR
+	//  0001: 32kHz
+	ACCEL_ODR_32KHZ_SET   = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	ACCEL_ODR_16KHZ_SET   = Bit1,
+	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// GYRO_CONFIG1
+enum GYRO_CONFIG1_BIT : uint8_t {
+	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
+};
+
+// GYRO_ACCEL_CONFIG0
+enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:4 ACCEL_UI_FILT_BW
+	ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
+
+	// 3:0 GYRO_UI_FILT_BW
+	GYRO_UI_FILT_BW  = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
+};
+
+// ACCEL_CONFIG1
+enum ACCEL_CONFIG1_BIT : uint8_t {
+	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
+};
+
+// FIFO_CONFIG1
+enum FIFO_CONFIG1_BIT : uint8_t {
+	FIFO_RESUME_PARTIAL_RD = Bit6,
+	FIFO_WM_GT_TH          = Bit5,
+	FIFO_HIRES_EN          = Bit4,
+	FIFO_TEMP_EN           = Bit2,
+	FIFO_GYRO_EN           = Bit1,
+	FIFO_ACCEL_EN          = Bit0,
+};
+
+// INT_CONFIG0
+enum INT_CONFIG0_BIT : uint8_t {
+	// 3:2 FIFO_THS_INT_CLEAR
+	CLEAR_ON_FIFO_READ = Bit3,
+};
+
+// INT_SOURCE0
+enum INT_SOURCE0_BIT : uint8_t {
+	UI_FSYNC_INT1_EN   = Bit6,
+	PLL_RDY_INT1_EN    = Bit5,
+	RESET_DONE_INT1_EN = Bit4,
+	UI_DRDY_INT1_EN    = Bit3,
+	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
+	FIFO_FULL_INT1_EN  = Bit1,
+	UI_AGC_RDY_INT1_EN = Bit0,
+};
+
+// REG_BANK_SEL
+enum REG_BANK_SEL_BIT : uint8_t {
+	USER_BANK_0 = 0,           // 0: Select USER BANK 0.
+	USER_BANK_1 = Bit0,        // 1: Select USER BANK 1.
+	USER_BANK_2 = Bit1,        // 2: Select USER BANK 2.
+	USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3.
+};
+
+
+//---------------- BANK1 Register bits
+
+// GYRO_CONFIG_STATIC2
+enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
+	GYRO_AAF_DIS = Bit1,
+	GYRO_NF_DIS  = Bit0,
+};
+
+// GYRO_CONFIG_STATIC3
+enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13
+	GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1,
+
+	// 213 Hz
+	// GYRO_AAF_DELT_SET = Bit2 | Bit0, //5
+	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1,
+
+	// 126 Hz
+	//GYRO_AAF_DELT_SET = Bit1 | Bit0, //3
+	//GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2,
+
+	// 42 Hz
+	// GYRO_AAF_DELT_SET = Bit0, //1
+	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+
+};
+
+// GYRO_CONFIG_STATIC4
+enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170
+	GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
+
+	// 213 Hz
+	// GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
+	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
+
+	// 126 Hz
+	//GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9
+	//GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1,
+
+	// 42 Hz
+	// GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1
+	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+};
+
+// GYRO_CONFIG_STATIC5
+enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELTSQR_HIGH_SET = 0,
+	GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+	GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4
+	GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4,
+
+	// 213 Hz
+	// GYRO_AAF_DELTSQR_HIGH_SET = 0,
+	// GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
+	// GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
+
+	// 126 Hz
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12
+	// GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4,
+
+	// 42 Hz
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
+	// GYRO_AAF_BITSHIFT_CLEAR = 0,
+
+
+};
+
+
+//---------------- BANK2 Register bits
+
+// ACCEL_CONFIG_STATIC2
+enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
+	ACCEL_AAF_DIS  = Bit0,
+	ACCEL_AAF_DELT = Bit3 | Bit1,
+
+	// 213 Hz
+	ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5
+	ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2,
+
+	// 42 Hz
+	// ACCEL_AAF_DELT_SET = Bit1, //1
+	// ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2,
+};
+
+// ACCEL_CONFIG_STATIC3
+enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
+	ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0,
+	// 213 Hz
+	ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
+	ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
+
+	// 42 Hz
+	// ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1
+	// ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+
+};
+
+// ACCEL_CONFIG_STATIC4
+enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
+	ACCEL_AAF_BITSHIFT     = Bit7 | Bit5,
+	ACCEL_AAF_DELTSQR_HIGH = 0,
+	// 213 Hz
+	ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
+	ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
+
+	// 42 Hz
+	// ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
+	// ACCEL_AAF_BITSHIFT_CLEAR = 0,
+
+	ACCEL_AAF_DELTSQR_HIGH_SET = 0,
+	ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+
+namespace FIFO
+{
+static constexpr size_t SIZE = 2048;
+
+// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
+
+// Packet 4
+struct DATA {
+	uint8_t FIFO_Header;
+	uint8_t ACCEL_DATA_X1; // Accel X [19:12]
+	uint8_t ACCEL_DATA_X0; // Accel X [11:4]
+	uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
+	uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
+	uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
+	uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
+	uint8_t GYRO_DATA_X1;  // Gyro X [19:12]
+	uint8_t GYRO_DATA_X0;  // Gyro X [11:4]
+	uint8_t GYRO_DATA_Y1;  // Gyro Y [19:12]
+	uint8_t GYRO_DATA_Y0;  // Gyro Y [11:4]
+	uint8_t GYRO_DATA_Z1;  // Gyro Z [19:12]
+	uint8_t GYRO_DATA_Z0;  // Gyro Z [11:4]
+	uint8_t TEMP_DATA1;    // Temperature[15:8]
+	uint8_t TEMP_DATA0;    // Temperature[7:0]
+	uint8_t TimeStamp_h;   // TimeStamp[15:8]
+	uint8_t TimeStamp_l;   // TimeStamp[7:0]
+	uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
+	uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
+	uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
+};
+
+// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+enum FIFO_HEADER_BIT : uint8_t {
+	HEADER_MSG             = Bit7, // 1: FIFO is empty
+	HEADER_ACCEL           = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
+	HEADER_GYRO            = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
+	HEADER_20              = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
+	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
+	HEADER_ODR_ACCEL       = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
+	HEADER_ODR_GYRO        = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet
+};
+
+}
+} // namespace InvenSense_ICM42688P
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 "ICM42688P.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <string>
+
+void ICM42688P::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+// 		int runtime_instance)
+// {
+// 	ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+// 					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+//
+// 	if (!instance) {
+// 		PX4_ERR("alloc failed");
+// 		return nullptr;
+// 	}
+//
+// 	if (OK != instance->init()) {
+// 		delete instance;
+// 		return nullptr;
+// 	}
+//
+// 	return instance;
+// }
+
+extern "C" int icm42688p_main(int argc, char *argv[])
+{
+
+	for (int i = 0; i <= argc - 1; i++) {
+		if (std::string(argv[i]) == "-h") {
+			argv[i] = 0;
+			hitl_mode = true;
+			break;
+		}
+	}
+
+	int ch;
+	using ThisDriver = ICM42688P;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = SPI_SPEED;
+
+	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}
@@ -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
@@ -4,6 +4,4 @@ int32 val

 uint8[64] junk

-uint8 ORB_QUEUE_LENGTH = 16
-
 # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll
@@ -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
@@ -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
 };

 /************************************************************************************
@@ -74,7 +74,7 @@ void px4_log_initialize(void)
 	log_message.severity = 6; // info
 	strcpy((char *)log_message.text, "initialized uORB logging");
 	log_message.timestamp = hrt_absolute_time();
-	orb_log_message_pub = orb_advertise(ORB_ID(log_message), &log_message);
+	orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH);
 }

 __EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...)
@@ -48,6 +48,24 @@
 namespace uORB
 {

+template <typename U> class DefaultQueueSize
+{
+private:
+	template <typename T>
+	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
+	{
+		return T::ORB_QUEUE_LENGTH;
+	}
+
+	template <typename T> static constexpr uint8_t get_queue_size(...)
+	{
+		return 1;
+	}
+
+public:
+	static constexpr unsigned value = get_queue_size<U>(nullptr);
+};
+
 class PublicationBase
 {
 public:
@@ -79,7 +97,7 @@ protected:
 /**
 * uORB publication wrapper class
 */
-template<typename T>
+template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
 class Publication : public PublicationBase
 {
 public:
@@ -95,7 +113,7 @@ public:
 	bool advertise()
 	{
 		if (!advertised()) {
-			_handle = orb_advertise(get_topic(), nullptr);
+			_handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE);
 		}

 		return advertised();
@@ -51,7 +51,7 @@ namespace uORB
 /**
 * Base publication multi wrapper class
 */
-template<typename T>
+template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
 class PublicationMulti : public PublicationBase
 {
 public:
@@ -73,7 +73,7 @@ public:
 	{
 		if (!advertised()) {
 			int instance = 0;
-			_handle = orb_advertise_multi(get_topic(), nullptr, &instance);
+			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
 		}

 		return advertised();
@@ -118,11 +118,22 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);
 }

+orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
+{
+	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
+}
+
 orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
 }

+orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
+				       unsigned int queue_size)
+{
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
+}
+
 int orb_unadvertise(orb_advert_t handle)
 {
 	return uORB::Manager::get_instance()->orb_unadvertise(handle);
@@ -216,14 +227,6 @@ const char *orb_get_c_type(unsigned char short_type)
 	return nullptr;
 }

-uint8_t orb_get_queue_depth(const struct orb_metadata *meta)
-{
-	if (meta) {
-		return meta->o_queue;
-	}
-
-	return 0;
-}

 void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name)
 {
@@ -53,8 +53,6 @@ struct orb_metadata {
 	const uint16_t o_size_no_padding;   /**< object size w/o padding at the end (for logger) */
 	uint32_t message_hash;	/**< Hash over all fields for message compatibility checks */
 	orb_id_size_t  o_id;                /**< ORB_ID enum */
-	uint8_t o_queue;					/**< queue size */
-
 };

 typedef const struct orb_metadata *orb_id_t;
@@ -104,16 +102,14 @@ typedef const struct orb_metadata *orb_id_t;
 * @param _size_no_padding	Struct size w/o padding at the end
 * @param _message_hash	32 bit message hash over all fields
 * @param _orb_id_enum	ORB ID enum e.g.: ORB_ID::vehicle_status
- * @param _queue_size Queue size from topic definition
 */
-#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size)               \
-	const struct orb_metadata __orb_##_name = {     \
-		#_name,                                 \
-		sizeof(_struct),                \
-		_size_no_padding,                       \
-		_message_hash,                          \
-		_orb_id_enum,                           \
-		_queue_size                             \
+#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum)		\
+	const struct orb_metadata __orb_##_name = {	\
+		#_name,					\
+		sizeof(_struct),		\
+		_size_no_padding,			\
+		_message_hash,				\
+		_orb_id_enum				\
 	}; struct hack

 __BEGIN_DECLS
@@ -139,11 +135,23 @@ typedef void 	*orb_advert_t;
 */
 extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;

+/**
+ * @see uORB::Manager::orb_advertise()
+ */
+extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data,
+					unsigned int queue_size) __EXPORT;
+
 /**
 * @see uORB::Manager::orb_advertise_multi()
 */
 extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;

+/**
+ * @see uORB::Manager::orb_advertise_multi()
+ */
+extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
+		unsigned int queue_size) __EXPORT;
+
 /**
 * @see uORB::Manager::orb_unadvertise()
 */
@@ -152,7 +160,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
 /**
 * @see uORB::Manager::orb_publish()
 */
-extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
+extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;

 /**
 * Advertise as the publisher of a topic.
@@ -233,12 +241,6 @@ extern int	orb_get_interval(int handle, unsigned *interval) __EXPORT;
 */
 const char *orb_get_c_type(unsigned char short_type);

-/**
- * Returns the queue depth of a topic
- * @param meta orb topic metadata
- */
-extern uint8_t orb_get_queue_depth(const struct orb_metadata *meta);
-
 /**
 * Print a topic to console. Do not call this directly, use print_message() instead.
 * @param meta orb topic metadata
@@ -73,10 +73,12 @@ static inline uint8_t round_pow_of_two_8(uint8_t n)
 	return value + 1;
 }

-uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) :
+uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
+			     uint8_t queue_size) :
 	CDev(strdup(path)), // success is checked in CDev::init
 	_meta(meta),
-	_instance(instance)
+	_instance(instance),
+	_queue_size(round_pow_of_two_8(queue_size))
 {
 }

@@ -184,7 +186,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)

 			/* re-check size */
 			if (nullptr == _data) {
-				const size_t data_size = _meta->o_size * _meta->o_queue;
+				const size_t data_size = _meta->o_size * _queue_size;
 				_data = (uint8_t *) px4_cache_aligned_alloc(data_size);

 				if (_data) {
@@ -215,7 +217,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 	/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
 	unsigned generation = _generation.fetch_add(1);

-	memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
+	memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size);

 	// callbacks
 	for (auto item : _callbacks) {
@@ -252,6 +254,13 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		*(uintptr_t *)arg = (uintptr_t)this;
 		return PX4_OK;

+	case ORBIOCSETQUEUESIZE: {
+			lock();
+			int ret = update_queue_size(arg);
+			unlock();
+			return ret;
+		}
+
 	case ORBIOCGETINTERVAL:
 		*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
 		return PX4_OK;
@@ -380,11 +389,12 @@ uORB::DeviceNode::print_statistics(int max_topic_length)

 	const uint8_t instance = get_instance();
 	const int8_t sub_count = subscriber_count();
+	const uint8_t queue_size = get_queue_size();

 	unlock();

 	PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
-		     get_meta()->o_queue, get_meta()->o_size, get_devname());
+		     queue_size, get_meta()->o_size, get_devname());

 	return true;
 }
@@ -473,6 +483,21 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 }
 #endif /* CONFIG_ORB_COMMUNICATOR */

+int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
+{
+	if (_queue_size == queue_size) {
+		return PX4_OK;
+	}
+
+	//queue size is limited to 255 for the single reason that we use uint8 to store it
+	if (_data || _queue_size > queue_size || queue_size > 255) {
+		return PX4_ERROR;
+	}
+
+	_queue_size = round_pow_of_two_8(queue_size);
+	return PX4_OK;
+}
+
 unsigned uORB::DeviceNode::get_initial_generation()
 {
 	ATOMIC_ENTER;
@@ -62,7 +62,7 @@ class UnitTest;
 class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path);
+	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1);
 	virtual ~DeviceNode();

 	// no copy, assignment, move, move assignment
@@ -179,6 +179,15 @@ public:

 	void mark_as_advertised() { _advertised = true; }

+	/**
+	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
+	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
+	 * The queue size can only be increased.
+	 * @param queue_size new size of the queue
+	 * @return PX4_OK if queue size successfully set
+	 */
+	int update_queue_size(unsigned int queue_size);
+
 	/**
 	 * Print statistics
 	 * @param max_topic_length max topic name length for printing
@@ -186,7 +195,7 @@ public:
 	 */
 	bool print_statistics(int max_topic_length);

-	uint8_t get_queue_size() const { return _meta->o_queue; }
+	uint8_t get_queue_size() const { return _queue_size; }

 	int8_t subscriber_count() const { return _subscriber_count; }

@@ -225,7 +234,7 @@ public:
 	bool copy(void *dst, unsigned &generation)
 	{
 		if ((dst != nullptr) && (_data != nullptr)) {
-			if (_meta->o_queue == 1) {
+			if (_queue_size == 1) {
 				ATOMIC_ENTER;
 				memcpy(dst, _data, _meta->o_size);
 				generation = _generation.load();
@@ -244,12 +253,12 @@ public:
 				}

 				// Compatible with normal and overflow conditions
-				if (!is_in_range(current_generation - _meta->o_queue, generation, current_generation - 1)) {
+				if (!is_in_range(current_generation - _queue_size, generation, current_generation - 1)) {
 					// Reader is too far behind: some messages are lost
-					generation = current_generation - _meta->o_queue;
+					generation = current_generation - _queue_size;
 				}

-				memcpy(dst, _data + (_meta->o_size * (generation % _meta->o_queue)), _meta->o_size);
+				memcpy(dst, _data + (_meta->o_size * (generation % _queue_size)), _meta->o_size);
 				ATOMIC_LEAVE;

 				++generation;
@@ -286,7 +295,7 @@ private:

 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
-
+	uint8_t _queue_size; /**< maximum number of elements in the queue */
 	int8_t _subscriber_count{0};


@@ -265,7 +265,8 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return ret;
 }

-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+		unsigned int queue_size)
 {
 #ifdef ORB_USE_PUBLISHER_RULES

@@ -299,10 +300,19 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}

+	/* Set the queue size. This must be done before the first publication; thus it fails if
+	 * this is not the first advertiser.
+	 */
+	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
+
+	if (result < 0 && queue_size > 1) {
+		PX4_WARN("orb_advertise_multi: failed to set queue size");
+	}
+
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;

-	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);

 	if (result == PX4_ERROR) {
@@ -592,22 +602,6 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 {
 	PX4_DEBUG("entering process_remote_topic: name: %s", topic_name);

-	// First make sure this is a valid topic
-	const struct orb_metadata *const *topic_list = orb_get_topics();
-	orb_id_t topic_ptr = nullptr;
-
-	for (size_t i = 0; i < orb_topics_count(); i++) {
-		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
-			topic_ptr = topic_list[i];
-			break;
-		}
-	}
-
-	if (! topic_ptr) {
-		PX4_ERR("process_remote_topic meta not found for %s\n", topic_name);
-		return -1;
-	}
-
 	// Look to see if we already have a node for this topic
 	char nodepath[orb_maxpath];
 	int ret = uORB::Utils::node_mkpath(nodepath, topic_name);
@@ -619,7 +613,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 			uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);

 			if (node) {
-				PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
+				PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
 				node->mark_as_advertised();
 				_remote_topics.insert(topic_name);
 				return 0;
@@ -628,9 +622,27 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 	}

 	// We didn't find a node so we need to create it via an advertisement
-	PX4_DEBUG("Advertising remote topic %s", topic_name);
-	_remote_topics.insert(topic_name);
-	orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue);
+	const struct orb_metadata *const *topic_list = orb_get_topics();
+	orb_id_t topic_ptr = nullptr;
+
+	for (size_t i = 0; i < orb_topics_count(); i++) {
+		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
+			topic_ptr = topic_list[i];
+			break;
+		}
+	}
+
+	if (topic_ptr) {
+		PX4_INFO("Advertising remote topic %s", topic_name);
+		_remote_topics.insert(topic_name);
+		// Add some queue depth when advertising remote topics. These
+		// topics may get aggregated and thus delivered in a batch that
+		// requires some buffering in a queue.
+		orb_advertise(topic_ptr, nullptr, 5);
+
+	} else {
+		PX4_INFO("process_remote_topic meta not found for %s\n", topic_name);
+	}

 	return 0;
 }
@@ -651,11 +663,8 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName)
 			PX4_DEBUG("DeviceNode(%s) not created yet", messageName);

 		} else {
-			// node is present. But don't send any data to it if it
-			// is a node advertised by the remote side
-			if (_remote_topics.find(messageName) == false) {
-				node->process_add_subscription();
-			}
+			// node is present.
+			node->process_add_subscription();
 		}

 	} else {
@@ -215,15 +215,17 @@ public:
 	 * @param data    A pointer to the initial data to be published.
 	 *      For topics updated by interrupt handlers, the advertisement
 	 *      must be performed from non-interrupt context.
+	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
+	 *      used.
 	 * @return    nullptr on error, otherwise returns an object pointer
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr)
+	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
 	{
-		return orb_advertise_multi(meta, data, nullptr);
+		return orb_advertise_multi(meta, data, nullptr, queue_size);
 	}

 	/**
@@ -248,13 +250,16 @@ public:
 	 * @param instance  Pointer to an integer which will yield the instance ID (0-based)
 	 *      of the publication. This is an output parameter and will be set to the newly
 	 *      created instance, ie. 0 for the first advertiser, 1 for the next and so on.
+	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
+	 *      used.
 	 * @return    nullptr on error, otherwise returns a handle
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance);
+	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+					 unsigned int queue_size = 1);

 	/**
 	 * Unadvertise a topic.
@@ -89,7 +89,8 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return data.ret;
 }

-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+		unsigned int queue_size)
 {
 	/* open the node as an advertiser */
 	int fd = node_open(meta, true, instance);
@@ -99,10 +100,19 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}

+	/* Set the queue size. This must be done before the first publication; thus it fails if
+	 * this is not the first advertiser.
+	 */
+	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
+
+	if (result < 0 && queue_size > 1) {
+		PX4_WARN("orb_advertise_multi: failed to set queue size");
+	}
+
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;

-	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);

 	if (result == PX4_ERROR) {
@@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around()
 	bool updated{false};

 	// Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation
-	const int queue_size = orb_test_medium_s::ORB_QUEUE_LENGTH;
-	ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr);
+	const int queue_size = 16;
+	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size);

 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue()
 		return test_fail("subscribe failed: %d", errno);
 	}

-	const int queue_size = orb_test_medium_s::ORB_QUEUE_LENGTH;
+	const int queue_size = 16;
 	orb_test_medium_s t{};
-	ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t);
+	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);

 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main()
 {
 	orb_test_medium_s t{};
 	orb_advert_t ptopic{nullptr};
-	const int queue_size = orb_test_medium_s::ORB_QUEUE_LENGTH;
+	const int queue_size = 50;

-	if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) {
+	if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
 		_thread_should_exit = true;
 		return test_fail("advertise failed: %d", errno);
 	}
@@ -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();

@@ -45,10 +45,28 @@
 namespace uORB
 {

+template <typename U> class DefaultQueueSize
+{
+private:
+	template <typename T>
+	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
+	{
+		return T::ORB_QUEUE_LENGTH;
+	}
+
+	template <typename T> static constexpr uint8_t get_queue_size(...)
+	{
+		return 1;
+	}
+
+public:
+	static constexpr unsigned value = get_queue_size<U>(nullptr);
+};
+
 /**
 * uORB publication wrapper class
 */
-template<typename T>
+template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
 class Publication
 {
 public:
@@ -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);
@@ -251,7 +251,7 @@ ICP201XX::RunImpl()
 	case STATE::CONFIG: {
 			if (configure()) {
 				_state = STATE::WAIT_READ;
-				ScheduleDelayed(50_ms);
+				ScheduleDelayed(30_ms);

 			} else {
 				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
@@ -314,7 +314,7 @@ CameraTrigger::CameraTrigger() :
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
 	camera_trigger_s trigger{};

-	_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+	_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
 }

 CameraTrigger::~CameraTrigger()
@@ -64,10 +64,13 @@
 /** Get the priority for the topic */
 #define ORBIOCGPRIORITY		_ORBIOC(14)

+/** Set the queue size of the topic */
+#define ORBIOCSETQUEUESIZE	_ORBIOC(15)
+
 /** Get the minimum interval at which the topic can be seen to be updated for this subscription */
-#define ORBIOCGETINTERVAL	_ORBIOC(15)
+#define ORBIOCGETINTERVAL	_ORBIOC(16)

 /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
-#define ORBIOCISADVERTISED	_ORBIOC(16)
+#define ORBIOCISADVERTISED	_ORBIOC(17)

 #endif /* _DRV_UORB_H */
@@ -88,7 +88,7 @@ private:
 		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
 	};
 	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), "Invalid transfer buffer size");
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));

 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -45,6 +45,8 @@ using namespace time_literals;
 ToneAlarm::ToneAlarm() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
+	// ensure ORB_ID(tune_control) is advertised with correct queue depth
+	orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH);
 }

 ToneAlarm::~ToneAlarm()
@@ -45,7 +45,6 @@ px4_add_module(
 		voxl2_io.cpp
 		voxl2_io.hpp
 	DEPENDS
-		rc
 		px4_work_queue
 		mixer_module
 	MODULE_CONFIG
@@ -151,7 +151,7 @@ private:

 	transponder_report_s tr{};

-	orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr);
+	orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20);

 	TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT};

@@ -61,7 +61,7 @@ void send(EventType &event)
 		orb_publish(ORB_ID(event), orb_event_pub, &event);

 	} else {
-		orb_event_pub = orb_advertise(ORB_ID(event), &event);
+		orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
 	}

 	pthread_mutex_unlock(&publish_event_mutex);
@@ -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;
@@ -162,24 +162,6 @@ public:
 		return res;
 	}

-	// Using this function reduces the number of temporary variables needed to compute A * B.T
-	template<size_t P>
-	Matrix<Type, M, M> multiplyByTranspose(const Matrix<Type, P, N> &other) const
-	{
-		Matrix<Type, M, P> res;
-		const Matrix<Type, M, N> &self = *this;
-
-		for (size_t i = 0; i < M; i++) {
-			for (size_t k = 0; k < P; k++) {
-				for (size_t j = 0; j < N; j++) {
-					res(i, k) += self(i, j) * other(k, j);
-				}
-			}
-		}
-
-		return res;
-	}
-
 	// Element-wise multiplication
 	Matrix<Type, M, N> emult(const Matrix<Type, M, N> &other) const
 	{
@@ -409,6 +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)
@@ -429,6 +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:
@@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
 		orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);

 	} else {
-		*mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg);
+		*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
 	}
 }
@@ -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,
@@ -55,7 +55,7 @@ public:
 	void SetUp() override
 	{
 		// ensure topic exists, otherwise we might lose first queued events
-		orb_advertise(ORB_ID(event), nullptr);
+		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
 	}

 };
@@ -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,
@@ -153,7 +153,7 @@ int buzzer_init()
 	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000;
 	tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000;

-	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+	tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);

 	return PX4_OK;
 }
@@ -330,7 +330,7 @@ int led_init()
 	led_control.mode = led_control_s::MODE_OFF;
 	led_control.priority = 0;
 	led_control.timestamp = hrt_absolute_time();
-	led_control_pub = orb_advertise(ORB_ID(led_control), &led_control);
+	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH);

 	/* first open normal LEDs */
 	fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);
@@ -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

@@ -67,11 +67,11 @@ public:

 	void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; }

-	void setGyroBias(const Vector3f &imu_gyro_bias, const bool force = false)
+	void setGyroBias(const Vector3f &imu_gyro_bias)
 	{
 		// Initialise to gyro bias estimate from main filter because there could be a large
 		// uncorrected rate gyro bias error about the gravity vector
-		if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) {
+		if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started) {
 			// init gyro bias for each model
 			for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) {
 				_ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias;
@@ -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;
 };
@@ -166,21 +166,11 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.mag) {
 		// mag_I: add process noise
 		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		float mag_I_process_noise = sq(mag_I_sig);
-
-		for (unsigned index = 0; index < State::mag_I.dof; index++) {
-			const unsigned i = State::mag_I.idx + index;
-			P(i, i) += mag_I_process_noise;
-		}
+		P.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) += sq(mag_I_sig);

 		// mag_B: add process noise
 		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		float mag_B_process_noise = sq(mag_B_sig);
-
-		for (unsigned index = 0; index < State::mag_B.dof; index++) {
-			const unsigned i = State::mag_B.idx + index;
-			P(i, i) += mag_B_process_noise;
-		}
+		P.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) += sq(mag_B_sig);
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER

@@ -189,12 +179,7 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.wind) {
 		// wind vel: add process noise
 		float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
-		float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
-
-		for (unsigned index = 0; index < State::wind_vel.dof; index++) {
-			const unsigned i = State::wind_vel.idx + index;
-			P(i, i) += wind_vel_process_noise;
-		}
+		P.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt;
 	}
 #endif // CONFIG_EKF2_WIND

@@ -237,6 +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++) {
@@ -263,6 +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
@@ -468,49 +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);

-#if false
-		// Matrix implementation of the Joseph stabilized covariance update
-		// This is extremely expensive to compute. Use for debugging purposes only.
-		auto A = matrix::eye<float, State::size>();
-		A -= K.multiplyByTranspose(H);
-		P = A * P;
-		P = P.multiplyByTranspose(A);
+		const VectorState KS = K * innovation_variance;
+		SquareMatrixState KHP;

-		const VectorState KR = K * R;
-		P += KR.multiplyByTranspose(K);
-#else
-		// 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 * H;
-
-		for (unsigned i = 0; i < State::size; i++) {
-			for (unsigned j = 0; j < State::size; j++) {
-				P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
+		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++) {
-				P(i, j) = P(i, j) - PH(i) * K(j) + 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);
 		}
-#endif

-		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);
@@ -586,6 +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

@@ -714,7 +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.
@@ -730,6 +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

@@ -793,7 +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)
@@ -838,7 +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
@@ -846,7 +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)
@@ -952,9 +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);

@@ -1053,6 +1049,7 @@ private:
 	bool haglYawResetReq();

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

 	bool checkMagField(const Vector3f &mag);
@@ -1140,6 +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);
@@ -838,57 +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);
-
-#if false
-	// Matrix implementation of the Joseph stabilized covariance update
-	// This is extremely expensive to compute. Use for debugging purposes only.
-	auto A = matrix::eye<float, State::size>();
-	VectorState H;
-	H(state_index) = 1.f;
-	A -= K.multiplyByTranspose(H);
-	P = A * P;
-	P = P.multiplyByTranspose(A);
-
-	const VectorState KR = K * R;
-	P += KR.multiplyByTranspose(K);
-#else
-	// 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 < State::size; j++) {
-			P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
-		}
-	}
-
-	// Step 2: stabilized update
-	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) - PH(i) * K(j) + K(i) * R * K(j);
-			P(j, i) = P(i, j);
-		}
-	}
-#endif
-
-	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;
@@ -47,7 +47,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	}

 	if (!gyro_bias_inhibited()) {
-		_yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest);
+		_yawEstimator.setGyroBias(getGyroBias());
 	}

 	// run EKF-GSF yaw estimator once per imu_delayed update
@@ -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
 *
--- 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