ekf2: stop gps yaw fusion on numerical error

ekf2: stop airspeed fusion on numerical error
ekf2: stop flow fusion on numerical error
2026-06-05 20:10:05 +08:00 · 2024-07-11 12:25:14 -04:00 · 2024-07-11 12:23:15 -04:00 · 2024-07-11 12:22:26 -04:00 · 2024-07-11 12:19:50 -04:00 · 2024-07-11 14:54:22 +02:00
100 changed files with 2194 additions and 1014 deletions
@@ -11,6 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -11,6 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -0,0 +1,47 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LOOKAHD_GAIN 1
+param set-default RA_LOOKAHD_MAX 10
+param set-default RA_LOOKAHD_MIN 1
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_SPEED 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MISS_VEL_DEF 3
+param set-default RA_MISS_VEL_GAIN 5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 2
+param set-default RA_WHEEL_BASE 0.321
+
+# 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 0
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1
@@ -83,6 +83,7 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -15,6 +15,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi

 	if simulator_sih start; then

@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
@@ -7,6 +7,8 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
+# @board cuav_x7pro exclude
+# @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
 # @board px4_fmu-v6x exclude
 #
@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
@@ -8,6 +8,7 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -1,9 +1,6 @@
 #!/bin/sh
 # Standard apps for a ackermann drive rover.

-# Start the attitude and position estimator.
-ekf2 start &
-
 # Start rover ackermann drive controller.
 rover_ackermann start

@@ -18,7 +18,8 @@ exec find boards msg src platforms test \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
-    -path src/modules/ekf2/EKF -prune -o \
+    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
+    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
@@ -0,0 +1 @@
+# Same as default, only defconfig is different
@@ -0,0 +1,257 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x1016
+CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x2DAE
+CONFIG_CDCACM_VENDORSTR="CubePilot"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -0,0 +1 @@
+# Same as default, only defconfig is different
@@ -0,0 +1,259 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H747XI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x1058
+CONFIG_CDCACM_PRODUCTSTR="CubeOrange+"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x2DAE
+CONFIG_CDCACM_VENDORSTR="CubePilot"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_PWR_DIRECT_SMPS_SUPPLY=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -52,6 +52,7 @@
 #define IMXRT_IPG_PODF_DIVIDER 5
 #define BOARD_GPT_FREQUENCY  24000000
 #define BOARD_XTAL_FREQUENCY 24000000
+#define BOARD_FLEXIO_PREQ    108000000

 /* SDIO *********************************************************************/

@@ -114,11 +114,11 @@ const struct clock_configuration_s g_initial_clkconfig = {
 			.div           = 1,
 			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
 		},
-		.flexio1_clk_root = /* 240 / 2 = 120Mhz */
+		.flexio1_clk_root = /* 432 / 4 = 108Mhz */
 		{
 			.enable        = 1,
-			.div           = 2,
-			.mux           = FLEXIO1_CLK_ROOT_SYS_PLL3_DIV2,
+			.div           = 4,
+			.mux           = FLEXIO1_CLK_ROOT_SYS_PLL2_PFD3,
 		},
 		.flexio2_clk_root =
 		{
@@ -492,9 +492,9 @@ const struct clock_configuration_s g_initial_clkconfig = {
 		.mfd             = 268435455,
 		.ss_enable       = 0,
 		.pfd0            = 27, /* (528 * 18) / 27 = 352 MHz */
-		.pfd1            = 16, /* (528 * 16) / 16 = 594 MHz */
-		.pfd2            = 24, /* (528 * 24) / 27 = 396 MHz */
-		.pfd3            = 32, /* (528 * 32) / 27 = 297 MHz */
+		.pfd1            = 16, /* (528 * 18) / 16 = 594 MHz */
+		.pfd2            = 24, /* (528 * 18) / 24 = 396 MHz */
+		.pfd3            = 22, /* (528 * 18) / 22 = 216 MHz */
 	},
 	.sys_pll3 =
 	{
@@ -10,3 +10,7 @@ float32 true_ground_minus_wind_m_s 		# TAS calculated from groundspeed - windspe
 bool airspeed_sensor_measurement_valid 		# True if data from at least one airspeed sensor is declared valid.

 int8 selected_airspeed_index 			# 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
+
+float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
+float32 throttle_filtered			# filtered fixed-wing throttle [-]
+float32 pitch_filtered				# filtered pitch [rad]
@@ -180,6 +180,7 @@ set(msg_files
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
 	RoverAckermannGuidanceStatus.msg
+	RoverAckermannStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
@@ -20,18 +20,3 @@ bool reset_hgt_to_baro                  # 13 - true when the vertical position s
 bool reset_hgt_to_gps                   # 14 - true when the vertical position state is reset to the gps measurement
 bool reset_hgt_to_rng                   # 15 - true when the vertical position state is reset to the rng measurement
 bool reset_hgt_to_ev                    # 16 - true when the vertical position state is reset to the ev measurement
-
-# warning events
-uint32 warning_event_changes            # number of warning event changes
-bool gps_quality_poor                   #  0 - true when the gps is failing quality checks
-bool gps_fusion_timout                  #  1 - true when the gps data has not been used to correct the state estimates for a significant time period
-bool gps_data_stopped                   #  2 - true when the gps data has stopped for a significant time period
-bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
-bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
-bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
-bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
-bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
-bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
-bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
@@ -13,6 +13,7 @@ bool check_fail_max_horz_drift   # 6 : maximum allowed horizontal position drift
 bool check_fail_max_vert_drift   # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
 bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
+bool check_fail_spoofed_gps      # 10 : GPS signal is spoofed

 float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
 float32 position_drift_rate_vertical_m_s   # Vertical position rate magnitude (m/s)
@@ -15,6 +15,7 @@ uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6		# 6 : maximum allowed horizontal positi
 uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position drift fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail
+uint8 GPS_CHECK_FAIL_SPOOFED = 10		# 10 : GPS signal is spoofed

 uint64 control_mode_flags	# Bitmask to indicate EKF logic state
 uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete
@@ -43,6 +43,8 @@ bool cs_mag                     # 35 - true if 3-axis magnetometer measurement f
 bool cs_ev_yaw_fault            # 36 - true when the EV heading has been declared faulty and is no longer being used
 bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag data is declared consistent with the filter
 bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended
+bool cs_rng_terrain             # 39 - true if we are fusing range finder data for terrain
+bool cs_opt_flow_terrain        # 40 - true if we are fusing flow data for terrain

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -1,10 +1,9 @@
 uint64 timestamp # time since system start (microseconds)

-float32 actual_speed # [m/s] Rover ground speed
-float32 desired_speed # [m/s] Rover desired ground speed
-float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
-float32 heading_error # [deg] Heading error of the pure pursuit controller
-float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
-float32 crosstrack_error # [m] Shortest distance from the vehicle to the path
+float32 desired_speed 		# [m/s] Rover desired ground speed
+float32 lookahead_distance 	# [m] Lookahead distance of pure the pursuit controller
+float32 heading_error 		# [deg] Heading error of the pure pursuit controller
+float32 pid_throttle_integral 	# [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
+float32 crosstrack_error 	# [m] Shortest distance from the vehicle to the path

 # TOPICS rover_ackermann_guidance_status
@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 throttle_setpoint 	# [-1, 1] Normalized throttle setpoint
+float32 steering_setpoint 	# [-1, 1] Normalized steering setpoint
+float32 actual_speed       	# [m/s] Rover ground speed
+
+# TOPICS rover_ackermann_status
@@ -56,6 +56,7 @@ float32 ref_alt				# Reference altitude AMSL, (metres)

 # Distance to surface
 float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
+float32 dist_bottom_var                 # terrain estimate variance (m^2)
 bool dist_bottom_valid			# true if distance to bottom surface is valid
 uint8 dist_bottom_sensor_bitfield	# bitfield indicating what type of sensor is used to estimate dist_bottom
 uint8 DIST_BOTTOM_SENSOR_NONE = 0
@@ -125,8 +125,16 @@ public:
 	{
 		if (_subscription.copy(dst)) {
 			const hrt_abstime now = hrt_absolute_time();
-			// shift last update time forward, but don't let it get further behind than the interval
-			_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
+
+			// make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned)
+			if (now > _interval_us) {
+				// shift last update time forward, but don't let it get further behind than the interval
+				_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
+
+			} else {
+				_last_update = now;
+			}
+
 			return true;
 		}

@@ -160,7 +168,7 @@ public:
 protected:

 	Subscription	_subscription;
-	uint64_t	_last_update{0};	// last update in microseconds
+	uint64_t	_last_update{0};	// last subscription update in microseconds
 	uint32_t	_interval_us{0};	// maximum update interval in microseconds

 };
@@ -46,7 +46,6 @@
 #include "arm_internal.h"

 #define FLEXIO_BASE			IMXRT_FLEXIO1_BASE
-#define FLEXIO_PREQ			120000000
 #define DSHOT_TIMERS			FLEXIO_SHIFTBUFNIS_COUNT
 #define DSHOT_THROTTLE_POSITION		5u
 #define DSHOT_TELEMETRY_POSITION	4u
@@ -305,8 +304,8 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
 int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
 {
 	/* Calculate dshot timings based on dshot_pwm_freq */
-	dshot_tcmp = 0x2F00 | (((FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2)) & 0xFF);
-	bdshot_tcmp = 0x2900 | (((FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 1) & 0xFF);
+	dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF);
+	bdshot_tcmp = 0x2900 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 3) & 0xFF);

 	/* Clock FlexIO peripheral */
 	imxrt_clockall_flexio1();
@@ -39,6 +39,8 @@

 #pragma once

+#include <stdint.h>
+
 namespace septentrio
 {

@@ -131,7 +131,6 @@ private:
 		(ParamFloat<px4::params::WEIGHT_GROSS>) _param_weight_gross,
 		(ParamFloat<px4::params::FW_SERVICE_CEIL>) _param_service_ceiling,
 		(ParamFloat<px4::params::FW_THR_TRIM>) _param_fw_thr_trim,
-		(ParamFloat<px4::params::FW_THR_IDLE>) _param_fw_thr_idle,
 		(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,
 		(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
 		(ParamFloat<px4::params::FW_THR_ASPD_MIN>) _param_fw_thr_aspd_min,
@@ -33,6 +33,7 @@

 px4_add_library(mathlib
 	math/test/test.cpp
+	math/filter/FilteredDerivative.hpp
 	math/filter/LowPassFilter2p.hpp
 	math/filter/MedianFilter.hpp
 	math/filter/NotchFilter.hpp
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FilteredDerivative.hpp
+ *
+ * @brief Derivative function passed through a first order "alpha" IIR digital filter
+ *
+ * @author Silvan Fuhrer <silvan@auterion.com>
+ */
+
+#pragma once
+
+// #include <float.h>
+// #include <mathlib/math/Functions.hpp>
+#include <mathlib/math/filter/AlphaFilter.hpp>
+
+using namespace math;
+
+template <typename T>
+class FilteredDerivative
+{
+public:
+	FilteredDerivative() = default;
+	~FilteredDerivative() = default;
+
+	/**
+	 * Set filter parameters for time abstraction
+	 *
+	 * Both parameters have to be provided in the same units.
+	 *
+	 * @param sample_interval interval between two samples
+	 * @param time_constant filter time constant determining convergence
+	 */
+	void setParameters(float sample_interval, float time_constant)
+	{
+		_alpha_filter.setParameters(sample_interval, time_constant);
+		_sample_interval = sample_interval;
+	}
+
+	/**
+	 * Set filter state to an initial value
+	 *
+	 * @param sample new initial value
+	 */
+	void reset(const T &sample)
+	{
+		_alpha_filter.reset(sample);
+		_initialized = false;
+	}
+
+	/**
+	 * Add a new raw value to the filter
+	 *
+	 * @return retrieve the filtered result
+	 */
+	const T &update(const T &sample)
+	{
+		if (_initialized) {
+			if (_sample_interval > FLT_EPSILON) {
+				_alpha_filter.update((sample - _previous_sample) / _sample_interval);
+
+			} else {
+				_initialized = false;
+			}
+
+		} else {
+			// don't update in the first iteration
+			_initialized = true;
+		}
+
+		_previous_sample = sample;
+		return _alpha_filter.getState();
+	}
+
+	const T &getState() const { return _alpha_filter.getState(); }
+
+
+private:
+	AlphaFilter<T> _alpha_filter;
+	float _sample_interval{0.f};
+	T _previous_sample{0.f};
+	bool _initialized{false};
+};
@@ -60,6 +60,8 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
 	check_load_factor(input_data.accel_z);
 	check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.mag_test_ratio,
 				  input_data.ground_velocity, input_data.gnss_valid);
+	check_first_principle(input_data.timestamp, input_data.fixed_wing_tecs_throttle,
+			      input_data.fixed_wing_tecs_throttle_trim, input_data.tecs_timestamp, input_data.q_att);
 	update_airspeed_valid_status(input_data.timestamp);
 }

@@ -277,16 +279,76 @@ AirspeedValidator::check_load_factor(float accel_z)
 	}
 }

+void
+AirspeedValidator::check_first_principle(const uint64_t timestamp, const float throttle_fw, const float throttle_trim,
+		const uint64_t tecs_timestamp, const Quatf &att_q)
+{
+	if (! _first_principle_check_enabled) {
+		_first_principle_check_failed = false;
+		_time_last_first_principle_check_passing = timestamp;
+		return;
+	}
+
+	const float pitch = matrix::Eulerf(att_q).theta();
+	const hrt_abstime tecs_dt = timestamp - tecs_timestamp; // return if TECS data is old (TECS not running)
+
+	if (!_in_fixed_wing_flight || tecs_dt > 500_ms || !PX4_ISFINITE(_IAS) || !PX4_ISFINITE(throttle_fw)
+	    || !PX4_ISFINITE(throttle_trim) || !PX4_ISFINITE(pitch)) {
+		// do not do anything in that case
+		return;
+	}
+
+	const float dt = static_cast<float>(timestamp - _time_last_first_principle_check) / 1_s;
+	_time_last_first_principle_check = timestamp;
+
+	// update filters
+	if (dt < FLT_EPSILON || dt > 1.f) {
+		// reset if dt is too large
+		_IAS_derivative.reset(0.f);
+		_throttle_filtered.reset(throttle_fw);
+		_pitch_filtered.reset(pitch);
+		_time_last_first_principle_check_passing = timestamp;
+
+	} else {
+		// update filters, with different time constant
+		_IAS_derivative.setParameters(dt, 5.f);
+		_throttle_filtered.setParameters(dt, 0.5f);
+		_pitch_filtered.setParameters(dt, 1.5f);
+
+		_IAS_derivative.update(_IAS);
+		_throttle_filtered.update(throttle_fw);
+		_pitch_filtered.update(pitch);
+	}
+
+	// declare high throttle if more than 5% above trim
+	const float high_throttle_threshold = math::min(throttle_trim + kHighThrottleDelta, _param_throttle_max);
+	const bool high_throttle = _throttle_filtered.getState() > high_throttle_threshold;
+	const bool pitching_down = _pitch_filtered.getState() < _param_psp_off;
+
+	// check if the airspeed derivative is too low given the throttle and pitch
+	const bool check_failing = _IAS_derivative.getState() < kIASDerivateThreshold && high_throttle && pitching_down;
+
+	if (!check_failing) {
+		_time_last_first_principle_check_passing = timestamp;
+		_first_principle_check_failed = false;
+	}
+
+	if (timestamp - _time_last_first_principle_check_passing > _aspd_fp_t_window * 1_s) {
+		// only update the test_failed flag once the timeout since first principle check failing is over
+		_first_principle_check_failed = check_failing;
+	}
+}

 void
 AirspeedValidator::update_airspeed_valid_status(const uint64_t timestamp)
 {
-	if (_data_stuck_test_failed || _innovations_check_failed || _load_factor_check_failed) {
+	if (_data_stuck_test_failed || _innovations_check_failed || _load_factor_check_failed
+	    || _first_principle_check_failed) {
 		// at least one check (data stuck, innovation or load factor) failed, so record timestamp
 		_time_checks_failed = timestamp;

 	} else if (! _data_stuck_test_failed && !_innovations_check_failed
-		   && !_load_factor_check_failed) {
+		   && !_load_factor_check_failed && !_first_principle_check_failed) {
 		// all checks(data stuck, innovation and load factor) must pass to declare airspeed good
 		_time_checks_passed = timestamp;
 	}
@@ -41,6 +41,8 @@
 #include <airspeed/airspeed.h>
 #include <lib/wind_estimator/WindEstimator.hpp>
 #include <uORB/topics/airspeed_wind.h>
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
+#include <lib/mathlib/math/filter/FilteredDerivative.hpp>


 using matrix::Dcmf;
@@ -66,6 +68,9 @@ struct airspeed_validator_update_data {
 	float vel_test_ratio;
 	float mag_test_ratio;
 	bool in_fixed_wing_flight;
+	float fixed_wing_tecs_throttle;
+	float fixed_wing_tecs_throttle_trim;
+	uint64_t tecs_timestamp;
 };

 class AirspeedValidator
@@ -83,6 +88,9 @@ public:
 	float get_TAS() { return _TAS; }
 	bool get_airspeed_valid() { return _airspeed_valid; }
 	float get_CAS_scale_validated() {return _CAS_scale_validated;}
+	float get_airspeed_derivative() { return _IAS_derivative.getState(); }
+	float get_throttle_filtered() { return _throttle_filtered.getState(); }
+	float get_pitch_filtered() { return _pitch_filtered.getState(); }

 	airspeed_wind_s get_wind_estimator_states(uint64_t timestamp);

@@ -118,6 +126,10 @@ public:
 	void set_enable_data_stuck_check(bool enable) { _data_stuck_check_enabled = enable; }
 	void set_enable_innovation_check(bool enable) { _innovation_check_enabled = enable; }
 	void set_enable_load_factor_check(bool enable) { _load_factor_check_enabled = enable; }
+	void set_enable_first_principle_check(bool enable) { _first_principle_check_enabled = enable; }
+	void set_psp_off_param(float psp_off_param) { _param_psp_off = psp_off_param; }
+	void set_throttle_max_param(float throttle_max_param) { _param_throttle_max = throttle_max_param; }
+	void set_fp_t_window(float t_window) { _aspd_fp_t_window = t_window; }

 private:

@@ -127,10 +139,17 @@ private:
 	bool _data_stuck_check_enabled{false};
 	bool _innovation_check_enabled{false};
 	bool _load_factor_check_enabled{false};
+	bool _first_principle_check_enabled{false};

 	// airspeed scale validity check
 	static constexpr int SCALE_CHECK_SAMPLES = 12; ///< take samples from 12 segments (every 360/12=30°)

+	static constexpr float kHighThrottleDelta =
+		0.05f; ///<  throttle delta above trim throttle required to consider throttle high
+	static constexpr float kIASDerivateThreshold =
+		0.1f; ///< threshold for IAS derivative to detect airspeed failure. Failure is
+	// detected if in a high throttle and low pitch situation and the filtered IAS derivative is below this threshold
+
 	// general states
 	bool _in_fixed_wing_flight{false}; ///< variable to bypass innovation and load factor checks
 	float _IAS{0.0f}; ///< indicated airsped in m/s
@@ -158,6 +177,17 @@ private:
 	float _airspeed_stall{8.0f}; ///< stall speed of aircraft used for load factor check
 	float	_load_factor_ratio{0.5f};	///< ratio of maximum load factor predicted by stall speed to measured load factor

+	// first principle check
+	bool _first_principle_check_failed{false}; ///< first principle check has detected failure
+	float _aspd_fp_t_window{0.f}; ///< time window for first principle check
+	FilteredDerivative<float> _IAS_derivative; ///< indicated airspeed derivative for first principle check
+	AlphaFilter<float> _throttle_filtered; ///< filtered throttle for first principle check
+	AlphaFilter<float> _pitch_filtered; ///< filtered pitch for first principle check
+	hrt_abstime _time_last_first_principle_check{0}; ///< time airspeed first principle was last checked (uSec)
+	hrt_abstime _time_last_first_principle_check_passing{0}; ///< time airspeed first principle was last passing (uSec)
+	float _param_psp_off{0.0f}; ///< parameter pitch in level flight [rad]
+	float _param_throttle_max{0.0f}; ///< parameter maximum throttle value
+
 	// states of airspeed valid declaration
 	bool _airspeed_valid{true}; ///< airspeed valid (pitot or groundspeed-windspeed)
 	float _checks_fail_delay{2.f}; ///< delay for airspeed invalid declaration after single check failure (Sec)
@@ -185,6 +215,8 @@ private:
 	void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio,
 				       float estimator_status_mag_test_ratio, const matrix::Vector3f &vI, bool gnss_valid);
 	void check_load_factor(float accel_z);
+	void check_first_principle(const uint64_t timestamp, const float throttle, const float throttle_trim,
+				   const uint64_t tecs_timestamp, const Quatf &att_q);
 	void update_airspeed_valid_status(const uint64_t timestamp);
 	void reset();
 	void reset_CAS_scale_check();
@@ -57,6 +57,7 @@
 #include <uORB/topics/position_setpoint.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/tecs_status.h>
 #include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -112,6 +113,7 @@ private:

 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

+	uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
 	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
@@ -125,6 +127,7 @@ private:
 	uORB::SubscriptionMultiArray<airspeed_s, MAX_NUM_AIRSPEED_SENSORS> _airspeed_subs{ORB_ID::airspeed};


+	tecs_status_s _tecs_status {};
 	estimator_status_s _estimator_status {};
 	vehicle_acceleration_s _accel {};
 	vehicle_air_data_s _vehicle_air_data {};
@@ -162,9 +165,16 @@ private:
 		CHECK_TYPE_ONLY_DATA_MISSING_BIT = (1 << 0),
 		CHECK_TYPE_DATA_STUCK_BIT = (1 << 1),
 		CHECK_TYPE_INNOVATION_BIT = (1 << 2),
-		CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3)
+		CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3),
+		CHECK_TYPE_FIRST_PRINCIPLE_BIT = (1 << 4)
 	};

+
+	param_t _param_handle_pitch_sp_offset{PARAM_INVALID};
+	float _param_pitch_sp_offset{0.0f};
+	param_t _param_handle_fw_thr_max{PARAM_INVALID};
+	float _param_fw_thr_max{0.0f};
+
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::ASPD_WIND_NSD>) _param_aspd_wind_nsd,
 		(ParamFloat<px4::params::ASPD_SCALE_NSD>) _param_aspd_scale_nsd,
@@ -185,8 +195,12 @@ private:
 		(ParamFloat<px4::params::ASPD_FS_T_STOP>) _checks_fail_delay, /**< delay to declare airspeed invalid */
 		(ParamFloat<px4::params::ASPD_FS_T_START>) _checks_clear_delay, /**<  delay to declare airspeed valid again */

+		(ParamFloat<px4::params::ASPD_WERR_THR>) _param_wind_sigma_max_synth_tas,
+		(ParamFloat<px4::params::ASPD_FP_T_WINDOW>) _aspd_fp_t_window,
+
+		// external parameters
 		(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
-		(ParamFloat<px4::params::ASPD_WERR_THR>) _param_wind_sigma_max_synth_tas
+		(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim
 	)

 	void 		init(); 	/**< initialization of the airspeed validator instances */
@@ -203,6 +217,8 @@ AirspeedModule::AirspeedModule():
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
 {
+	_param_handle_pitch_sp_offset = param_find("FW_PSP_OFF");
+	_param_handle_fw_thr_max = param_find("FW_THR_MAX");
 	// initialise parameters
 	update_params();

@@ -355,6 +371,9 @@ AirspeedModule::Run()
 		input_data.accel_z = _accel.xyz[2];
 		input_data.vel_test_ratio = _estimator_status.vel_test_ratio;
 		input_data.mag_test_ratio = _estimator_status.mag_test_ratio;
+		input_data.tecs_timestamp = _tecs_status.timestamp;
+		input_data.fixed_wing_tecs_throttle = _tecs_status.throttle_sp;
+		input_data.fixed_wing_tecs_throttle_trim = _tecs_status.throttle_trim;

 		// iterate through all airspeed sensors, poll new data from them and update their validators
 		for (int i = 0; i < _number_of_airspeed_sensors; i++) {
@@ -442,6 +461,14 @@ void AirspeedModule::update_params()
 {
 	updateParams();

+	if (_param_handle_pitch_sp_offset != PARAM_INVALID) {
+		param_get(_param_handle_pitch_sp_offset, &_param_pitch_sp_offset);
+	}
+
+	if (_param_handle_fw_thr_max != PARAM_INVALID) {
+		param_get(_param_handle_fw_thr_max, &_param_fw_thr_max);
+	}
+
 	_param_airspeed_scale[0] = _param_airspeed_scale_1.get();
 	_param_airspeed_scale[1] = _param_airspeed_scale_2.get();
 	_param_airspeed_scale[2] = _param_airspeed_scale_3.get();
@@ -476,6 +503,11 @@ void AirspeedModule::update_params()
 				CheckTypeBits::CHECK_TYPE_INNOVATION_BIT);
 		_airspeed_validator[i].set_enable_load_factor_check(_param_airspeed_checks_on.get() &
 				CheckTypeBits::CHECK_TYPE_LOAD_FACTOR_BIT);
+		_airspeed_validator[i].set_enable_first_principle_check(_param_airspeed_checks_on.get() &
+				CheckTypeBits::CHECK_TYPE_FIRST_PRINCIPLE_BIT);
+		_airspeed_validator[i].set_psp_off_param(math::radians(_param_pitch_sp_offset));
+		_airspeed_validator[i].set_throttle_max_param(_param_fw_thr_max);
+		_airspeed_validator[i].set_fp_t_window(_aspd_fp_t_window.get());
 	}
 }

@@ -501,6 +533,8 @@ void AirspeedModule::poll_topics()
 	_vehicle_local_position_sub.update(&_vehicle_local_position);
 	_position_setpoint_sub.update(&_position_setpoint);

+	_tecs_status_sub.update(&_tecs_status);
+
 	if (_vehicle_attitude_sub.updated()) {
 		vehicle_attitude_s vehicle_attitude;
 		_vehicle_attitude_sub.update(&vehicle_attitude);
@@ -661,6 +695,11 @@ void AirspeedModule::select_airspeed_and_publish()
 	airspeed_validated.airspeed_sensor_measurement_valid = false;
 	airspeed_validated.selected_airspeed_index = _valid_airspeed_index;

+	airspeed_validated.airspeed_derivative_filtered = _airspeed_validator[_valid_airspeed_index -
+					      1].get_airspeed_derivative();
+	airspeed_validated.throttle_filtered = _airspeed_validator[_valid_airspeed_index - 1].get_throttle_filtered();
+	airspeed_validated.pitch_filtered = _airspeed_validator[_valid_airspeed_index - 1].get_pitch_filtered();
+
 	switch (_valid_airspeed_index) {
 	case airspeed_index::DISABLED_INDEX:
 		break;
@@ -149,11 +149,12 @@ PARAM_DEFINE_INT32(ASPD_PRIMARY, 1);
 * Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.
 *
 * @min 0
- * @max 15
+ * @max 31
 * @bit 0 Only data missing check (triggers if more than 1s no data)
 * @bit 1 Data stuck (triggers if data is exactly constant for 2s in FW mode)
 * @bit 2 Innovation check (see ASPD_FS_INNOV)
 * @bit 3 Load factor check (triggers if measurement is below stall speed)
+ * @bit 4 First principle check (airspeed change vs. throttle and pitch)
 * @group Airspeed Validator
 */
 PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 7);
@@ -239,3 +240,19 @@ PARAM_DEFINE_FLOAT(ASPD_FS_T_START, -1.f);
 * @group Airspeed Validator
 */
 PARAM_DEFINE_FLOAT(ASPD_WERR_THR, 0.55f);
+
+/**
+ * First principle airspeed check time window
+ *
+ * Window for comparing airspeed change to throttle and pitch change.
+ * Triggers when the airspeed change within this window is negative while throttle increases
+ * and the vehicle pitches down.
+ * Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions.
+ * Relies on  FW_THR_TRIM being set accurately.
+ *
+ * @unit s
+ * @min 0
+ * @decimal 1
+ * @group Airspeed Validator
+ */
+PARAM_DEFINE_FLOAT(ASPD_FP_T_WINDOW, 2.0f);
@@ -318,6 +318,22 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor

 		_gps_was_fused = ekf_gps_fusion;

+		if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) {
+			if (!_gnss_spoofed) {
+				_gnss_spoofed = true;
+
+				if (reporter.mavlink_log_pub()) {
+					mavlink_log_critical(reporter.mavlink_log_pub(), "GNSS signal spoofed\t");
+				}
+
+				events::send(events::ID("check_estimator_gnss_warning_spoofing"), {events::Log::Alert, events::LogInternal::Info},
+					     "GNSS signal spoofed");
+			}
+
+		} else {
+			_gnss_spoofed = false;
+		}
+
 		if (!context.isArmed() && ekf_gps_check_fail) {
 			NavModes required_groups_gps = required_groups;
 			events::Log log_level = events::Log::Error;
@@ -450,6 +466,18 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 							    events::ID("check_estimator_gps_vert_speed_drift_too_high"),
 							    log_level, "GPS Vertical Speed Drift too high");

+			} else if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) {
+				message = "Preflight%s: GPS signal spoofed";
+				/* EVENT
+				 * @description
+				 * <profile name="dev">
+				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * </profile>
+				 */
+				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+							    events::ID("check_estimator_gps_spoofed"),
+							    log_level, "GPS signal spoofed");
+
 			} else {
 				if (!ekf_gps_fusion) {
 					// Likely cause unknown
@@ -64,7 +64,6 @@ private:
 	void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
 	void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
 				       const vehicle_local_position_s &lpos);
-
 	void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const;
 	void lowPositionAccuracy(const Context &context, Report &reporter, const vehicle_local_position_s &lpos) const;
 	void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz,
@@ -102,6 +101,7 @@ private:
 	bool _position_reliant_on_optical_flow{false};

 	bool _gps_was_fused{false};
+	bool _gnss_spoofed{false};

 	bool _nav_failure_imminent_warned{false};

@@ -89,7 +89,8 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)

 		updateAirspeed(airspeed_sample, _aid_src_airspeed);

-		_innov_check_fail_status.flags.reject_airspeed = _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
+		_innov_check_fail_status.flags.reject_airspeed =
+			_aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag

 		const bool continuing_conditions_passing = _control_status.flags.in_air
 				&& _control_status.flags.fixed_wing
@@ -155,12 +156,12 @@ void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_so
 					     &innov, &innov_var);

 	updateAidSourceStatus(aid_src,
-				 airspeed_sample.time_us,                 // sample timestamp
-				 airspeed_sample.true_airspeed,           // observation
-				 R,                                       // observation variance
-				 innov,                                   // innovation
-				 innov_var,                               // innovation variance
-				 math::max(_params.tas_innov_gate, 1.f)); // innovation gate
+			      airspeed_sample.time_us,                 // sample timestamp
+			      airspeed_sample.true_airspeed,           // observation
+			      R,                                       // observation variance
+			      innov,                                   // innovation
+			      innov_var,                               // innovation variance
+			      math::max(_params.tas_innov_gate, 1.f)); // innovation gate
 }

 void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src)
@@ -193,6 +194,8 @@ void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_sour

 		_fault_status.flags.bad_airspeed = true;

+		stopAirspeedFusion();
+
 		return;
 	}

@@ -85,12 +85,12 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 			const Vector2f pos_obs_var(pos_var, pos_var);

 			ekf.updateAidSourceStatus(aid_src,
-						     sample.time_us,                                    // sample timestamp
-						     position,                                          // observation
-						     pos_obs_var,                                       // observation variance
-						     Vector2f(ekf.state().pos) - position,              // innovation
-						     Vector2f(ekf.getPositionVariance()) + pos_obs_var, // innovation variance
-						     math::max(_param_ekf2_agp_gate.get(), 1.f));       // innovation gate
+						  sample.time_us,                                    // sample timestamp
+						  position,                                          // observation
+						  pos_obs_var,                                       // observation variance
+						  Vector2f(ekf.state().pos) - position,              // innovation
+						  Vector2f(ekf.getPositionVariance()) + pos_obs_var, // innovation variance
+						  math::max(_param_ekf2_agp_gate.get(), 1.f));       // innovation gate
 		}

 		const bool starting_conditions = PX4_ISFINITE(sample.latitude) && PX4_ISFINITE(sample.longitude)
@@ -96,8 +96,8 @@ private:
 	uint64_t _time_last_buffer_push{0};

 	enum class Ctrl : uint8_t {
-		HPOS  = (1<<0),
-		VPOS  = (1<<1)
+		HPOS  = (1 << 0),
+		VPOS  = (1 << 1)
 	};

 	enum class State {
@@ -33,20 +33,20 @@

 #include "ekf.h"

-void Ekf::controlAuxVelFusion()
+void Ekf::controlAuxVelFusion(const imuSample &imu_sample)
 {
 	if (_auxvel_buffer) {
 		auxVelSample sample;

-		if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &sample)) {
+		if (_auxvel_buffer->pop_first_older_than(imu_sample.time_us, &sample)) {

 			updateAidSourceStatus(_aid_src_aux_vel,
-						 sample.time_us,                                           // sample timestamp
-						 sample.vel,                                               // observation
-						 sample.velVar,                                            // observation variance
-						 Vector2f(_state.vel.xy()) - sample.vel,                   // innovation
-						 Vector2f(getStateVariance<State::vel>()) + sample.velVar, // innovation variance
-						 math::max(_params.auxvel_gate, 1.f));                     // innovation gate
+					      sample.time_us,                                           // sample timestamp
+					      sample.vel,                                               // observation
+					      sample.velVar,                                            // observation variance
+					      Vector2f(_state.vel.xy()) - sample.vel,                   // innovation
+					      Vector2f(getStateVariance<State::vel>()) + sample.velVar, // innovation variance
+					      math::max(_params.auxvel_gate, 1.f));                     // innovation gate

 			if (isHorizontalAidingActive()) {
 				fuseHorizontalVelocity(_aid_src_aux_vel);
@@ -38,7 +38,7 @@

 #include "ekf.h"

-void Ekf::controlBaroHeightFusion()
+void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 {
 	static constexpr const char *HGT_SRC_NAME = "baro";

@@ -49,10 +49,10 @@ void Ekf::controlBaroHeightFusion()

 	baroSample baro_sample;

-	if (_baro_buffer && _baro_buffer->pop_first_older_than(_time_delayed_us, &baro_sample)) {
+	if (_baro_buffer && _baro_buffer->pop_first_older_than(imu_sample.time_us, &baro_sample)) {

 #if defined(CONFIG_EKF2_BARO_COMPENSATION)
-		const float measurement = compensateBaroForDynamicPressure(baro_sample.hgt);
+		const float measurement = compensateBaroForDynamicPressure(imu_sample, baro_sample.hgt);
 #else
 		const float measurement = baro_sample.hgt;
 #endif
@@ -137,7 +137,7 @@ void Ekf::controlBaroHeightFusion()
 					// reset vertical velocity
 					resetVerticalVelocityToZero();

-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;

 				} else if (is_fusion_failing) {
 					// Some other height source is still working
@@ -166,7 +166,7 @@ void Ekf::controlBaroHeightFusion()
 					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
 				}

-				aid_src.time_last_fuse = _time_delayed_us;
+				aid_src.time_last_fuse = imu_sample.time_us;
 				bias_est.setFusionActive();
 				_control_status.flags.baro_hgt = true;
 			}
@@ -195,7 +195,7 @@ void Ekf::stopBaroHgtFusion()
 }

 #if defined(CONFIG_EKF2_BARO_COMPENSATION)
-float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
+float Ekf::compensateBaroForDynamicPressure(const imuSample &imu_sample, const float baro_alt_uncompensated) const
 {
 	if (_control_status.flags.wind && local_position_is_valid()) {
 		// calculate static pressure error = Pmeas - Ptruth
@@ -203,7 +203,8 @@ float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated)
 		// negative X and Y directions. Used to correct baro data for positional errors

 		// Calculate airspeed in body frame
-		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
+		const Vector3f angular_velocity = (imu_sample.delta_ang / imu_sample.delta_ang_dt) - _state.gyro_bias;
+		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (angular_velocity % _params.imu_pos_body);
 		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;

 		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
@@ -169,12 +169,12 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
 	}

 	updateAidSourceStatus(_aid_src_drag,
-				 drag_sample.time_us,  // sample timestamp
-				 observation,          // observation
-				 observation_variance, // observation variance
-				 innovation,           // innovation
-				 innovation_variance,  // innovation variance
-				 innov_gate);          // innovation gate
+			      drag_sample.time_us,  // sample timestamp
+			      observation,          // observation
+			      observation_variance, // observation variance
+			      innovation,           // innovation
+			      innovation_variance,  // innovation variance
+			      innov_gate);          // innovation gate

 	if (fused[0] && fused[1]) {
 		_aid_src_drag.fused = true;
@@ -38,7 +38,7 @@

 #include "ekf.h"

-void Ekf::controlExternalVisionFusion()
+void Ekf::controlExternalVisionFusion(const imuSample &imu_sample)
 {
 	_ev_pos_b_est.predict(_dt_ekf_avg);
 	_ev_hgt_b_est.predict(_dt_ekf_avg);
@@ -46,7 +46,7 @@ void Ekf::controlExternalVisionFusion()
 	// Check for new external vision data
 	extVisionSample ev_sample;

-	if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_time_delayed_us, &ev_sample)) {
+	if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(imu_sample.time_us, &ev_sample)) {

 		bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter);

@@ -55,15 +55,18 @@ void Ekf::controlExternalVisionFusion()

 		const bool starting_conditions_passing = quality_sufficient
 				&& ((ev_sample.time_us - _ev_sample_prev.time_us) < EV_MAX_INTERVAL)
-				&& ((_params.ev_quality_minimum <= 0) || (_ev_sample_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient
-				&& ((_params.ev_quality_minimum <= 0) || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient
+				&& ((_params.ev_quality_minimum <= 0)
+				    || (_ev_sample_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient
+				&& ((_params.ev_quality_minimum <= 0)
+				    || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient
 				&& isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL);

 		updateEvAttitudeErrorFilter(ev_sample, ev_reset);
-		controlEvYawFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw);
-		controlEvVelFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel);
-		controlEvPosFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos);
-		controlEvHeightFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_hgt);
+		controlEvYawFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw);
+		controlEvVelFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel);
+		controlEvPosFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos);
+		controlEvHeightFusion(imu_sample, ev_sample, starting_conditions_passing, ev_reset, quality_sufficient,
+				      _aid_src_ev_hgt);

 		if (quality_sufficient) {
 			_ev_sample_prev = ev_sample;
@@ -81,7 +84,6 @@ void Ekf::controlExternalVisionFusion()

 		_ev_q_error_initialized = false;

-		_warning_events.flags.vision_data_stopped = true;
 		ECL_WARN("vision data stopped");
 	}
 }
@@ -38,8 +38,9 @@

 #include "ekf.h"

-void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing,
-				const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src)
+void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+				const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+				estimator_aid_source1d_s &aid_src)
 {
 	static constexpr const char *AID_SRC_NAME = "EV height";

@@ -77,10 +78,12 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
 	float measurement_var = math::max(pos_cov(2, 2), sq(_params.ev_pos_noise), sq(0.01f));

 #if defined(CONFIG_EKF2_GNSS)
+
 	// increase minimum variance if GPS active
 	if (_control_status.flags.gps_hgt) {
 		measurement_var = math::max(measurement_var, sq(_params.gps_pos_noise));
 	}
+
 #endif // CONFIG_EKF2_GNSS

 	const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
@@ -150,7 +153,8 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
 				if (ev_sample.vel.isAllFinite() && (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {

 					// correct velocity for offset relative to IMU
-					const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
+					const Vector3f angular_velocity = (imu_sample.delta_ang / imu_sample.delta_ang_dt) - _state.gyro_bias;
+					const Vector3f vel_offset_body = angular_velocity % pos_offset_body;
 					const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;

 					switch (ev_sample.vel_frame) {
@@ -41,8 +41,9 @@
 static constexpr const char *EV_AID_SRC_NAME = "EV position";


-void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing,
-			     const bool ev_reset, const bool quality_sufficient, estimator_aid_source2d_s &aid_src)
+void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+			     const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+			     estimator_aid_source2d_s &aid_src)
 {
 	const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw)
 					   || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align);
@@ -161,12 +162,12 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
 	const Vector2f pos_obs_var = measurement_var + _ev_pos_b_est.getBiasVar();

 	updateAidSourceStatus(aid_src,
-				 ev_sample.time_us,                                      // sample timestamp
-				 position,                                               // observation
-				 pos_obs_var,                                            // observation variance
-				 Vector2f(_state.pos) - position,                        // innovation
-				 Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
-				 math::max(_params.ev_pos_innov_gate, 1.f));             // innovation gate
+			      ev_sample.time_us,                                      // sample timestamp
+			      position,                                               // observation
+			      pos_obs_var,                                            // observation variance
+			      Vector2f(_state.pos) - position,                        // innovation
+			      Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
+			      math::max(_params.ev_pos_innov_gate, 1.f));             // innovation gate

 	// update the bias estimator before updating the main filter but after
 	// using its current state to compute the vertical position innovation
@@ -205,7 +206,8 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
 	}
 }

-void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src)
+void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var,
+			   estimator_aid_source2d_s &aid_src)
 {
 	// activate fusion
 	// TODO:  (_params.position_sensor_ref == PositionSensor::EV)
@@ -229,7 +231,8 @@ void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurem
 	_control_status.flags.ev_pos = true;
 }

-void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, bool reset, estimator_aid_source2d_s &aid_src)
+void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient,
+			    bool reset, estimator_aid_source2d_s &aid_src)
 {
 	if (reset) {

@@ -41,8 +41,9 @@
 #include <ekf_derivation/generated/compute_ev_body_vel_hy.h>
 #include <ekf_derivation/generated/compute_ev_body_vel_hz.h>

-void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing,
-			     const bool ev_reset, const bool quality_sufficient, estimator_aid_source3d_s &aid_src)
+void Ekf::controlEvVelFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+			     const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+			     estimator_aid_source3d_s &aid_src)
 {
 	static constexpr const char *AID_SRC_NAME = "EV velocity";

@@ -55,8 +56,9 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
 					     && ev_sample.vel.isAllFinite();

 	// correct velocity for offset relative to IMU
+	const Vector3f angular_velocity = imu_sample.delta_ang / imu_sample.delta_ang_dt - _state.gyro_bias;
 	const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
-	const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
+	const Vector3f vel_offset_body = angular_velocity % pos_offset_body;
 	const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;

 	// rotate measurement into correct earth frame if required
@@ -292,6 +294,11 @@ bool Ekf::fuseEvVelocity(estimator_aid_source3d_s &aid_src, const extVisionSampl

 		}

+		if (aid_src.fused) {
+			_time_last_hor_vel_fuse = _time_delayed_us;
+			_time_last_ver_vel_fuse = _time_delayed_us;
+		}
+
 		aid_src.timestamp_sample = current_aid_src.timestamp_sample;
 		return !aid_src.innovation_rejected;

@@ -38,8 +38,9 @@

 #include "ekf.h"

-void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing,
-			     const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src)
+void Ekf::controlEvYawFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+			     const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+			     estimator_aid_source1d_s &aid_src)
 {
 	static constexpr const char *AID_SRC_NAME = "EV yaw";

@@ -53,12 +54,12 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
 	computeYawInnovVarAndH(obs_var, innov_var, H_YAW);

 	updateAidSourceStatus(aid_src,
-		ev_sample.time_us,                           // sample timestamp
-		obs,                                         // observation
-		obs_var,                                     // observation variance
-		innov,                                       // innovation
-		innov_var,                                   // innovation variance
-		math::max(_params.heading_innov_gate, 1.f)); // innovation gate
+			      ev_sample.time_us,                           // sample timestamp
+			      obs,                                         // observation
+			      obs_var,                                     // observation variance
+			      innov,                                       // innovation
+			      innov_var,                                   // innovation variance
+			      math::max(_params.heading_innov_gate, 1.f)); // innovation gate

 	if (ev_reset) {
 		_control_status.flags.ev_yaw_fault = false;
@@ -191,9 +192,11 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
 void Ekf::stopEvYawFusion()
 {
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	if (_control_status.flags.ev_yaw) {

 		_control_status.flags.ev_yaw = false;
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 }
@@ -68,17 +68,17 @@ void Ekf::controlFakePosFusion()
 		const float innov_gate = 3.f;

 		updateAidSourceStatus(aid_src,
-					 _time_delayed_us,
-					 position,                                           // observation
-					 obs_var,                                            // observation variance
-					 Vector2f(_state.pos) - position,                    // innovation
-					 Vector2f(getStateVariance<State::pos>()) + obs_var, // innovation variance
-					 innov_gate);                                        // innovation gate
+				      _time_delayed_us,
+				      position,                                           // observation
+				      obs_var,                                            // observation variance
+				      Vector2f(_state.pos) - position,                    // innovation
+				      Vector2f(getStateVariance<State::pos>()) + obs_var, // innovation variance
+				      innov_gate);                                        // innovation gate

 		const bool enable_conditions_passing = !isHorizontalAidingActive()
-				&& ((getTiltVariance() > sq(math::radians(3.f))) || _control_status.flags.vehicle_at_rest)
-				&& (!(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector)) || _control_status.flags.vehicle_at_rest)
-				&& _horizontal_deadreckon_time_exceeded;
+						       && ((getTiltVariance() > sq(math::radians(3.f))) || _control_status.flags.vehicle_at_rest)
+						       && (!(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector)) || _control_status.flags.vehicle_at_rest)
+						       && _horizontal_deadreckon_time_exceeded;

 		if (_control_status.flags.fake_pos) {
 			if (enable_conditions_passing) {
@@ -109,7 +109,6 @@ void Ekf::controlFakePosFusion()

 				if (_control_status.flags.tilt_align) {
 					// The fake position fusion is not started for initial alignement
-					_warning_events.flags.stopping_navigation = true;
 					ECL_WARN("stopping navigation");
 				}
 			}
@@ -48,15 +48,16 @@
 #include <mathlib/mathlib.h>

 // GPS pre-flight check bit locations
-#define MASK_GPS_NSATS  (1<<0)
-#define MASK_GPS_PDOP   (1<<1)
-#define MASK_GPS_HACC   (1<<2)
-#define MASK_GPS_VACC   (1<<3)
-#define MASK_GPS_SACC   (1<<4)
-#define MASK_GPS_HDRIFT (1<<5)
-#define MASK_GPS_VDRIFT (1<<6)
-#define MASK_GPS_HSPD   (1<<7)
-#define MASK_GPS_VSPD   (1<<8)
+#define MASK_GPS_NSATS   (1<<0)
+#define MASK_GPS_PDOP    (1<<1)
+#define MASK_GPS_HACC    (1<<2)
+#define MASK_GPS_VACC    (1<<3)
+#define MASK_GPS_SACC    (1<<4)
+#define MASK_GPS_HDRIFT  (1<<5)
+#define MASK_GPS_VDRIFT  (1<<6)
+#define MASK_GPS_HSPD    (1<<7)
+#define MASK_GPS_VSPD    (1<<8)
+#define MASK_GPS_SPOOFED (1<<9)

 void Ekf::collect_gps(const gnssSample &gps)
 {
@@ -125,6 +126,7 @@ void Ekf::collect_gps(const gnssSample &gps)
 					_wmm_gps_time_last_set = _time_delayed_us;
 				}
 			}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 			_earth_rate_NED = calcEarthRateNED((float)math::radians(gps.lat));
@@ -136,6 +138,8 @@ void Ekf::collect_gps(const gnssSample &gps)

 bool Ekf::runGnssChecks(const gnssSample &gps)
 {
+	_gps_check_fail_status.flags.spoofed = gps.spoofed;
+
 	// Check the fix type
 	_gps_check_fail_status.flags.fix = (gps.fix_type < 3);

@@ -154,7 +158,8 @@ bool Ekf::runGnssChecks(const gnssSample &gps)

 	// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient
 	constexpr float filt_time_const = 10.0f;
-	const float dt = math::constrain(float(int64_t(gps.time_us) - int64_t(_gps_pos_prev.getProjectionReferenceTimestamp())) * 1e-6f, 0.001f, filt_time_const);
+	const float dt = math::constrain(float(int64_t(gps.time_us) - int64_t(_gps_pos_prev.getProjectionReferenceTimestamp()))
+					 * 1e-6f, 0.001f, filt_time_const);
 	const float filter_coef = dt / filt_time_const;

 	// The following checks are only valid when the vehicle is at rest
@@ -240,7 +245,8 @@ bool Ekf::runGnssChecks(const gnssSample &gps)
 		(_gps_check_fail_status.flags.hdrift  && (_params.gps_check_mask & MASK_GPS_HDRIFT)) ||
 		(_gps_check_fail_status.flags.vdrift  && (_params.gps_check_mask & MASK_GPS_VDRIFT)) ||
 		(_gps_check_fail_status.flags.hspeed  && (_params.gps_check_mask & MASK_GPS_HSPD)) ||
-		(_gps_check_fail_status.flags.vspeed  && (_params.gps_check_mask & MASK_GPS_VSPD))
+		(_gps_check_fail_status.flags.vspeed  && (_params.gps_check_mask & MASK_GPS_VSPD)) ||
+		(_gps_check_fail_status.flags.spoofed && (_params.gps_check_mask & MASK_GPS_SPOOFED))
 	) {
 		_last_gps_fail_us = _time_delayed_us;
 		return false;
@@ -78,7 +78,6 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)

 			if (_control_status.flags.gps && isTimedOut(_last_gps_pass_us, _params.reset_timeout_max)) {
 				stopGpsFusion();
-				_warning_events.flags.gps_quality_poor = true;
 				ECL_WARN("GPS quality poor - stopping use");
 			}
 		}
@@ -87,12 +86,11 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 			updateGnssPos(gnss_sample, _aid_src_gnss_pos);
 		}

-		updateGnssVel(gnss_sample, _aid_src_gnss_vel);
+		updateGnssVel(imu_delayed, gnss_sample, _aid_src_gnss_vel);

 	} else if (_control_status.flags.gps) {
 		if (!isNewestSampleRecent(_time_last_gps_buffer_push, _params.reset_timeout_max)) {
 			stopGpsFusion();
-			_warning_events.flags.gps_data_stopped = true;
 			ECL_WARN("GPS data stopped");
 		}
 	}
@@ -175,12 +173,13 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	}
 }

-void Ekf::updateGnssVel(const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src)
+void Ekf::updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src)
 {
 	// correct velocity for offset relative to IMU
 	const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;

-	const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
+	const Vector3f angular_velocity = imu_sample.delta_ang / imu_sample.delta_ang_dt - _state.gyro_bias;
+	const Vector3f vel_offset_body = angular_velocity % pos_offset_body;
 	const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
 	const Vector3f velocity = gnss_sample.vel - vel_offset_earth;

@@ -190,12 +189,12 @@ void Ekf::updateGnssVel(const gnssSample &gnss_sample, estimator_aid_source3d_s
 	const float innovation_gate = math::max(_params.gps_vel_innov_gate, 1.f);

 	updateAidSourceStatus(aid_src,
-				 gnss_sample.time_us,                  // sample timestamp
-				 velocity,                             // observation
-				 vel_obs_var,                          // observation variance
-				 _state.vel - velocity,                // innovation
-				 getVelocityVariance() + vel_obs_var,  // innovation variance
-				 innovation_gate);                     // innovation gate
+			      gnss_sample.time_us,                  // sample timestamp
+			      velocity,                             // observation
+			      vel_obs_var,                          // observation variance
+			      _state.vel - velocity,                // innovation
+			      getVelocityVariance() + vel_obs_var,  // innovation variance
+			      innovation_gate);                     // innovation gate

 	// vz special case if there is bad vertical acceleration data, then don't reject measurement if GNSS reports velocity accuracy is acceptable,
 	// but limit innovation to prevent spikes that could destabilise the filter
@@ -228,12 +227,12 @@ void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s
 	const Vector2f pos_obs_var(pos_var, pos_var);

 	updateAidSourceStatus(aid_src,
-				 gnss_sample.time_us,                                    // sample timestamp
-				 position,                                               // observation
-				 pos_obs_var,                                            // observation variance
-				 Vector2f(_state.pos) - position,                        // innovation
-				 Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
-				 math::max(_params.gps_pos_innov_gate, 1.f));            // innovation gate
+			      gnss_sample.time_us,                                    // sample timestamp
+			      position,                                               // observation
+			      pos_obs_var,                                            // observation variance
+			      Vector2f(_state.pos) - position,                        // innovation
+			      Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
+			      math::max(_params.gps_pos_innov_gate, 1.f));            // innovation gate
 }

 void Ekf::controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel)
@@ -276,14 +275,12 @@ bool Ekf::tryYawEmergencyReset()
 			// stop using the magnetometer in the main EKF otherwise its fusion could drag the yaw around
 			// and cause another navigation failure
 			_control_status.flags.mag_fault = true;
-			_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
 		}

 #if defined(CONFIG_EKF2_GNSS_YAW)

 		if (_control_status.flags.gps_yaw) {
 			_control_status.flags.gps_yaw_fault = true;
-			_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
 		}

 #endif // CONFIG_EKF2_GNSS_YAW
@@ -62,12 +62,12 @@ void Ekf::updateGpsYaw(const gnssSample &gps_sample)
 					    &heading_pred, &heading_innov_var, &H);

 	updateAidSourceStatus(_aid_src_gnss_yaw,
-				 gps_sample.time_us,                          // sample timestamp
-				 measured_hdg,                                // observation
-				 R_YAW,                                       // observation variance
-				 wrap_pi(heading_pred - measured_hdg),        // innovation
-				 heading_innov_var,                           // innovation variance
-				 math::max(_params.heading_innov_gate, 1.f)); // innovation gate
+			      gps_sample.time_us,                          // sample timestamp
+			      measured_hdg,                                // observation
+			      R_YAW,                                       // observation variance
+			      wrap_pi(heading_pred - measured_hdg),        // innovation
+			      heading_innov_var,                           // innovation variance
+			      math::max(_params.heading_innov_gate, 1.f)); // innovation gate
 }

 void Ekf::fuseGpsYaw(float antenna_yaw_offset)
@@ -100,6 +100,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
 		// we reinitialise the covariance matrix and abort this fusion step
 		initialiseCovariance();
 		ECL_ERR("GPS yaw numerical error - covariance reset");
+		stopGpsYawFusion();
 		return;
 	}

@@ -54,7 +54,8 @@ void Ekf::controlGravityFusion(const imuSample &imu)

 	const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f;
 	const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f;
-	const bool accel_lpf_norm_good = (_accel_magnitude_filt > lower_accel_limit) && (_accel_magnitude_filt < upper_accel_limit);
+	const bool accel_lpf_norm_good = (_accel_magnitude_filt > lower_accel_limit)
+					 && (_accel_magnitude_filt < upper_accel_limit);

 	// fuse gravity observation if our overall acceleration isn't too big
 	_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
@@ -70,12 +71,12 @@ void Ekf::controlGravityFusion(const imuSample &imu)

 	// fill estimator aid source status
 	updateAidSourceStatus(_aid_src_gravity,
-				 imu.time_us,                                                 // sample timestamp
-				 measurement,                                                 // observation
-				 Vector3f{measurement_var, measurement_var, measurement_var}, // observation variance
-				 innovation,                                                  // innovation
-				 innovation_variance,                                         // innovation variance
-				 0.25f);                                                      // innovation gate
+			      imu.time_us,                                                 // sample timestamp
+			      measurement,                                                 // observation
+			      Vector3f{measurement_var, measurement_var, measurement_var}, // observation variance
+			      innovation,                                                  // innovation
+			      innovation_variance,                                         // innovation variance
+			      0.25f);                                                      // innovation gate

 	bool fused[3] {false, false, false};

@@ -90,14 +91,16 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 			sym::ComputeGravityYInnovVarAndH(state_vector, P, measurement_var, &_aid_src_gravity.innovation_variance[index], &H);

 			// recalculate innovation using the updated state
-			_aid_src_gravity.innovation[index] = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f, -1.f))(index) - measurement(index);
+			_aid_src_gravity.innovation[index] = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f,
+							     -1.f))(index) - measurement(index);

 		} else if (index == 2) {
 			// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
 			sym::ComputeGravityZInnovVarAndH(state_vector, P, measurement_var, &_aid_src_gravity.innovation_variance[index], &H);

 			// recalculate innovation using the updated state
-			_aid_src_gravity.innovation[index] = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f, -1.f))(index) - measurement(index);
+			_aid_src_gravity.innovation[index] = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f,
+							     -1.f))(index) - measurement(index);
 		}

 		VectorState K = P * H / _aid_src_gravity.innovation_variance[index];
@@ -105,7 +108,8 @@ 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, H, _aid_src_gravity.observation_variance[index],
+							 _aid_src_gravity.innovation[index]);
 		}
 	}

@@ -41,7 +41,7 @@

 #include <ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h>

-void Ekf::controlMagFusion()
+void Ekf::controlMagFusion(const imuSample &imu_sample)
 {
 	static constexpr const char *AID_SRC_NAME = "mag";
 	estimator_aid_source3d_s &aid_src = _aid_src_mag;
@@ -59,7 +59,7 @@ void Ekf::controlMagFusion()

 	magSample mag_sample;

-	if (_mag_buffer && _mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
+	if (_mag_buffer && _mag_buffer->pop_first_older_than(imu_sample.time_us, &mag_sample)) {

 		if (mag_sample.reset || (_mag_counter == 0)) {
 			// sensor or calibration has changed, reset low pass filter
@@ -109,12 +109,12 @@ void Ekf::controlMagFusion()
 		sym::ComputeMagInnovInnovVarAndHx(_state.vector(), P, mag_sample.mag, R_MAG, FLT_EPSILON, &mag_innov, &innov_var, &H);

 		updateAidSourceStatus(aid_src,
-					mag_sample.time_us,                      // sample timestamp
-					mag_sample.mag,                          // observation
-					Vector3f(R_MAG, R_MAG, R_MAG),           // observation variance
-					mag_innov,                               // innovation
-					innov_var,                               // innovation variance
-					math::max(_params.mag_innov_gate, 1.f)); // innovation gate
+				      mag_sample.time_us,                      // sample timestamp
+				      mag_sample.mag,                          // observation
+				      Vector3f(R_MAG, R_MAG, R_MAG),           // observation variance
+				      mag_innov,                               // innovation
+				      innov_var,                               // innovation variance
+				      math::max(_params.mag_innov_gate, 1.f)); // innovation gate

 		// Perform an innovation consistency check and report the result
 		_innov_check_fail_status.flags.reject_mag_x = (aid_src.test_ratio[0] > 1.f);
@@ -134,7 +134,8 @@ void Ekf::controlMagFusion()
 				&& checkMagField(mag_sample.mag)
 				&& (_mag_counter > 3) // wait until we have more than a few samples through the filter
 				&& (_control_status.flags.yaw_align == _control_status_prev.flags.yaw_align) // no yaw alignment change this frame
-				&& (_state_reset_status.reset_count.quat == _state_reset_count_prev.quat) // don't allow starting on same frame as yaw reset
+				&& (_state_reset_status.reset_count.quat ==
+				    _state_reset_count_prev.quat) // don't allow starting on same frame as yaw reset
 				&& isNewestSampleRecent(_time_last_mag_buffer_push, MAG_MAX_INTERVAL);

 		checkMagHeadingConsistency(mag_sample);
@@ -145,22 +146,22 @@ void Ekf::controlMagFusion()


 		{
-		const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !using_ne_aiding;
-		const bool common_conditions_passing = _control_status.flags.mag
-						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding)
-						           || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
-						       && !_control_status.flags.mag_fault
-						       && !_control_status.flags.mag_field_disturbed
-						       && !_control_status.flags.ev_yaw
-						       && !_control_status.flags.gps_yaw;
+			const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !using_ne_aiding;
+			const bool common_conditions_passing = _control_status.flags.mag
+							       && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding)
+									       || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
+							       && !_control_status.flags.mag_fault
+							       && !_control_status.flags.mag_field_disturbed
+							       && !_control_status.flags.ev_yaw
+							       && !_control_status.flags.gps_yaw;

-		_control_status.flags.mag_3D = common_conditions_passing
-					       && (_params.mag_fusion_type == MagFuseType::AUTO)
-					       && _control_status.flags.mag_aligned_in_flight;
+			_control_status.flags.mag_3D = common_conditions_passing
+						       && (_params.mag_fusion_type == MagFuseType::AUTO)
+						       && _control_status.flags.mag_aligned_in_flight;

-		_control_status.flags.mag_hdg = common_conditions_passing
-						&& ((_params.mag_fusion_type == MagFuseType::HEADING)
-						    || (_params.mag_fusion_type == MagFuseType::AUTO && !_control_status.flags.mag_3D));
+			_control_status.flags.mag_hdg = common_conditions_passing
+							&& ((_params.mag_fusion_type == MagFuseType::HEADING)
+							    || (_params.mag_fusion_type == MagFuseType::AUTO && !_control_status.flags.mag_3D));
 		}

 		// TODO: allow clearing mag_fault if mag_3d is good?
@@ -184,7 +185,7 @@ void Ekf::controlMagFusion()
 				if (mag_sample.reset || checkHaglYawResetReq() || (wmm_updated && no_ne_aiding_or_pre_takeoff)) {
 					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;
+					aid_src.time_last_fuse = imu_sample.time_us;

 				} else {
 					// The normal sequence is to fuse the magnetometer data first before fusing
@@ -212,7 +213,7 @@ void Ekf::controlMagFusion()
 					if (no_ne_aiding_or_pre_takeoff) {
 						ECL_WARN("%s fusion failing, resetting", 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;
+						aid_src.time_last_fuse = imu_sample.time_us;

 					} else {
 						ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
@@ -241,7 +242,7 @@ void Ekf::controlMagFusion()
 					bool reset_heading = !_control_status.flags.yaw_align;

 					resetMagStates(_mag_lpf.getState(), reset_heading);
-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;

 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
@@ -50,7 +50,8 @@

 #include <mathlib/mathlib.h>

-bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estimator_aid_source3d_s &aid_src, bool update_all_states, bool update_tilt)
+bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estimator_aid_source3d_s &aid_src,
+		  bool update_all_states, bool update_tilt)
 {
 	// if any axis failed, abort the mag fusion
 	if (aid_src.innovation_rejected) {
@@ -72,7 +73,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 			sym::ComputeMagYInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src.innovation_variance[index], &H);

 			// recalculate innovation using the updated state
-			aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index);
+			aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(
+							    index);

 		} else if (index == 2) {
 			// we do not fuse synthesized magnetomter measurements when doing 3D fusion
@@ -85,7 +87,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 			sym::ComputeMagZInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src.innovation_variance[index], &H);

 			// recalculate innovation using the updated state
-			aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index);
+			aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(
+							    index);
 		}

 		if (aid_src.innovation_variance[index] < R_MAG) {
@@ -98,6 +101,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima

 			resetMagCov();

+			stopMagFusion();
+
 			return false;
 		}

@@ -171,7 +176,8 @@ bool Ekf::fuseDeclination(float decl_sigma)
 		float decl_pred;
 		float innovation_variance;

-		sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H);
+		sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance,
+				&H);

 		const float innovation = wrap_pi(decl_pred - decl_measurement);

@@ -38,45 +38,80 @@

 #include "ekf.h"

+#include <ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h>
+
 void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 {
-	if (_flow_buffer) {
-		_flow_data_ready = _flow_buffer->pop_first_older_than(imu_delayed.time_us, &_flow_sample_delayed);
+	if (!_flow_buffer || (_params.flow_ctrl != 1)) {
+		stopFlowFusion();
+		return;
 	}

+	VectorState H;
+
 	// New optical flow data is available and is ready to be fused when the midpoint of the sample falls behind the fusion time horizon
-	if (_flow_data_ready) {
+	if (_flow_buffer->pop_first_older_than(imu_delayed.time_us, &_flow_sample_delayed)) {
+
+		// flow gyro has opposite sign convention
+		_ref_body_rate = -(imu_delayed.delta_ang / imu_delayed.delta_ang_dt - getGyroBias());
+
+		// ensure valid flow sample gyro rate before proceeding
+		if (!PX4_ISFINITE(_flow_sample_delayed.gyro_rate(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_rate(1))) {
+			_flow_sample_delayed.gyro_rate = _ref_body_rate;
+
+		} else if (!PX4_ISFINITE(_flow_sample_delayed.gyro_rate(2))) {
+			// Some flow modules only provide X ind Y angular rates. If this is the case, complete the vector with our own Z gyro
+			_flow_sample_delayed.gyro_rate(2) = _ref_body_rate(2);
+		}
+
+		const flowSample &flow_sample = _flow_sample_delayed;
+
 		const int32_t min_quality = _control_status.flags.in_air
 					    ? _params.flow_qual_min
 					    : _params.flow_qual_min_gnd;

-		const bool is_quality_good = (_flow_sample_delayed.quality >= min_quality);
-		const bool is_magnitude_good = _flow_sample_delayed.flow_rate.isAllFinite()
-					       && !_flow_sample_delayed.flow_rate.longerThan(_flow_max_rate);
+		const bool is_quality_good = (flow_sample.quality >= min_quality);
+		const bool is_magnitude_good = flow_sample.flow_rate.isAllFinite()
+					       && !flow_sample.flow_rate.longerThan(_flow_max_rate);

 		bool is_tilt_good = true;

 #if defined(CONFIG_EKF2_RANGE_FINDER)
 		is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt);
-
 #endif // CONFIG_EKF2_RANGE_FINDER

-		if (is_quality_good
-		    && is_magnitude_good
-		    && is_tilt_good) {
-			// compensate for body motion to give a LOS rate
-			calcOptFlowBodyRateComp(imu_delayed);
-			_flow_rate_compensated = _flow_sample_delayed.flow_rate - _flow_sample_delayed.gyro_rate.xy();
+		calcOptFlowBodyRateComp(flow_sample);

-		} else {
-			// don't use this flow data and wait for the next data to arrive
-			_flow_data_ready = false;
-			_flow_rate_compensated.setZero();
-		}
-	}
+		// calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed
+		// correct for gyro bias errors in the data used to do the motion compensation
+		// Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis.
+		const Vector3f flow_gyro_corrected = flow_sample.gyro_rate - _flow_gyro_bias;
+		const Vector2f flow_compensated = flow_sample.flow_rate - flow_gyro_corrected.xy();
+
+		// calculate the optical flow observation variance
+		const float R_LOS = calcOptFlowMeasVar(flow_sample);
+
+		Vector2f innov_var;
+		sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, R_LOS, FLT_EPSILON, &innov_var, &H);
+
+		// run the innovation consistency check and record result
+		updateAidSourceStatus(_aid_src_optical_flow,
+				      flow_sample.time_us,                                 // sample timestamp
+				      flow_compensated,                                    // observation
+				      Vector2f{R_LOS, R_LOS},                              // observation variance
+				      predictFlow(flow_gyro_corrected) - flow_compensated, // innovation
+				      innov_var,                                           // innovation variance
+				      math::max(_params.flow_innov_gate, 1.f));            // innovation gate
+
+		// logging
+		_flow_rate_compensated = flow_compensated;
+
+		// compute the velocities in body and local frames from corrected optical flow measurement for logging only
+		const float range = predictFlowRange();
+		_flow_vel_body(0) = -flow_compensated(1) * range;
+		_flow_vel_body(1) =  flow_compensated(0) * range;
+		_flow_vel_ne = Vector2f(_R_to_earth * Vector3f(_flow_vel_body(0), _flow_vel_body(1), 0.f));

-	if (_flow_data_ready) {
-		updateOptFlow(_aid_src_optical_flow);

 		// Check if we are in-air and require optical flow to control position drift
 		bool is_flow_required = _control_status.flags.in_air
@@ -90,20 +125,30 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 				&& is_within_max_sensor_dist;

 		const bool starting_conditions_passing = continuing_conditions_passing
+				&& is_quality_good
+				&& is_magnitude_good
+				&& is_tilt_good
 				&& isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)2e6); // Prevent rapid switching

 		// If the height is relative to the ground, terrain height cannot be observed.
-		_hagl_sensor_status.flags.flow = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);
+		_control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);

 		if (_control_status.flags.opt_flow) {
 			if (continuing_conditions_passing) {
-				fuseOptFlow(_hagl_sensor_status.flags.flow);
+
+				if (is_quality_good && is_magnitude_good && is_tilt_good) {
+					fuseOptFlow(H, _control_status.flags.opt_flow_terrain);
+				}

 				// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
 				if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)) {
-					if (is_flow_required) {
+					if (is_flow_required && is_quality_good) {
 						resetFlowFusion();

+						if (_control_status.flags.opt_flow_terrain && !isTerrainEstimateValid()) {
+							resetTerrainToFlow();
+						}
+
 					} else {
 						stopFlowFusion();
 					}
@@ -115,7 +160,34 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)

 		} else {
 			if (starting_conditions_passing) {
-				startFlowFusion();
+				// If the height is relative to the ground, terrain height cannot be observed.
+				_control_status.flags.opt_flow_terrain = (_height_sensor_ref != HeightSensor::RANGE);
+
+				if (isHorizontalAidingActive()) {
+					if (fuseOptFlow(H, _control_status.flags.opt_flow_terrain)) {
+						ECL_INFO("starting optical flow");
+						_control_status.flags.opt_flow = true;
+
+					} else if (_control_status.flags.opt_flow_terrain && !_control_status.flags.rng_terrain) {
+						ECL_INFO("starting optical flow, resetting terrain");
+						resetTerrainToFlow();
+						_control_status.flags.opt_flow = true;
+					}
+
+				} else {
+					if (isTerrainEstimateValid() || (_height_sensor_ref == HeightSensor::RANGE)) {
+						ECL_INFO("starting optical flow, resetting");
+						resetFlowFusion();
+						_control_status.flags.opt_flow = true;
+
+					} else if (_control_status.flags.opt_flow_terrain) {
+						ECL_INFO("starting optical flow, resetting terrain");
+						resetTerrainToFlow();
+						_control_status.flags.opt_flow = true;
+					}
+				}
+
+				_control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);
 			}
 		}

@@ -124,41 +196,6 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 	}
 }

-void Ekf::startFlowFusion()
-{
-	ECL_INFO("starting optical flow fusion");
-
-	if (_height_sensor_ref != HeightSensor::RANGE) {
-		// If the height is relative to the ground, terrain height cannot be observed.
-		_hagl_sensor_status.flags.flow = true;
-	}
-
-	if (isHorizontalAidingActive()) {
-		if (!_aid_src_optical_flow.innovation_rejected) {
-			ECL_INFO("starting optical flow no reset");
-			fuseOptFlow(_hagl_sensor_status.flags.flow);
-
-		} else if (_hagl_sensor_status.flags.flow && !_hagl_sensor_status.flags.range_finder) {
-			resetTerrainToFlow();
-
-		} else {
-			ECL_INFO("optical flow fusion failed to start");
-			_control_status.flags.opt_flow = false;
-			_hagl_sensor_status.flags.flow = false;
-		}
-
-	} else {
-		if (isTerrainEstimateValid() || (_height_sensor_ref == HeightSensor::RANGE)) {
-			resetFlowFusion();
-
-		} else if (_hagl_sensor_status.flags.flow) {
-			resetTerrainToFlow();
-		}
-	}
-
-	_control_status.flags.opt_flow = true; // needs to be here because of isHorizontalAidingActive
-}
-
 void Ekf::resetFlowFusion()
 {
 	ECL_INFO("reset velocity to flow");
@@ -171,11 +208,10 @@ void Ekf::resetFlowFusion()
 		resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f);
 	}

-	updateOptFlow(_aid_src_optical_flow);
+	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);
+
 	_innov_check_fail_status.flags.reject_optflow_X = false;
 	_innov_check_fail_status.flags.reject_optflow_Y = false;
-
-	_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
 }

 void Ekf::resetTerrainToFlow()
@@ -186,10 +222,10 @@ void Ekf::resetTerrainToFlow()
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f);
 	_terrain_vpos_reset_counter++;

+	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);
+
 	_innov_check_fail_status.flags.reject_optflow_X = false;
 	_innov_check_fail_status.flags.reject_optflow_Y = false;
-
-	_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
 }

 void Ekf::stopFlowFusion()
@@ -197,29 +233,19 @@ void Ekf::stopFlowFusion()
 	if (_control_status.flags.opt_flow) {
 		ECL_INFO("stopping optical flow fusion");
 		_control_status.flags.opt_flow = false;
-		_hagl_sensor_status.flags.flow = false;
+		_control_status.flags.opt_flow_terrain = false;
+
+		_fault_status.flags.bad_optflow_X = false;
+		_fault_status.flags.bad_optflow_Y = false;
+
+		_innov_check_fail_status.flags.reject_optflow_X = false;
+		_innov_check_fail_status.flags.reject_optflow_Y = false;
 	}
 }

-void Ekf::calcOptFlowBodyRateComp(const imuSample &imu_delayed)
+void Ekf::calcOptFlowBodyRateComp(const flowSample &flow_sample)
 {
-	if (imu_delayed.delta_ang_dt > FLT_EPSILON) {
-		_ref_body_rate = -imu_delayed.delta_ang / imu_delayed.delta_ang_dt -
-				 getGyroBias(); // flow gyro has opposite sign convention
-
-	} else {
-		_ref_body_rate.zero();
-	}
-
-	if (!PX4_ISFINITE(_flow_sample_delayed.gyro_rate(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_rate(1))) {
-		_flow_sample_delayed.gyro_rate = _ref_body_rate;
-
-	} else if (!PX4_ISFINITE(_flow_sample_delayed.gyro_rate(2))) {
-		// Some flow modules only provide X ind Y angular rates. If this is the case, complete the vector with our own Z gyro
-		_flow_sample_delayed.gyro_rate(2) = _ref_body_rate(2);
-	}
-
-	// calculate the bias estimate using  a combined LPF and spike filter
-	_flow_gyro_bias = _flow_gyro_bias * 0.99f + matrix::constrain(_flow_sample_delayed.gyro_rate - _ref_body_rate, -0.1f,
-			  0.1f) * 0.01f;
+	// calculate the bias estimate using a combined LPF and spike filter
+	_flow_gyro_bias = 0.99f * _flow_gyro_bias
+			  + 0.01f * matrix::constrain(flow_sample.gyro_rate - _ref_body_rate, -0.1f, 0.1f);
 }
@@ -42,95 +42,42 @@
 #include <ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h>
 #include <ekf_derivation/generated/compute_flow_y_innov_var_and_h.h>

-void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src)
+bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
 {
-	const Vector2f vel_body = predictFlowVelBody();
-	const float range = predictFlowRange();
-
-	// calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed
-	// correct for gyro bias errors in the data used to do the motion compensation
-	// Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis.
-	const Vector2f opt_flow_rate = _flow_rate_compensated;
-
-	// compute the velocities in body and local frames from corrected optical flow measurement for logging only
-	_flow_vel_body(0) = -opt_flow_rate(1) * range;
-	_flow_vel_body(1) =  opt_flow_rate(0) * range;
-	_flow_vel_ne = Vector2f(_R_to_earth * Vector3f(_flow_vel_body(0), _flow_vel_body(1), 0.f));
-
-	Vector2f innovation{
-		(vel_body(1) / range) - opt_flow_rate(0),
-		(-vel_body(0) / range) - opt_flow_rate(1)
-	};
-
-	// calculate the optical flow observation variance
-	const float R_LOS = calcOptFlowMeasVar(_flow_sample_delayed);
-
-	Vector2f innov_var;
-	VectorState H;
-	sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, R_LOS, FLT_EPSILON, &innov_var, &H);
-
-	// run the innovation consistency check and record result
-	updateAidSourceStatus(aid_src,
-		_flow_sample_delayed.time_us,  // sample timestamp
-		opt_flow_rate,                 // observation
-		Vector2f{R_LOS, R_LOS},        // observation variance
-		innovation,                    // innovation
-		innov_var,                     // innovation variance
-		math::max(_params.flow_innov_gate, 1.f));      // innovation gate
-}
-
-void Ekf::fuseOptFlow(const bool update_terrain)
-{
-	const float R_LOS = _aid_src_optical_flow.observation_variance[0];
-
-	// calculate the height above the ground of the optical flow camera. Since earth frame is NED
-	// a positive offset in earth frame leads to a smaller height above the ground.
-	float range = predictFlowRange();
-
 	const auto state_vector = _state.vector();

-	Vector2f innov_var;
-	VectorState H;
-	sym::ComputeFlowXyInnovVarAndHx(state_vector, P, R_LOS, FLT_EPSILON, &innov_var, &H);
-	innov_var.copyTo(_aid_src_optical_flow.innovation_variance);
-
-	if ((innov_var(0) < R_LOS) || (innov_var(1) < R_LOS)) {
-		// we need to reinitialise the covariance matrix and abort this fusion step
-		ECL_ERR("Opt flow error - covariance reset");
-		initialiseCovariance();
-		return;
-	}
-
 	_innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f);
 	_innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f);

 	// if either axis fails we abort the fusion
 	if (_aid_src_optical_flow.innovation_rejected) {
-		return;
+		return false;
 	}

 	bool fused[2] {false, false};

 	// fuse observation axes sequentially
 	for (uint8_t index = 0; index <= 1; index++) {
+
+		if (_aid_src_optical_flow.innovation_variance[index] < _aid_src_optical_flow.observation_variance[index]) {
+			// we need to reinitialise the covariance matrix and abort this fusion step
+			ECL_ERR("Opt flow error - covariance reset");
+			initialiseCovariance();
+			stopFlowFusion();
+			return false;
+		}
+
 		if (index == 0) {
 			// everything was already computed above

 		} else if (index == 1) {
 			// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
+			const float R_LOS = _aid_src_optical_flow.observation_variance[1];
 			sym::ComputeFlowYInnovVarAndH(state_vector, P, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H);

 			// recalculate the innovation using the updated state
-			const Vector2f vel_body = predictFlowVelBody();
-			range = predictFlowRange();
-			_aid_src_optical_flow.innovation[1] = (-vel_body(0) / range) - _aid_src_optical_flow.observation[1];
-
-			if (_aid_src_optical_flow.innovation_variance[1] < R_LOS) {
-				// we need to reinitialise the covariance matrix and abort this fusion step
-				ECL_ERR("Opt flow error - covariance reset");
-				initialiseCovariance();
-				return;
-			}
+			const Vector3f flow_gyro_corrected = _flow_sample_delayed.gyro_rate - _flow_gyro_bias;
+			_aid_src_optical_flow.innovation[1] = predictFlow(flow_gyro_corrected)(1) - _aid_src_optical_flow.observation[1];
 		}

 		VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index];
@@ -139,7 +86,8 @@ void Ekf::fuseOptFlow(const bool update_terrain)
 			Kfusion(State::terrain.idx) = 0.f;
 		}

-		if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index], _aid_src_optical_flow.innovation[index])) {
+		if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index],
+				      _aid_src_optical_flow.innovation[index])) {
 			fused[index] = true;
 		}
 	}
@@ -150,10 +98,14 @@ void Ekf::fuseOptFlow(const bool update_terrain)
 	if (fused[0] && fused[1]) {
 		_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
 		_aid_src_optical_flow.fused = true;
+
+		return true;
 	}
+
+	return false;
 }

-float Ekf::predictFlowRange()
+float Ekf::predictFlowRange() const
 {
 	// calculate the sensor position relative to the IMU
 	const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body;
@@ -176,24 +128,28 @@ float Ekf::predictFlowRange()
 	return flow_range;
 }

-Vector2f Ekf::predictFlowVelBody()
+Vector2f Ekf::predictFlow(const Vector3f &flow_gyro) const
 {
 	// calculate the sensor position relative to the IMU
 	const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body;

 	// calculate the velocity of the sensor relative to the imu in body frame
-	// Note: _flow_sample_delayed.gyro_rate is the negative of the body angular velocity, thus use minus sign
-	const Vector3f vel_rel_imu_body = Vector3f(-(_flow_sample_delayed.gyro_rate - _flow_gyro_bias)) % pos_offset_body;
+	// Note: flow gyro is the negative of the body angular velocity, thus use minus sign
+	const Vector3f vel_rel_imu_body = -flow_gyro % pos_offset_body;

 	// calculate the velocity of the sensor in the earth frame
 	const Vector3f vel_rel_earth = _state.vel + _R_to_earth * vel_rel_imu_body;

 	// rotate into body frame
-	return _state.quat_nominal.rotateVectorInverse(vel_rel_earth).xy();
+	const Vector2f vel_body = _state.quat_nominal.rotateVectorInverse(vel_rel_earth).xy();
+
+	// calculate range from focal point to centre of image
+	const float range = predictFlowRange();
+
+	return Vector2f(vel_body(1) / range, -vel_body(0) / range);
 }

-// calculate the measurement variance for the optical flow sensor (rad/sec)^2
-float Ekf::calcOptFlowMeasVar(const flowSample &flow_sample)
+float Ekf::calcOptFlowMeasVar(const flowSample &flow_sample) const
 {
 	// calculate the observation noise variance - scaling noise linearly across flow quality range
 	const float R_LOS_best = fmaxf(_params.flow_noise, 0.05f);
@@ -39,7 +39,7 @@
 #include "ekf.h"
 #include "ekf_derivation/generated/compute_hagl_innov_var.h"

-void Ekf::controlRangeHaglFusion()
+void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 {
 	static constexpr const char *HGT_SRC_NAME = "RNG";

@@ -47,7 +47,7 @@ void Ekf::controlRangeHaglFusion()

 	if (_range_buffer) {
 		// Get range data from buffer and check validity
-		rng_data_ready = _range_buffer->pop_first_older_than(_time_delayed_us, _range_sensor.getSampleAddress());
+		rng_data_ready = _range_buffer->pop_first_older_than(imu_sample.time_us, _range_sensor.getSampleAddress());
 		_range_sensor.setDataReadiness(rng_data_ready);

 		// update range sensor angle parameters in case they have changed
@@ -55,7 +55,7 @@ void Ekf::controlRangeHaglFusion()
 		_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
 		_range_sensor.setQualityHysteresis(_params.range_valid_quality_s);

-		_range_sensor.runChecks(_time_delayed_us, _R_to_earth);
+		_range_sensor.runChecks(imu_sample.time_us, _R_to_earth);

 		if (_range_sensor.isDataHealthy()) {
 			// correct the range data for position offset relative to the IMU
@@ -72,7 +72,7 @@ void Ekf::controlRangeHaglFusion()

 				_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
 				_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2),
-							      P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, _time_delayed_us);
+							      P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, imu_sample.time_us);
 			}

 		} else {
@@ -101,22 +101,22 @@ void Ekf::controlRangeHaglFusion()
 		const bool measurement_valid = PX4_ISFINITE(aid_src.observation) && PX4_ISFINITE(aid_src.observation_variance);

 		const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED))
-							    || (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)))
-							   && _control_status.flags.tilt_align
-							   && measurement_valid
-							   && _range_sensor.isDataHealthy()
-						           && _rng_consistency_check.isKinematicallyConsistent();
+				|| (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)))
+				&& _control_status.flags.tilt_align
+				&& measurement_valid
+				&& _range_sensor.isDataHealthy()
+				&& _rng_consistency_check.isKinematicallyConsistent();

 		const bool starting_conditions_passing = continuing_conditions_passing
 				&& isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)
 				&& _range_sensor.isRegularlySendingData();


-		const bool do_conditional_range_aid = (_hagl_sensor_status.flags.range_finder || _control_status.flags.rng_hgt)
+		const bool do_conditional_range_aid = (_control_status.flags.rng_terrain || _control_status.flags.rng_hgt)
 						      && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
 						      && isConditionalRangeAidSuitable();

-		const bool do_range_aid = (_hagl_sensor_status.flags.range_finder || _control_status.flags.rng_hgt)
+		const bool do_range_aid = (_control_status.flags.rng_terrain || _control_status.flags.rng_hgt)
 					  && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED));

 		if (_control_status.flags.rng_hgt) {
@@ -135,7 +135,7 @@ void Ekf::controlRangeHaglFusion()
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();

-					if (!_hagl_sensor_status.flags.flow && aid_src.innovation_rejected) {
+					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) {
 						resetTerrainToRng(aid_src);
 					}

@@ -151,7 +151,7 @@ void Ekf::controlRangeHaglFusion()
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();

-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
 				}

 			} else {
@@ -159,17 +159,17 @@ void Ekf::controlRangeHaglFusion()
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
 					_control_status.flags.rng_hgt = true;

-					if (!_hagl_sensor_status.flags.flow && aid_src.innovation_rejected) {
+					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) {
 						resetTerrainToRng(aid_src);
 					}
 				}
 			}
 		}

-		if (_control_status.flags.rng_hgt || _hagl_sensor_status.flags.range_finder) {
+		if (_control_status.flags.rng_hgt || _control_status.flags.rng_terrain) {
 			if (continuing_conditions_passing) {

-				fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _hagl_sensor_status.flags.range_finder);
+				fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain);

 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);

@@ -183,11 +183,11 @@ void Ekf::controlRangeHaglFusion()
 					// reset vertical velocity
 					resetVerticalVelocityToZero();

-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;

 				} else if (is_fusion_failing) {
 					// Some other height source is still working
-					if (_hagl_sensor_status.flags.flow) {
+					if (_control_status.flags.opt_flow_terrain && isTerrainEstimateValid()) {
 						ECL_WARN("stopping %s fusion, fusion failing", HGT_SRC_NAME);
 						stopRngHgtFusion();
 						stopRngTerrFusion();
@@ -205,10 +205,10 @@ void Ekf::controlRangeHaglFusion()

 		} else {
 			if (starting_conditions_passing) {
-				if (_hagl_sensor_status.flags.flow) {
+				if (_control_status.flags.opt_flow_terrain) {
 					if (!aid_src.innovation_rejected) {
-						_hagl_sensor_status.flags.range_finder = true;
-						fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _hagl_sensor_status.flags.range_finder);
+						_control_status.flags.rng_terrain = true;
+						fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain);
 					}

 				} else {
@@ -216,12 +216,12 @@ void Ekf::controlRangeHaglFusion()
 						resetTerrainToRng(aid_src);
 					}

-					_hagl_sensor_status.flags.range_finder = true;
+					_control_status.flags.rng_terrain = true;
 				}
 			}
 		}

-	} else if ((_control_status.flags.rng_hgt || _hagl_sensor_status.flags.range_finder)
+	} else if ((_control_status.flags.rng_hgt || _control_status.flags.rng_terrain)
 		   && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)) {
 		// No data anymore. Stop until it comes back.
 		ECL_WARN("stopping %s fusion, no data", HGT_SRC_NAME);
@@ -260,10 +260,10 @@ void Ekf::updateRangeHagl(estimator_aid_source1d_s &aid_src)
 float Ekf::getRngVar() const
 {
 	return fmaxf(
-		     P(State::pos.idx + 2, State::pos.idx + 2)
-		     + sq(_params.range_noise)
-		     + sq(_params.range_noise_scaler * _range_sensor.getRange()),
-	       0.f);
+		       P(State::pos.idx + 2, State::pos.idx + 2)
+		       + sq(_params.range_noise)
+		       + sq(_params.range_noise_scaler * _range_sensor.getRange()),
+		       0.f);
 }

 void Ekf::resetTerrainToRng(estimator_aid_source1d_s &aid_src)
@@ -317,5 +317,5 @@ void Ekf::stopRngHgtFusion()

 void Ekf::stopRngTerrFusion()
 {
-	_hagl_sensor_status.flags.range_finder = false;
+	_control_status.flags.rng_terrain = false;
 }
@@ -56,7 +56,8 @@ struct rangeSample {
 	int8_t      quality{};  ///< Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
 };

-static constexpr uint64_t RNG_MAX_INTERVAL = 200e3;  ///< Maximum allowable time interval between range finder measurements (uSec)
+static constexpr uint64_t RNG_MAX_INTERVAL =
+	200e3;  ///< Maximum allowable time interval between range finder measurements (uSec)

 class SensorRangeFinder : public Sensor
 {
@@ -88,12 +88,12 @@ void Ekf::updateSideslip(estimator_aid_source1d_s &aid_src) const
 	sym::ComputeSideslipInnovAndInnovVar(_state.vector(), P, R, FLT_EPSILON, &innov, &innov_var);

 	updateAidSourceStatus(aid_src,
-				 _time_delayed_us,                         // sample timestamp
-				 observation,                              // observation
-				 R,                                        // observation variance
-				 innov,                                    // innovation
-				 innov_var,                                // innovation variance
-				 math::max(_params.beta_innov_gate, 1.f)); // innovation gate
+			      _time_delayed_us,                         // sample timestamp
+			      observation,                              // observation
+			      R,                                        // observation variance
+			      innov,                                    // innovation
+			      innov_var,                                // innovation variance
+			      math::max(_params.beta_innov_gate, 1.f)); // innovation gate
 }

 void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)
@@ -44,7 +44,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
 				|| _control_status.flags.ev_yaw || _control_status.flags.gps_yaw;

 	// fuse zero innovation at a limited rate if the yaw variance is too large
-	if(!yaw_aiding
+	if (!yaw_aiding
 	    && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {

 		// Use an observation variance larger than usual but small enough
@@ -60,7 +60,8 @@ void Ekf::controlZeroInnovationHeadingUpdate()

 		computeYawInnovVarAndH(obs_var, aid_src_status.innovation_variance, H_YAW);

-		if (!_control_status.flags.tilt_align || (aid_src_status.innovation_variance - obs_var) > sq(_params.mag_heading_noise)) {
+		if (!_control_status.flags.tilt_align
+		    || (aid_src_status.innovation_variance - obs_var) > sq(_params.mag_heading_noise)) {
 			// The yaw variance is too large, fuse fake measurement
 			fuseYaw(aid_src_status, H_YAW);
 		}
@@ -66,18 +66,26 @@ using math::Utilities::sq;
 using math::Utilities::updateYawInRotMat;

 // maximum sensor intervals in usec
-static constexpr uint64_t BARO_MAX_INTERVAL     = 200e3;  ///< Maximum allowable time interval between pressure altitude measurements (uSec)
-static constexpr uint64_t EV_MAX_INTERVAL       = 200e3;  ///< Maximum allowable time interval between external vision system measurements (uSec)
-static constexpr uint64_t GNSS_MAX_INTERVAL     = 500e3;  ///< Maximum allowable time interval between GNSS measurements (uSec)
-static constexpr uint64_t GNSS_YAW_MAX_INTERVAL = 1500e3; ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
-static constexpr uint64_t MAG_MAX_INTERVAL      = 500e3;  ///< Maximum allowable time interval between magnetic field measurements (uSec)
+static constexpr uint64_t BARO_MAX_INTERVAL     =
+	200e3;  ///< Maximum allowable time interval between pressure altitude measurements (uSec)
+static constexpr uint64_t EV_MAX_INTERVAL       =
+	200e3;  ///< Maximum allowable time interval between external vision system measurements (uSec)
+static constexpr uint64_t GNSS_MAX_INTERVAL     =
+	500e3;  ///< Maximum allowable time interval between GNSS measurements (uSec)
+static constexpr uint64_t GNSS_YAW_MAX_INTERVAL =
+	1500e3; ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
+static constexpr uint64_t MAG_MAX_INTERVAL      =
+	500e3;  ///< Maximum allowable time interval between magnetic field measurements (uSec)

 // bad accelerometer detection and mitigation
-static constexpr uint64_t BADACC_PROBATION = 10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
-static constexpr float BADACC_BIAS_PNOISE = 4.9f;  ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)
+static constexpr uint64_t BADACC_PROBATION =
+	10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
+static constexpr float BADACC_BIAS_PNOISE =
+	4.9f;  ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)

 // ground effect compensation
-static constexpr uint64_t GNDEFFECT_TIMEOUT = 10e6; ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
+static constexpr uint64_t GNDEFFECT_TIMEOUT =
+	10e6; ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)

 enum class PositionFrame : uint8_t {
 	LOCAL_FRAME_NED = 0,
@@ -93,8 +101,8 @@ enum class VelocityFrame : uint8_t {
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 enum GeoDeclinationMask : uint8_t {
 	// Bit locations for mag_declination_source
-	USE_GEO_DECL  = (1<<0), ///< set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value
-	SAVE_GEO_DECL = (1<<1)  ///< set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library
+	USE_GEO_DECL  = (1 << 0), ///< set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value
+	SAVE_GEO_DECL = (1 << 1) ///< set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library
 };

 enum MagFuseType : uint8_t {
@@ -128,16 +136,16 @@ enum class PositionSensor : uint8_t {
 };

 enum class ImuCtrl : uint8_t {
-	GyroBias      = (1<<0),
-	AccelBias     = (1<<1),
-	GravityVector = (1<<2),
+	GyroBias      = (1 << 0),
+	AccelBias     = (1 << 1),
+	GravityVector = (1 << 2),
 };

 enum class GnssCtrl : uint8_t {
-	HPOS  = (1<<0),
-	VPOS  = (1<<1),
-	VEL  = (1<<2),
-	YAW  = (1<<3)
+	HPOS  = (1 << 0),
+	VPOS  = (1 << 1),
+	VEL  = (1 << 2),
+	YAW  = (1 << 3)
 };

 enum class RngCtrl : uint8_t {
@@ -147,10 +155,10 @@ enum class RngCtrl : uint8_t {
 };

 enum class EvCtrl : uint8_t {
-	HPOS = (1<<0),
-	VPOS = (1<<1),
-	VEL  = (1<<2),
-	YAW  = (1<<3)
+	HPOS = (1 << 0),
+	VPOS = (1 << 1),
+	VEL  = (1 << 2),
+	YAW  = (1 << 3)
 };

 enum class MagCheckMask : uint8_t {
@@ -183,6 +191,7 @@ struct gnssSample {
 	float       yaw{};        ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])
 	float       yaw_acc{};    ///< 1-std yaw error (rad)
 	float       yaw_offset{}; ///< Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET
+	bool        spoofed{};    ///< true if GNSS data is spoofed
 };

 struct magSample {
@@ -270,7 +279,7 @@ struct parameters {
 	float accel_bias_p_noise{1.0e-2f};      ///< process noise for IMU accelerometer bias prediction (m/sec**3)

 #if defined(CONFIG_EKF2_WIND)
-	const float initial_wind_uncertainty{1.0f};     ///< 1-sigma initial uncertainty in wind velocity (m/sec)
+	const float initial_wind_uncertainty {1.0f};    ///< 1-sigma initial uncertainty in wind velocity (m/sec)
 	float wind_vel_nsd{1.0e-2f};        ///< process noise spectral density for wind velocity prediction (m/sec**2/sqrt(Hz))
 	const float wind_vel_nsd_scaler{0.5f};      ///< scaling of wind process noise with vertical velocity
 #endif // CONFIG_EKF2_WIND
@@ -281,7 +290,7 @@ struct parameters {
 	float initial_tilt_err{0.1f};           ///< 1-sigma tilt error after initial alignment using gravity vector (rad)

 #if defined(CONFIG_EKF2_BAROMETER)
-	int32_t baro_ctrl{1};
+	int32_t baro_ctrl {1};
 	float baro_delay_ms{0.0f};              ///< barometer height measurement delay relative to the IMU (mSec)
 	float baro_noise{2.0f};                 ///< observation noise for barometric height fusion (m)
 	float baro_bias_nsd{0.13f};             ///< process noise for barometric height bias estimation (m/s/sqrt(Hz))
@@ -304,7 +313,7 @@ struct parameters {
 #endif // CONFIG_EKF2_BAROMETER

 #if defined(CONFIG_EKF2_GNSS)
-	int32_t gnss_ctrl{static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL)};
+	int32_t gnss_ctrl {static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL)};
 	float gps_delay_ms{110.0f};             ///< GPS measurement delay relative to the IMU (mSec)

 	Vector3f gps_pos_body{};                ///< xyz position of the GPS antenna in body frame (m)
@@ -345,7 +354,7 @@ struct parameters {
 	float mag_heading_noise{3.0e-1f};       ///< measurement noise used for simple heading fusion (rad)

 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	float mag_delay_ms{0.0f};               ///< magnetometer measurement delay relative to the IMU (mSec)
+	float mag_delay_ms {0.0f};              ///< magnetometer measurement delay relative to the IMU (mSec)

 	float mage_p_noise{1.0e-3f};            ///< process noise for earth magnetic field prediction (Gauss/sec)
 	float magb_p_noise{1.0e-4f};            ///< process noise for body magnetic field prediction (Gauss/sec)
@@ -382,13 +391,13 @@ struct parameters {
 #endif // CONFIG_EKF2_SIDESLIP

 #if defined(CONFIG_EKF2_TERRAIN)
-	float terrain_p_noise{5.0f};            ///< process noise for terrain offset (m/sec)
+	float terrain_p_noise {5.0f};           ///< process noise for terrain offset (m/sec)
 	float terrain_gradient{0.5f};           ///< gradient of terrain used to estimate process noise due to changing position (m/m)
 	const float terrain_timeout{10.f};      ///< maximum time for invalid bottom distance measurements before resetting terrain estimate (s)
 #endif // CONFIG_EKF2_TERRAIN

 #if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER)
-	float rng_gnd_clearance{0.1f};          ///< minimum valid value for range when on ground (m)
+	float rng_gnd_clearance {0.1f};         ///< minimum valid value for range when on ground (m)
 #endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER

 #if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -432,7 +441,7 @@ struct parameters {
 #endif // CONFIG_EKF2_GRAVITY_FUSION

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
-	int32_t flow_ctrl{0};
+	int32_t flow_ctrl {0};
 	float flow_delay_ms{5.0f};              ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval

 	// optical flow fusion
@@ -493,7 +502,8 @@ union fault_status_u {
 		bool bad_hdg           : 1; ///< 3 - true if the fusion of the heading angle has encountered a numerical error
 		bool bad_mag_decl      : 1; ///< 4 - true if the fusion of the magnetic declination has encountered a numerical error
 		bool bad_airspeed      : 1; ///< 5 - true if fusion of the airspeed has encountered a numerical error
-		bool bad_sideslip      : 1; ///< 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
+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
@@ -536,6 +546,7 @@ union gps_check_fail_status_u {
 		uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground)
 		uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground)
 		uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive
+		uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed
 	} flags;
 	uint16_t value;
 };
@@ -553,7 +564,8 @@ union filter_control_status_u {
 		uint64_t in_air                  : 1; ///< 7 - true when the vehicle is airborne
 		uint64_t wind                    : 1; ///< 8 - true when wind velocity is being estimated
 		uint64_t baro_hgt                : 1; ///< 9 - true when baro height is being fused as a primary height reference
-		uint64_t rng_hgt                 : 1; ///< 10 - true when range finder height is being fused as a primary height reference
+uint64_t rng_hgt                 :
+		1; ///< 10 - true when range finder height is being fused as a primary height reference
 		uint64_t gps_hgt                 : 1; ///< 11 - true when GPS height is being fused as a primary height reference
 		uint64_t ev_pos                  : 1; ///< 12 - true when local position data fusion from external vision is intended
 		uint64_t ev_yaw                  : 1; ///< 13 - true when yaw data from external vision measurements fusion is intended
@@ -561,27 +573,41 @@ union filter_control_status_u {
 		uint64_t fuse_beta               : 1; ///< 15 - true when synthetic sideslip measurements are being fused
 		uint64_t mag_field_disturbed     : 1; ///< 16 - true when the mag field does not match the expected strength
 		uint64_t fixed_wing              : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle
-		uint64_t mag_fault               : 1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used
+uint64_t mag_fault               :
+		1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used
 		uint64_t fuse_aspd               : 1; ///< 19 - true when airspeed measurements are being fused
-		uint64_t gnd_effect              : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
-		uint64_t rng_stuck               : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
-		uint64_t gps_yaw                 : 1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
+uint64_t gnd_effect              :
+		1; ///< 20 - true when protection from ground effect induced static pressure rise is active
+uint64_t rng_stuck               :
+		1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
+uint64_t gps_yaw                 :
+		1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
 		uint64_t mag_aligned_in_flight   : 1; ///< 23 - true when the in-flight mag field alignment has been completed
-		uint64_t ev_vel                  : 1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended
-		uint64_t synthetic_mag_z         : 1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component
+uint64_t ev_vel                  :
+		1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended
+uint64_t synthetic_mag_z         :
+		1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component
 		uint64_t vehicle_at_rest         : 1; ///< 26 - true when the vehicle is at rest
-		uint64_t gps_yaw_fault           : 1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used
-		uint64_t rng_fault               : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
-		uint64_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
+uint64_t gps_yaw_fault           :
+		1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used
+uint64_t rng_fault               :
+		1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
+uint64_t inertial_dead_reckoning :
+		1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 		uint64_t wind_dead_reckoning     : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
 		uint64_t rng_kin_consistent      : 1; ///< 31 - true when the range finder kinematic consistency check is passing
 		uint64_t fake_pos                : 1; ///< 32 - true when fake position measurements are being fused
 		uint64_t fake_hgt                : 1; ///< 33 - true when fake height measurements are being fused
 		uint64_t gravity_vector          : 1; ///< 34 - true when gravity vector measurements are being fused
-		uint64_t mag                     : 1; ///< 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
-		uint64_t ev_yaw_fault            : 1; ///< 36 - true when the EV heading has been declared faulty and is no longer being used
-		uint64_t mag_heading_consistent  : 1; ///< 37 - true when the heading obtained from mag data is declared consistent with the filter
-		uint64_t aux_gpos                : 1;
+uint64_t mag                     :
+		1; ///< 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
+uint64_t ev_yaw_fault            :
+		1; ///< 36 - true when the EV heading has been declared faulty and is no longer being used
+uint64_t mag_heading_consistent  :
+		1; ///< 37 - true when the heading obtained from mag data is declared consistent with the filter
+		uint64_t aux_gpos                : 1; ///< 38 - true if auxiliary global position measurement fusion is intended
+		uint64_t rng_terrain             : 1; ///< 39 - true if we are fusing range finder data for terrain
+		uint64_t opt_flow_terrain        : 1; ///< 40 - true if we are fusing flow data for terrain

 	} flags;
 	uint64_t value;
@@ -597,25 +623,18 @@ union ekf_solution_status_u {
 		uint16_t pos_horiz_abs      : 1; ///< 4 - True if the horizontal position (absolute) estimate is good
 		uint16_t pos_vert_abs       : 1; ///< 5 - True if the vertical position (absolute) estimate is good
 		uint16_t pos_vert_agl       : 1; ///< 6 - True if the vertical position (above ground) estimate is good
-		uint16_t const_pos_mode     : 1; ///< 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
-		uint16_t pred_pos_horiz_rel : 1; ///< 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
-		uint16_t pred_pos_horiz_abs : 1; ///< 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
+uint16_t const_pos_mode     :
+		1; ///< 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
+uint16_t pred_pos_horiz_rel :
+		1; ///< 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
+uint16_t pred_pos_horiz_abs :
+		1; ///< 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
 		uint16_t gps_glitch         : 1; ///< 10 - True if the EKF has detected a GPS glitch
 		uint16_t accel_error        : 1; ///< 11 - True if the EKF has detected bad accelerometer data
 	} flags;
 	uint16_t value;
 };

-#if defined(CONFIG_EKF2_TERRAIN)
-union terrain_fusion_status_u {
-	struct {
-		bool range_finder : 1;  ///< 0 - true if we are fusing range finder data
-		bool flow         : 1;  ///< 1 - true if we are fusing flow data
-	} flags;
-	uint8_t value;
-};
-#endif // CONFIG_EKF2_TERRAIN
-
 // define structure used to communicate information events
 union information_event_status_u {
 	struct {
@@ -627,35 +646,22 @@ union information_event_status_u {
 		bool reset_pos_to_last_known    : 1; ///< 5 - true when the position states are reset to the last known position
 		bool reset_pos_to_gps           : 1; ///< 6 - true when the position states are reset to the gps measurement
 		bool reset_pos_to_vision        : 1; ///< 7 - true when the position states are reset to the vision system measurement
-		bool starting_gps_fusion        : 1; ///< 8 - true when the filter starts using gps measurements to correct the state estimates
-		bool starting_vision_pos_fusion : 1; ///< 9 - true when the filter starts using vision system position measurements to correct the state estimates
-		bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
-		bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
-		bool yaw_aligned_to_imu_gps     : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
+bool starting_gps_fusion        :
+		1; ///< 8 - true when the filter starts using gps measurements to correct the state estimates
+bool starting_vision_pos_fusion :
+		1; ///< 9 - true when the filter starts using vision system position measurements to correct the state estimates
+bool starting_vision_vel_fusion :
+		1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
+bool starting_vision_yaw_fusion :
+		1; ///< 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
+bool yaw_aligned_to_imu_gps     :
+		1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
 		bool reset_hgt_to_baro          : 1; ///< 13 - true when the vertical position state is reset to the baro measurement
 		bool reset_hgt_to_gps           : 1; ///< 14 - true when the vertical position state is reset to the gps measurement
 		bool reset_hgt_to_rng           : 1; ///< 15 - true when the vertical position state is reset to the rng measurement
 		bool reset_hgt_to_ev            : 1; ///< 16 - true when the vertical position state is reset to the ev measurement
-		bool reset_pos_to_ext_obs       : 1; ///< 17 - true when horizontal position was reset to an external observation while deadreckoning
-	} flags;
-	uint32_t value;
-};
-
-// define structure used to communicate information events
-union warning_event_status_u {
-	struct {
-		bool gps_quality_poor                   : 1; ///< 0 - true when the gps is failing quality checks
-		bool gps_fusion_timout                  : 1; ///< 1 - true when the gps data has not been used to correct the state estimates for a significant time period
-		bool gps_data_stopped                   : 1; ///< 2 - true when the gps data has stopped for a significant time period
-		bool gps_data_stopped_using_alternate   : 1; ///< 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
-		bool height_sensor_timeout              : 1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
-		bool stopping_navigation                : 1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
-		bool invalid_accel_bias_cov_reset       : 1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
-		bool bad_yaw_using_gps_course           : 1; ///< 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-		bool stopping_mag_use                   : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
-		bool vision_data_stopped                : 1; ///< 9 - true when the vision system data has stopped for a significant time period
-		bool emergency_yaw_reset_mag_stopped    : 1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
-		bool emergency_yaw_reset_gps_yaw_stopped: 1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
+bool reset_pos_to_ext_obs       :
+		1; ///< 17 - true when horizontal position was reset to an external observation while deadreckoning
 	} flags;
 	uint32_t value;
 };
@@ -102,7 +102,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)

 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	// control use of observations for aiding
-	controlMagFusion();
+	controlMagFusion(imu_delayed);
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
@@ -137,12 +137,12 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	// Additional data odometry data from an external estimator can be fused.
-	controlExternalVisionFusion();
+	controlExternalVisionFusion(imu_delayed);
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 #if defined(CONFIG_EKF2_AUXVEL)
 	// Additional horizontal velocity data from an auxiliary sensor can be fused
-	controlAuxVelFusion();
+	controlAuxVelFusion(imu_delayed);
 #endif // CONFIG_EKF2_AUXVEL
 	//
 #if defined(CONFIG_EKF2_TERRAIN)
@@ -76,14 +76,17 @@ void Ekf::initialiseCovariance()
 	if (_control_status.flags.gps_hgt) {
 		z_pos_var = sq(fmaxf(1.5f * _params.gps_pos_noise, 0.01f));
 	}
+
 #else
 	const float xy_pos_var = sq(fmaxf(_params.pos_noaid_noise, 0.01f));
 #endif

 #if defined(CONFIG_EKF2_RANGE_FINDER)
+
 	if (_control_status.flags.rng_hgt) {
 		z_pos_var = sq(fmaxf(_params.range_noise, 0.01f));
 	}
+
 #endif // CONFIG_EKF2_RANGE_FINDER

 	P.uncorrelateCovarianceSetVariance<State::pos.dof>(State::pos.idx, Vector3f(xy_pos_var, xy_pos_var, z_pos_var));
@@ -131,14 +134,14 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)

 	// calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states
 	P = sym::PredictCovariance(_state.vector(), P,
-				   imu_delayed.delta_vel / math::max(imu_delayed.delta_vel_dt, FLT_EPSILON), accel_var,
-				   imu_delayed.delta_ang / math::max(imu_delayed.delta_ang_dt, FLT_EPSILON), gyro_var,
+				   imu_delayed.delta_vel / imu_delayed.delta_vel_dt, accel_var,
+				   imu_delayed.delta_ang / imu_delayed.delta_ang_dt, gyro_var,
 				   dt);

 	// Construct the process noise variance diagonal for those states with a stationary process model
 	// These are kinematic states and their error growth is controlled separately by the IMU noise variances

-	// gyro bias: add process noise unless state is inhibited
+	// gyro bias: add process noise
 	{
 		const float gyro_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f);
 		const float gyro_bias_process_noise = sq(gyro_bias_sig);
@@ -146,13 +149,13 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 		for (unsigned index = 0; index < State::gyro_bias.dof; index++) {
 			const unsigned i = State::gyro_bias.idx + index;

-			if (!_gyro_bias_inhibit[index]) {
+			if (P(i, i) < gyro_var) {
 				P(i, i) += gyro_bias_process_noise;
 			}
 		}
 	}

-	// accel bias: add process noise unless state is inhibited
+	// accel bias: add process noise
 	{
 		const float accel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.f, 1.f);
 		const float accel_bias_process_noise = sq(accel_bias_sig);
@@ -160,7 +163,7 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 		for (unsigned index = 0; index < State::accel_bias.dof; index++) {
 			const unsigned i = State::accel_bias.idx + index;

-			if (!_accel_bias_inhibit[index]) {
+			if (P(i, i) < accel_var(index)) {
 				P(i, i) += accel_bias_process_noise;
 			}
 		}
@@ -191,13 +194,16 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 			P(i, i) += mag_B_process_noise;
 		}
 	}
+
 #endif // CONFIG_EKF2_MAGNETOMETER


 #if defined(CONFIG_EKF2_WIND)
+
 	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_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++) {
@@ -205,18 +211,22 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 			P(i, i) += wind_vel_process_noise;
 		}
 	}
+
 #endif // CONFIG_EKF2_WIND

 #if defined(CONFIG_EKF2_TERRAIN)
+
 	if (_height_sensor_ref != HeightSensor::RANGE) {
 		// predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle
 		// process noise due to errors in vehicle height estimate
 		float terrain_process_noise = sq(imu_delayed.delta_vel_dt * _params.terrain_p_noise);

 		// process noise due to terrain gradient
-		terrain_process_noise += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(1)));
+		terrain_process_noise += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(
+						 1)));
 		P(State::terrain.idx, State::terrain.idx) += terrain_process_noise;
 	}
+
 #endif // CONFIG_EKF2_TERRAIN

 	// covariance matrix is symmetrical, so copy upper half to lower half
@@ -244,16 +254,20 @@ void Ekf::constrainStateVariances()
 	constrainStateVarLimitRatio(State::accel_bias, kAccelBiasVarianceMin, 1.f);

 #if defined(CONFIG_EKF2_MAGNETOMETER)
+
 	if (_control_status.flags.mag) {
 		constrainStateVarLimitRatio(State::mag_I, kMagVarianceMin, 1.f);
 		constrainStateVarLimitRatio(State::mag_B, kMagVarianceMin, 1.f);
 	}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_WIND)
+
 	if (_control_status.flags.wind) {
 		constrainStateVarLimitRatio(State::wind_vel, 1e-6f, 1e6f);
 	}
+
 #endif // CONFIG_EKF2_WIND

 #if defined(CONFIG_EKF2_TERRAIN)
@@ -89,8 +89,6 @@ void Ekf::reset()
 	_control_status.flags.in_air = true;
 	_control_status_prev.flags.in_air = true;

-	_ang_rate_delayed_raw.zero();
-
 	_fault_status.value = 0;
 	_innov_check_fail_status.value = 0;

@@ -168,7 +166,8 @@ bool Ekf::update()
 		// control fusion of observation data
 		controlFusionModes(imu_sample_delayed);

-		_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias);
+		_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos,
+						      _state.gyro_bias, _state.accel_bias);

 		return true;
 	}
@@ -263,13 +262,6 @@ void Ekf::predictState(const imuSample &imu_delayed)
 	_state.vel = matrix::constrain(_state.vel, -1000.f, 1000.f);
 	_state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f);

-	// some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication
-	// protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate
-	// due to insufficient averaging
-	if (imu_delayed.delta_ang_dt > 0.25f * _dt_ekf_avg) {
-		_ang_rate_delayed_raw = imu_delayed.delta_ang / imu_delayed.delta_ang_dt;
-	}
-

 	// calculate a filtered horizontal acceleration with a 1 sec time constant
 	// this are used for manoeuvre detection elsewhere
@@ -281,7 +273,8 @@ void Ekf::predictState(const imuSample &imu_delayed)
 	_height_rate_lpf = _height_rate_lpf * (1.0f - alpha_height_rate_lpf) + _state.vel(2) * alpha_height_rate_lpf;
 }

-bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation)
+bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy,
+		uint64_t timestamp_observation)
 {
 	if (!_pos_ref.isInitialized()) {
 		ECL_WARN("unable to reset global position, position reference not initialized");
@@ -315,7 +308,7 @@ bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, fl

 	const float sq_gate = sq(5.f); // magic hardcoded gate
 	const Vector2f test_ratio{sq(innov(0)) / (sq_gate * innov_var(0)),
-					sq(innov(1)) / (sq_gate * innov_var(1))};
+				  sq(innov(1)) / (sq_gate * innov_var(1))};

 	const bool innov_rejected = (test_ratio.max() > 1.f);

@@ -331,8 +324,8 @@ bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, fl

 	} else {
 		if (fuseDirectStateMeasurement(innov(0), innov_var(0), obs_var, State::pos.idx + 0)
-		 && fuseDirectStateMeasurement(innov(1), innov_var(1), obs_var, State::pos.idx + 1)
-		) {
+		    && fuseDirectStateMeasurement(innov(1), innov_var(1), obs_var, State::pos.idx + 1)
+		   ) {
 			ECL_INFO("fused external observation as position measurement");
 			_time_last_hor_pos_fuse = _time_delayed_us;
 			_last_known_pos.xy() = _state.pos.xy();
@@ -366,40 +359,49 @@ void Ekf::print_status()
 	printf("\nStates: (%.4f seconds ago)\n", (_time_latest_us - _time_delayed_us) * 1e-6);
 	printf("Orientation (%d-%d): [%.3f, %.3f, %.3f, %.3f] (Euler [%.1f, %.1f, %.1f] deg) var: [%.1e, %.1e, %.1e]\n",
 	       State::quat_nominal.idx, State::quat_nominal.idx + State::quat_nominal.dof - 1,
-	       (double)_state.quat_nominal(0), (double)_state.quat_nominal(1), (double)_state.quat_nominal(2), (double)_state.quat_nominal(3),
-	       (double)math::degrees(matrix::Eulerf(_state.quat_nominal).phi()), (double)math::degrees(matrix::Eulerf(_state.quat_nominal).theta()), (double)math::degrees(matrix::Eulerf(_state.quat_nominal).psi()),
-	       (double)getStateVariance<State::quat_nominal>()(0), (double)getStateVariance<State::quat_nominal>()(1), (double)getStateVariance<State::quat_nominal>()(2)
+	       (double)_state.quat_nominal(0), (double)_state.quat_nominal(1), (double)_state.quat_nominal(2),
+	       (double)_state.quat_nominal(3),
+	       (double)math::degrees(matrix::Eulerf(_state.quat_nominal).phi()),
+	       (double)math::degrees(matrix::Eulerf(_state.quat_nominal).theta()),
+	       (double)math::degrees(matrix::Eulerf(_state.quat_nominal).psi()),
+	       (double)getStateVariance<State::quat_nominal>()(0), (double)getStateVariance<State::quat_nominal>()(1),
+	       (double)getStateVariance<State::quat_nominal>()(2)
 	      );

 	printf("Velocity (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n",
 	       State::vel.idx, State::vel.idx + State::vel.dof - 1,
 	       (double)_state.vel(0), (double)_state.vel(1), (double)_state.vel(2),
-	       (double)getStateVariance<State::vel>()(0), (double)getStateVariance<State::vel>()(1), (double)getStateVariance<State::vel>()(2)
+	       (double)getStateVariance<State::vel>()(0), (double)getStateVariance<State::vel>()(1),
+	       (double)getStateVariance<State::vel>()(2)
 	      );

 	printf("Position (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n",
 	       State::pos.idx, State::pos.idx + State::pos.dof - 1,
 	       (double)_state.pos(0), (double)_state.pos(1), (double)_state.pos(2),
-	       (double)getStateVariance<State::pos>()(0), (double)getStateVariance<State::pos>()(1), (double)getStateVariance<State::pos>()(2)
+	       (double)getStateVariance<State::pos>()(0), (double)getStateVariance<State::pos>()(1),
+	       (double)getStateVariance<State::pos>()(2)
 	      );

 	printf("Gyro Bias (%d-%d): [%.6f, %.6f, %.6f] var: [%.1e, %.1e, %.1e]\n",
 	       State::gyro_bias.idx, State::gyro_bias.idx + State::gyro_bias.dof - 1,
 	       (double)_state.gyro_bias(0), (double)_state.gyro_bias(1), (double)_state.gyro_bias(2),
-	       (double)getStateVariance<State::gyro_bias>()(0), (double)getStateVariance<State::gyro_bias>()(1), (double)getStateVariance<State::gyro_bias>()(2)
+	       (double)getStateVariance<State::gyro_bias>()(0), (double)getStateVariance<State::gyro_bias>()(1),
+	       (double)getStateVariance<State::gyro_bias>()(2)
 	      );

 	printf("Accel Bias (%d-%d): [%.6f, %.6f, %.6f] var: [%.1e, %.1e, %.1e]\n",
 	       State::accel_bias.idx, State::accel_bias.idx + State::accel_bias.dof - 1,
 	       (double)_state.accel_bias(0), (double)_state.accel_bias(1), (double)_state.accel_bias(2),
-	       (double)getStateVariance<State::accel_bias>()(0), (double)getStateVariance<State::accel_bias>()(1), (double)getStateVariance<State::accel_bias>()(2)
+	       (double)getStateVariance<State::accel_bias>()(0), (double)getStateVariance<State::accel_bias>()(1),
+	       (double)getStateVariance<State::accel_bias>()(2)
 	      );

 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	printf("Magnetic Field (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n",
 	       State::mag_I.idx, State::mag_I.idx + State::mag_I.dof - 1,
 	       (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
-	       (double)getStateVariance<State::mag_I>()(0), (double)getStateVariance<State::mag_I>()(1), (double)getStateVariance<State::mag_I>()(2)
+	       (double)getStateVariance<State::mag_I>()(0), (double)getStateVariance<State::mag_I>()(1),
+	       (double)getStateVariance<State::mag_I>()(2)
 	      );

 	printf("Magnetic Bias (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n",
@@ -100,8 +100,6 @@ public:
 	// terrain estimate
 	bool isTerrainEstimateValid() const;

-	uint8_t getTerrainEstimateSensorBitfield() const { return _hagl_sensor_status.value; }
-
 	// get the estimated terrain vertical position relative to the NED origin
 	float getTerrainVertPos() const { return _state.terrain; };
 	float getHagl() const { return _state.terrain - _state.pos(2); }
@@ -134,27 +132,33 @@ public:

 	const Vector3f getFlowGyro() const { return _flow_sample_delayed.gyro_rate; }
 	const Vector3f &getFlowGyroBias() const { return _flow_gyro_bias; }
-	const Vector3f &getRefBodyRate() const { return _ref_body_rate; }
+	const Vector3f &getFlowRefBodyRate() const { return _ref_body_rate; }
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 	float getHeadingInnov() const
 	{
 #if defined(CONFIG_EKF2_MAGNETOMETER)
+
 		if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
 			return Vector3f(_aid_src_mag.innovation).max();
 		}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_GNSS_YAW)
+
 		if (_control_status.flags.gps_yaw) {
 			return _aid_src_gnss_yaw.innovation;
 		}
+
 #endif // CONFIG_EKF2_GNSS_YAW

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 		if (_control_status.flags.ev_yaw) {
 			return _aid_src_ev_yaw.innovation;
 		}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 		return 0.f;
@@ -163,21 +167,27 @@ public:
 	float getHeadingInnovVar() const
 	{
 #if defined(CONFIG_EKF2_MAGNETOMETER)
+
 		if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
 			return Vector3f(_aid_src_mag.innovation_variance).max();
 		}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_GNSS_YAW)
+
 		if (_control_status.flags.gps_yaw) {
 			return _aid_src_gnss_yaw.innovation_variance;
 		}
+
 #endif // CONFIG_EKF2_GNSS_YAW

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 		if (_control_status.flags.ev_yaw) {
 			return _aid_src_ev_yaw.innovation_variance;
 		}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 		return 0.f;
@@ -186,21 +196,27 @@ public:
 	float getHeadingInnovRatio() const
 	{
 #if defined(CONFIG_EKF2_MAGNETOMETER)
+
 		if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
 			return Vector3f(_aid_src_mag.test_ratio).max();
 		}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_GNSS_YAW)
+
 		if (_control_status.flags.gps_yaw) {
 			return _aid_src_gnss_yaw.test_ratio;
 		}
+
 #endif // CONFIG_EKF2_GNSS_YAW

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 		if (_control_status.flags.ev_yaw) {
 			return _aid_src_ev_yaw.test_ratio;
 		}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 		return 0.f;
@@ -492,6 +508,7 @@ public:
 				P(j, i) = P(i, j);
 			}
 		}
+
 #endif

 		constrainStateVariances();
@@ -501,7 +518,8 @@ public:
 		return true;
 	}

-	bool resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
+	bool resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy,
+			uint64_t timestamp_observation);

 	void updateParameters();

@@ -548,8 +566,6 @@ private:
 	StateResets _state_reset_status{};	///< reset event monitoring structure containing velocity, position, height and yaw reset information
 	StateResetCounts _state_reset_count_prev{};

-	Vector3f _ang_rate_delayed_raw{};	///< uncorrected angular rate vector at fusion time horizon (rad/sec)
-
 	StateSample _state{};		///< state struct of the ekf running at the delayed time horizon

 	bool _filter_initialised{false};	///< true when the EKF sttes and covariances been initialised
@@ -578,23 +594,22 @@ private:
 	SquareMatrixState P{};	///< state covariance matrix

 #if defined(CONFIG_EKF2_DRAG_FUSION)
-	estimator_aid_source2d_s _aid_src_drag{};
+	estimator_aid_source2d_s _aid_src_drag {};
 #endif // CONFIG_EKF2_DRAG_FUSION

 #if defined(CONFIG_EKF2_TERRAIN)
 	// Terrain height state estimation
 	uint8_t _terrain_vpos_reset_counter{0};	///< number of times _terrain_vpos has been reset

-	terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground
 	float _last_on_ground_posD{0.0f};	///< last vertical position when the in_air status was false (m)
 #endif // CONFIG_EKF2_TERRAIN

 #if defined(CONFIG_EKF2_RANGE_FINDER)
-	estimator_aid_source1d_s _aid_src_rng_hgt{};
+	estimator_aid_source1d_s _aid_src_rng_hgt {};
 #endif // CONFIG_EKF2_RANGE_FINDER

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
-	estimator_aid_source2d_s _aid_src_optical_flow{};
+	estimator_aid_source2d_s _aid_src_optical_flow {};

 	// optical flow processing
 	Vector3f _flow_gyro_bias{};	///< bias errors in optical flow sensor rate gyro outputs (rad/sec)
@@ -603,22 +618,20 @@ private:
 	Vector3f _ref_body_rate{};

 	Vector2f _flow_rate_compensated{}; ///< measured angular rate of the image about the X and Y body axes after removal of body rotation (rad/s), RH rotation is positive
-
-	bool _flow_data_ready{false};	///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 #if defined(CONFIG_EKF2_AIRSPEED)
-	estimator_aid_source1d_s _aid_src_airspeed{};
+	estimator_aid_source1d_s _aid_src_airspeed {};
 #endif // CONFIG_EKF2_AIRSPEED
 #if defined(CONFIG_EKF2_SIDESLIP)
-	estimator_aid_source1d_s _aid_src_sideslip{};
+	estimator_aid_source1d_s _aid_src_sideslip {};
 #endif // CONFIG_EKF2_SIDESLIP

 	estimator_aid_source2d_s _aid_src_fake_pos{};
 	estimator_aid_source1d_s _aid_src_fake_hgt{};

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	estimator_aid_source1d_s _aid_src_ev_hgt{};
+	estimator_aid_source1d_s _aid_src_ev_hgt {};
 	estimator_aid_source2d_s _aid_src_ev_pos{};
 	estimator_aid_source3d_s _aid_src_ev_vel{};
 	estimator_aid_source1d_s _aid_src_ev_yaw{};
@@ -629,7 +642,7 @@ private:
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 #if defined(CONFIG_EKF2_GNSS)
-	bool _gps_data_ready{false};	///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
+	bool _gps_data_ready {false};	///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused

 	// variables used for the GPS quality checks
 	Vector3f _gps_pos_deriv_filt{};	///< GPS NED position derivative (m/sec)
@@ -652,16 +665,16 @@ private:
 	estimator_aid_source3d_s _aid_src_gnss_vel{};

 # if defined(CONFIG_EKF2_GNSS_YAW)
-	estimator_aid_source1d_s _aid_src_gnss_yaw{};
+	estimator_aid_source1d_s _aid_src_gnss_yaw {};
 # endif // CONFIG_EKF2_GNSS_YAW
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_GRAVITY_FUSION)
-	estimator_aid_source3d_s _aid_src_gravity{};
+	estimator_aid_source3d_s _aid_src_gravity {};
 #endif // CONFIG_EKF2_GRAVITY_FUSION

 #if defined(CONFIG_EKF2_AUXVEL)
-	estimator_aid_source2d_s _aid_src_aux_vel{};
+	estimator_aid_source2d_s _aid_src_aux_vel {};
 #endif // CONFIG_EKF2_AUXVEL

 	// Variables used by the initial filter alignment
@@ -670,7 +683,7 @@ private:
 	AlphaFilter<Vector3f> _gyro_lpf{0.1f};	///< filtered gyro measurement used for alignment excessive movement check (rad/sec)

 #if defined(CONFIG_EKF2_BAROMETER)
-	estimator_aid_source1d_s _aid_src_baro_hgt{};
+	estimator_aid_source1d_s _aid_src_baro_hgt {};

 	// Variables used to perform in flight resets and switch between height sources
 	AlphaFilter<float> _baro_lpf{0.1f};	///< filtered barometric height measurement (m)
@@ -734,7 +747,8 @@ private:

 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	// ekf sequential fusion of magnetometer measurements
-	bool fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estimator_aid_source3d_s &aid_src, bool update_all_states = false, bool update_tilt = false);
+	bool fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estimator_aid_source3d_s &aid_src,
+		     bool update_all_states = false, bool update_tilt = false);

 	// fuse magnetometer declination measurement
 	// argument passed in is the declination uncertainty in radians
@@ -795,7 +809,8 @@ private:
 	void resetVerticalVelocityToZero();

 	// horizontal and vertical position aid source
-	void updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us, const float observation, const float observation_variance, const float innovation_gate = 1.f) const;
+	void updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us,
+					     const float observation, const float observation_variance, const float innovation_gate = 1.f) const;

 	// horizontal and vertical position fusion
 	bool fuseHorizontalPosition(estimator_aid_source2d_s &pos_aid_src);
@@ -826,7 +841,7 @@ private:

 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	// range height
-	void controlRangeHaglFusion();
+	void controlRangeHaglFusion(const imuSample &imu_delayed);
 	bool isConditionalRangeAidSuitable();
 	void stopRngHgtFusion();
 	void stopRngTerrFusion();
@@ -835,24 +850,24 @@ private:
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	// control fusion of optical flow observations
 	void controlOpticalFlowFusion(const imuSample &imu_delayed);
-	void startFlowFusion();
 	void resetFlowFusion();
 	void stopFlowFusion();

 	void updateOnGroundMotionForOpticalFlowChecks();
 	void resetOnGroundMotionForOpticalFlowChecks();

-	// calculate the measurement variance for the optical flow sensor
-	float calcOptFlowMeasVar(const flowSample &flow_sample);
+	// calculate the measurement variance for the optical flow sensor (rad/sec)^2
+	float calcOptFlowMeasVar(const flowSample &flow_sample) const;

 	// calculate optical flow body angular rate compensation
-	void calcOptFlowBodyRateComp(const imuSample &imu_delayed);
+	void calcOptFlowBodyRateComp(const flowSample &flow_sample);
+
+	float predictFlowRange() const;
+	Vector2f predictFlow(const Vector3f &flow_gyro) const;

 	// fuse optical flow line of sight rate measurements
-	void updateOptFlow(estimator_aid_source2d_s &aid_src);
-	void fuseOptFlow(bool update_terrain);
-	float predictFlowRange();
-	Vector2f predictFlowVelBody();
+	bool fuseOptFlow(VectorState &H, bool update_terrain);
+
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -875,6 +890,7 @@ private:
 		}

 #if defined(CONFIG_EKF2_MAGNETOMETER)
+
 		if (!_control_status.flags.mag) {
 			for (unsigned i = 0; i < State::mag_I.dof; i++) {
 				K(State::mag_I.idx + i) = 0.f;
@@ -886,14 +902,17 @@ private:
 				K(State::mag_B.idx + i) = 0.f;
 			}
 		}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_WIND)
+
 		if (!_control_status.flags.wind) {
 			for (unsigned i = 0; i < State::wind_vel.dof; i++) {
 				K(State::wind_vel.idx + i) = 0.f;
 			}
 		}
+
 #endif // CONFIG_EKF2_WIND
 	}

@@ -915,17 +934,26 @@ private:

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	// control fusion of external vision observations
-	void controlExternalVisionFusion();
+	void controlExternalVisionFusion(const imuSample &imu_sample);
 	void updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset);
-	void controlEvHeightFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src);
-	void controlEvPosFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source2d_s &aid_src);
-	void controlEvVelFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source3d_s &aid_src);
-	void controlEvYawFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src);
+	void controlEvHeightFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+				   const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+				   estimator_aid_source1d_s &aid_src);
+	void controlEvPosFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+				const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+				estimator_aid_source2d_s &aid_src);
+	void controlEvVelFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+				const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+				estimator_aid_source3d_s &aid_src);
+	void controlEvYawFusion(const imuSample &imu_sample, const extVisionSample &ev_sample,
+				const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient,
+				estimator_aid_source1d_s &aid_src);
 	void resetVelocityToEV(const Vector3f &measurement, const Vector3f &measurement_var, const VelocityFrame &vel_frame);
 	Vector3f rotateVarianceToEkf(const Vector3f &measurement_var);

 	void startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src);
-	void updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, bool reset, estimator_aid_source2d_s &aid_src);
+	void updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient,
+			       bool reset, estimator_aid_source2d_s &aid_src);
 	void stopEvPosFusion();
 	void stopEvHgtFusion();
 	void stopEvVelFusion();
@@ -942,7 +970,7 @@ private:
 	// control fusion of GPS observations
 	void controlGpsFusion(const imuSample &imu_delayed);
 	void stopGpsFusion();
-	void updateGnssVel(const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src);
+	void updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_sample, estimator_aid_source3d_s &aid_src);
 	void updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s &aid_src);
 	void controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel);
 	bool tryYawEmergencyReset();
@@ -991,7 +1019,7 @@ private:

 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	// control fusion of magnetometer observations
-	void controlMagFusion();
+	void controlMagFusion(const imuSample &imu_sample);

 	bool checkHaglYawResetReq() const;

@@ -1024,7 +1052,7 @@ private:

 #if defined(CONFIG_EKF2_AUXVEL)
 	// control fusion of auxiliary velocity observations
-	void controlAuxVelFusion();
+	void controlAuxVelFusion(const imuSample &imu_sample);
 	void stopAuxVelFusion();
 #endif // CONFIG_EKF2_AUXVEL

@@ -1037,13 +1065,13 @@ private:
 	void checkHeightSensorRefFallback();

 #if defined(CONFIG_EKF2_BAROMETER)
-	void controlBaroHeightFusion();
+	void controlBaroHeightFusion(const imuSample &imu_sample);
 	void stopBaroHgtFusion();

 	void updateGroundEffect();

 # if defined(CONFIG_EKF2_BARO_COMPENSATION)
-	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
+	float compensateBaroForDynamicPressure(const imuSample &imu_sample, float baro_alt_uncompensated) const;
 # endif // CONFIG_EKF2_BARO_COMPENSATION

 #endif // CONFIG_EKF2_BAROMETER
@@ -1096,7 +1124,7 @@ private:
 	PositionSensor _position_sensor_ref{PositionSensor::GNSS};

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
+	HeightBiasEstimator _ev_hgt_b_est {HeightSensor::EV, _height_sensor_ref};
 	PositionBiasEstimator _ev_pos_b_est{PositionSensor::EV, _position_sensor_ref};
 	AlphaFilter<Quatf> _ev_q_error_filt{0.001f};
 	bool _ev_q_error_initialized{false};
@@ -1302,7 +1330,7 @@ private:
 	ZeroVelocityUpdate _zero_velocity_update{};

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
-	AuxGlobalPosition _aux_global_position{};
+	AuxGlobalPosition _aux_global_position {};
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
 };

@@ -72,13 +72,14 @@ bool Ekf::getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &lo
 	return _NED_origin_initialised;
 }

-bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float eph, const float epv)
+bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float eph,
+			     const float epv)
 {
 	// sanity check valid latitude/longitude and altitude anywhere between the Mariana Trench and edge of Space
 	if (PX4_ISFINITE(latitude) && (abs(latitude) <= 90)
-	&& PX4_ISFINITE(longitude) && (abs(longitude) <= 180)
-	&& PX4_ISFINITE(altitude) && (altitude > -12'000.f) && (altitude < 100'000.f)
-	) {
+	    && PX4_ISFINITE(longitude) && (abs(longitude) <= 180)
+	    && PX4_ISFINITE(altitude) && (altitude > -12'000.f) && (altitude < 100'000.f)
+	   ) {
 		bool current_pos_available = false;
 		double current_lat = static_cast<double>(NAN);
 		double current_lon = static_cast<double>(NAN);
@@ -107,6 +108,7 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons

 			_wmm_gps_time_last_set = _time_delayed_us;
 		}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 		_gpos_origin_eph = eph;
@@ -176,15 +178,19 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
 	// and using state variances for accuracy reporting is overly optimistic in these situations
 	if (_horizontal_deadreckon_time_exceeded) {
 #if defined(CONFIG_EKF2_GNSS)
+
 		if (_control_status.flags.gps) {
 			hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
 		}
+
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 		if (_control_status.flags.ev_pos) {
 			hpos_err = math::max(hpos_err, Vector2f(_aid_src_ev_pos.innovation).norm());
 		}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 	}

@@ -203,19 +209,24 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
 		float vel_err_conservative = 0.0f;

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
+
 		if (_control_status.flags.opt_flow) {
 			float gndclearance = math::max(_params.rng_gnd_clearance, 0.1f);
 			vel_err_conservative = math::max(getHagl(), gndclearance) * Vector2f(_aid_src_optical_flow.innovation).norm();
 		}
+
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 #if defined(CONFIG_EKF2_GNSS)
+
 		if (_control_status.flags.gps) {
 			vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_gnss_pos.innovation).norm());
 		}
+
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 		if (_control_status.flags.ev_pos) {
 			vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_ev_pos.innovation).norm());
 		}
@@ -223,6 +234,7 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
 		if (_control_status.flags.ev_vel) {
 			vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_ev_vel.innovation).norm());
 		}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 		hvel_err = math::max(hvel_err, vel_err_conservative);
@@ -244,8 +256,8 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 	// Calculate range finder limits
 	const float rangefinder_hagl_min = _range_sensor.getValidMinVal();

-	// Allow use of 75% of rangefinder maximum range to allow for angular motion
-	const float rangefinder_hagl_max = 0.75f * _range_sensor.getValidMaxVal();
+	// Allow use of 90% of rangefinder maximum range to allow for angular motion
+	const float rangefinder_hagl_max = 0.9f * _range_sensor.getValidMaxVal();

 	// TODO : calculate visual odometry limits
 	const bool relying_on_rangefinder = isOnlyActiveSourceOfVerticalPositionAiding(_control_status.flags.rng_hgt);
@@ -262,8 +274,16 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl

 	if (relying_on_optical_flow) {
 		// Calculate optical flow limits
-		const float flow_hagl_min = fmaxf(rangefinder_hagl_min, _flow_min_distance);
-		const float flow_hagl_max = fminf(rangefinder_hagl_max, _flow_max_distance);
+		float flow_hagl_min = _flow_min_distance;
+		float flow_hagl_max = _flow_max_distance;
+
+		// only limit optical flow height is dependent on range finder or terrain estimate invalid (precaution)
+		if ((!_control_status.flags.opt_flow_terrain && _control_status.flags.rng_terrain)
+		    || !isTerrainEstimateValid()
+		   ) {
+			flow_hagl_min = math::max(flow_hagl_min, rangefinder_hagl_min);
+			flow_hagl_max = math::min(flow_hagl_max, rangefinder_hagl_max);
+		}

 		const float flow_constrained_height = math::constrain(getHagl(), flow_hagl_min, flow_hagl_max);

@@ -274,6 +294,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 		*hagl_min = flow_hagl_min;
 		*hagl_max = flow_hagl_max;
 	}
+
 # endif // CONFIG_EKF2_OPTICAL_FLOW

 #endif // CONFIG_EKF2_RANGE_FINDER
@@ -301,23 +322,29 @@ float Ekf::getHeadingInnovationTestRatio() const
 	float test_ratio = 0.f;

 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	if (_control_status.flags.mag_hdg ||_control_status.flags.mag_3D) {
+
+	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
 		for (auto &test_ratio_filtered : _aid_src_mag.test_ratio_filtered) {
 			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
 		}
 	}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_GNSS_YAW)
+
 	if (_control_status.flags.gps_yaw) {
 		test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_yaw.test_ratio_filtered));
 	}
+
 #endif // CONFIG_EKF2_GNSS_YAW

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	if (_control_status.flags.ev_yaw) {
 		test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_yaw.test_ratio_filtered));
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 	return sqrtf(test_ratio);
@@ -329,27 +356,33 @@ float Ekf::getVelocityInnovationTestRatio() const
 	float test_ratio = -1.f;

 #if defined(CONFIG_EKF2_GNSS)
+
 	if (_control_status.flags.gps) {
 		for (int i = 0; i < 3; i++) {
 			test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_vel.test_ratio_filtered[i]));
 		}
 	}
+
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	if (_control_status.flags.ev_vel) {
 		for (int i = 0; i < 3; i++) {
 			test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_vel.test_ratio_filtered[i]));
 		}
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
+
 	if (isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)) {
 		for (auto &test_ratio_filtered : _aid_src_optical_flow.test_ratio_filtered) {
 			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
 		}
 	}
+
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
@@ -365,25 +398,31 @@ float Ekf::getHorizontalPositionInnovationTestRatio() const
 	float test_ratio = -1.f;

 #if defined(CONFIG_EKF2_GNSS)
+
 	if (_control_status.flags.gps) {
 		for (auto &test_ratio_filtered : _aid_src_gnss_pos.test_ratio_filtered) {
 			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
 		}
 	}
+
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	if (_control_status.flags.ev_pos) {
 		for (auto &test_ratio_filtered : _aid_src_ev_pos.test_ratio_filtered) {
 			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
 		}
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
+
 	if (_control_status.flags.aux_gpos) {
 		test_ratio = math::max(test_ratio, fabsf(_aux_global_position.test_ratio_filtered()));
 	}
+
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION

 	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
@@ -400,31 +439,39 @@ float Ekf::getVerticalPositionInnovationTestRatio() const
 	int n_hgt_sources = 0;

 #if defined(CONFIG_EKF2_BAROMETER)
+
 	if (_control_status.flags.baro_hgt) {
 		hgt_sum += sqrtf(fabsf(_aid_src_baro_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
+
 #endif // CONFIG_EKF2_BAROMETER

 #if defined(CONFIG_EKF2_GNSS)
+
 	if (_control_status.flags.gps_hgt) {
 		hgt_sum += sqrtf(fabsf(_aid_src_gnss_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
+
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_RANGE_FINDER)
+
 	if (_control_status.flags.rng_hgt) {
 		hgt_sum += sqrtf(fabsf(_aid_src_rng_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
+
 #endif // CONFIG_EKF2_RANGE_FINDER

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	if (_control_status.flags.ev_hgt) {
 		hgt_sum += sqrtf(fabsf(_aid_src_ev_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 	if (n_hgt_sources > 0) {
@@ -437,10 +484,12 @@ float Ekf::getVerticalPositionInnovationTestRatio() const
 float Ekf::getAirspeedInnovationTestRatio() const
 {
 #if defined(CONFIG_EKF2_AIRSPEED)
+
 	if (_control_status.flags.fuse_aspd) {
 		// return the airspeed fusion innovation test ratio
 		return sqrtf(fabsf(_aid_src_airspeed.test_ratio_filtered));
 	}
+
 #endif // CONFIG_EKF2_AIRSPEED

 	return NAN;
@@ -449,10 +498,12 @@ float Ekf::getAirspeedInnovationTestRatio() const
 float Ekf::getSyntheticSideslipInnovationTestRatio() const
 {
 #if defined(CONFIG_EKF2_SIDESLIP)
+
 	if (_control_status.flags.fuse_beta) {
 		// return the synthetic sideslip innovation test ratio
 		return sqrtf(fabsf(_aid_src_sideslip.test_ratio_filtered));
 	}
+
 #endif // CONFIG_EKF2_SIDESLIP

 	return NAN;
@@ -464,10 +515,12 @@ float Ekf::getHeightAboveGroundInnovationTestRatio() const

 #if defined(CONFIG_EKF2_TERRAIN)
 # if defined(CONFIG_EKF2_RANGE_FINDER)
-	if (_hagl_sensor_status.flags.range_finder) {
+
+	if (_control_status.flags.rng_terrain) {
 		// return the terrain height innovation test ratio
 		test_ratio = math::max(test_ratio, fabsf(_aid_src_rng_hgt.test_ratio_filtered));
 	}
+
 # endif // CONFIG_EKF2_RANGE_FINDER
 #endif // CONFIG_EKF2_TERRAIN

@@ -483,10 +536,14 @@ 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.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);
-	soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_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);
+	soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos)
+					  && (_fault_status.value == 0);
 	soln_status.flags.pos_vert_abs = soln_status.flags.velocity_vert;
 #if defined(CONFIG_EKF2_TERRAIN)
 	soln_status.flags.pos_vert_agl = isTerrainEstimateValid();
@@ -498,11 +555,13 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
 	bool mag_innov_good = true;

 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	if (_control_status.flags.mag_hdg ||_control_status.flags.mag_3D) {
+
+	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
 		if (Vector3f(_aid_src_mag.test_ratio).max() < 1.f) {
 			mag_innov_good = false;
 		}
 	}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_GNSS)
@@ -521,7 +580,8 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
 void Ekf::fuse(const VectorState &K, float innovation)
 {
 	// quat_nominal
-	Quatf delta_quat(matrix::AxisAnglef(K.slice<State::quat_nominal.dof, 1>(State::quat_nominal.idx, 0) * (-1.f * innovation)));
+	Quatf delta_quat(matrix::AxisAnglef(K.slice<State::quat_nominal.dof, 1>(State::quat_nominal.idx,
+					    0) * (-1.f * innovation)));
 	_state.quat_nominal = delta_quat * _state.quat_nominal;
 	_state.quat_nominal.normalize();
 	_R_to_earth = Dcmf(_state.quat_nominal);
@@ -533,26 +593,35 @@ void Ekf::fuse(const VectorState &K, float innovation)
 	_state.pos = matrix::constrain(_state.pos - K.slice<State::pos.dof, 1>(State::pos.idx, 0) * innovation, -1.e6f, 1.e6f);

 	// gyro_bias
-	_state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice<State::gyro_bias.dof, 1>(State::gyro_bias.idx, 0) * innovation,
-					-getGyroBiasLimit(), getGyroBiasLimit());
+	_state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice<State::gyro_bias.dof, 1>(State::gyro_bias.idx,
+					     0) * innovation,
+					     -getGyroBiasLimit(), getGyroBiasLimit());

 	// accel_bias
-	_state.accel_bias = matrix::constrain(_state.accel_bias - K.slice<State::accel_bias.dof, 1>(State::accel_bias.idx, 0) * innovation,
-					-getAccelBiasLimit(), getAccelBiasLimit());
+	_state.accel_bias = matrix::constrain(_state.accel_bias - K.slice<State::accel_bias.dof, 1>(State::accel_bias.idx,
+					      0) * innovation,
+					      -getAccelBiasLimit(), getAccelBiasLimit());

 #if defined(CONFIG_EKF2_MAGNETOMETER)
+
 	// mag_I, mag_B
 	if (_control_status.flags.mag) {
-		_state.mag_I = matrix::constrain(_state.mag_I - K.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) * innovation, -1.f, 1.f);
-		_state.mag_B = matrix::constrain(_state.mag_B - K.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) * innovation, -getMagBiasLimit(), getMagBiasLimit());
+		_state.mag_I = matrix::constrain(_state.mag_I - K.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) * innovation, -1.f,
+						 1.f);
+		_state.mag_B = matrix::constrain(_state.mag_B - K.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) * innovation,
+						 -getMagBiasLimit(), getMagBiasLimit());
 	}
+
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_WIND)
+
 	// wind_vel
 	if (_control_status.flags.wind) {
-		_state.wind_vel = matrix::constrain(_state.wind_vel - K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) * innovation, -1.e2f, 1.e2f);
+		_state.wind_vel = matrix::constrain(_state.wind_vel - K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx,
+						    0) * innovation, -1.e2f, 1.e2f);
 	}
+
 #endif // CONFIG_EKF2_WIND

 #if defined(CONFIG_EKF2_TERRAIN)
@@ -573,40 +642,43 @@ void Ekf::updateHorizontalDeadReckoningstatus()

 	// velocity aiding active
 	if ((_control_status.flags.gps || _control_status.flags.ev_vel)
-	&& isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max)
-	) {
+	    && isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max)
+	   ) {
 		inertial_dead_reckoning = false;
 	}

 	// position aiding active
 	if ((_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.aux_gpos)
-	&& isRecent(_time_last_hor_pos_fuse, _params.no_aid_timeout_max)
-	) {
+	    && isRecent(_time_last_hor_pos_fuse, _params.no_aid_timeout_max)
+	   ) {
 		inertial_dead_reckoning = false;
 	}

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
+
 	// optical flow active
 	if (_control_status.flags.opt_flow
-	&& isRecent(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)
-	) {
+	    && isRecent(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)
+	   ) {
 		inertial_dead_reckoning = false;

 	} else {
 		if (!_control_status.flags.in_air && (_params.flow_ctrl == 1)
-		&& isRecent(_aid_src_optical_flow.timestamp_sample, _params.no_aid_timeout_max)
-		) {
+		    && isRecent(_aid_src_optical_flow.timestamp_sample, _params.no_aid_timeout_max)
+		   ) {
 			// currently landed, but optical flow aiding should be possible once in air
 			aiding_expected_in_air = true;
 		}
 	}
+
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 #if defined(CONFIG_EKF2_AIRSPEED)
+
 	// air data aiding active
 	if ((_control_status.flags.fuse_aspd && isRecent(_aid_src_airspeed.time_last_fuse, _params.no_aid_timeout_max))
-	&& (_control_status.flags.fuse_beta && isRecent(_aid_src_sideslip.time_last_fuse, _params.no_aid_timeout_max))
-	) {
+	    && (_control_status.flags.fuse_beta && isRecent(_aid_src_sideslip.time_last_fuse, _params.no_aid_timeout_max))
+	   ) {
 		// wind_dead_reckoning: no other aiding but air data
 		_control_status.flags.wind_dead_reckoning = inertial_dead_reckoning;

@@ -617,13 +689,14 @@ void Ekf::updateHorizontalDeadReckoningstatus()
 		_control_status.flags.wind_dead_reckoning = false;

 		if (!_control_status.flags.in_air && _control_status.flags.fixed_wing
-		&& (_params.beta_fusion_enabled == 1)
-		&& (_params.arsp_thr > 0.f) && isRecent(_aid_src_airspeed.timestamp_sample, _params.no_aid_timeout_max)
-		) {
+		    && (_params.beta_fusion_enabled == 1)
+		    && (_params.arsp_thr > 0.f) && isRecent(_aid_src_airspeed.timestamp_sample, _params.no_aid_timeout_max)
+		   ) {
 			// currently landed, but air data aiding should be possible once in air
 			aiding_expected_in_air = true;
 		}
 	}
+
 #endif // CONFIG_EKF2_AIRSPEED

 	// zero velocity update
@@ -704,6 +777,7 @@ void Ekf::updateGroundEffect()
 {
 	if (_control_status.flags.in_air && !_control_status.flags.fixed_wing) {
 #if defined(CONFIG_EKF2_TERRAIN)
+
 		if (isTerrainEstimateValid()) {
 			// automatically set ground effect if terrain is valid
 			float height = getHagl();
@@ -711,12 +785,12 @@ void Ekf::updateGroundEffect()

 		} else
 #endif // CONFIG_EKF2_TERRAIN
-		if (_control_status.flags.gnd_effect) {
-			// Turn off ground effect compensation if it times out
-			if (isTimedOut(_time_last_gnd_effect_on, GNDEFFECT_TIMEOUT)) {
-				_control_status.flags.gnd_effect = false;
+			if (_control_status.flags.gnd_effect) {
+				// Turn off ground effect compensation if it times out
+				if (isTimedOut(_time_last_gnd_effect_on, GNDEFFECT_TIMEOUT)) {
+					_control_status.flags.gnd_effect = false;
+				}
 			}
-		}

 	} else {
 		_control_status.flags.gnd_effect = false;
@@ -728,10 +802,12 @@ void Ekf::updateGroundEffect()
 void Ekf::resetWind()
 {
 #if defined(CONFIG_EKF2_AIRSPEED)
+
 	if (_control_status.flags.fuse_aspd && isRecent(_airspeed_sample_delayed.time_us, 1e6)) {
 		resetWindUsingAirspeed(_airspeed_sample_delayed);
 		return;
 	}
+
 #endif // CONFIG_EKF2_AIRSPEED

 	resetWindToZero();
@@ -756,7 +832,8 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
 	{
 		const float alpha = math::constrain((imu_delayed.delta_ang_dt / _params.acc_bias_learn_tc), 0.f, 1.f);
 		const float beta = 1.f - alpha;
-		_ang_rate_magnitude_filt = fmaxf(imu_delayed.delta_ang.norm() / imu_delayed.delta_ang_dt, beta * _ang_rate_magnitude_filt);
+		_ang_rate_magnitude_filt = fmaxf(imu_delayed.delta_ang.norm() / imu_delayed.delta_ang_dt,
+						 beta * _ang_rate_magnitude_filt);
 	}

 	{
@@ -781,8 +858,8 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)

 	// accel bias inhibit
 	const bool do_inhibit_all_accel_axes = !(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::AccelBias))
-					 || is_manoeuvre_level_high
-					 || _fault_status.flags.bad_acc_vertical;
+					       || is_manoeuvre_level_high
+					       || _fault_status.flags.bad_acc_vertical;

 	for (unsigned index = 0; index < State::accel_bias.dof; index++) {
 		bool is_bias_observable = true;
@@ -853,6 +930,7 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 			P(j, i) = P(i, j);
 		}
 	}
+
 #endif

 	constrainStateVariances();
@@ -86,14 +86,25 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
 	_time_latest_us = imu_sample.time_us;

 	// the output observer always runs
-	_output_predictor.calculateOutputStates(imu_sample.time_us, imu_sample.delta_ang, imu_sample.delta_ang_dt, imu_sample.delta_vel, imu_sample.delta_vel_dt);
+	_output_predictor.calculateOutputStates(imu_sample.time_us, imu_sample.delta_ang, imu_sample.delta_ang_dt,
+						imu_sample.delta_vel, imu_sample.delta_vel_dt);

 	// accumulate and down-sample imu data and push to the buffer when new downsampled data becomes available
 	if (_imu_down_sampler.update(imu_sample)) {

 		_imu_updated = true;

-		_imu_buffer.push(_imu_down_sampler.getDownSampledImuAndTriggerReset());
+		imuSample imu_downsampled = _imu_down_sampler.getDownSampledImuAndTriggerReset();
+
+		// as a precaution constrain the integration delta time to prevent numerical problems
+		const float filter_update_period_s = _params.filter_update_interval_us * 1e-6f;
+		const float imu_min_dt = 0.5f * filter_update_period_s;
+		const float imu_max_dt = 2.0f * filter_update_period_s;
+
+		imu_downsampled.delta_ang_dt = math::constrain(imu_downsampled.delta_ang_dt, imu_min_dt, imu_max_dt);
+		imu_downsampled.delta_vel_dt = math::constrain(imu_downsampled.delta_vel_dt, imu_min_dt, imu_max_dt);
+
+		_imu_buffer.push(imu_downsampled);

 		// get the oldest data from the buffer
 		_time_delayed_us = _imu_buffer.get_oldest().time_us;
@@ -141,7 +152,8 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
 		_time_last_mag_buffer_push = _time_latest_us;

 	} else {
-		ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_MAGNETOMETER
@@ -179,13 +191,16 @@ void EstimatorInterface::setGpsData(const gnssSample &gnss_sample)
 		_time_last_gps_buffer_push = _time_latest_us;

 #if defined(CONFIG_EKF2_GNSS_YAW)
+
 		if (PX4_ISFINITE(gnss_sample.yaw)) {
 			_time_last_gps_yaw_buffer_push = _time_latest_us;
 		}
+
 #endif // CONFIG_EKF2_GNSS_YAW

 	} else {
-		ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_GNSS
@@ -223,7 +238,8 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
 		_time_last_baro_buffer_push = _time_latest_us;

 	} else {
-		ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_BAROMETER
@@ -260,7 +276,8 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
 		_airspeed_buffer->push(airspeed_sample_new);

 	} else {
-		ECL_WARN("airspeed data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _airspeed_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("airspeed data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _airspeed_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_AIRSPEED
@@ -298,7 +315,8 @@ void EstimatorInterface::setRangeData(const sensor::rangeSample &range_sample)
 		_time_last_range_buffer_push = _time_latest_us;

 	} else {
-		ECL_WARN("range data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _range_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("range data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _range_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_RANGE_FINDER
@@ -335,7 +353,8 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
 		_flow_buffer->push(optflow_sample_new);

 	} else {
-		ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_OPTICAL_FLOW
@@ -374,7 +393,8 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
 		_time_last_ext_vision_buffer_push = _time_latest_us;

 	} else {
-		ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -411,7 +431,8 @@ void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample)
 		_auxvel_buffer->push(auxvel_sample_new);

 	} else {
-		ECL_WARN("aux velocity data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _auxvel_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_WARN("aux velocity data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _auxvel_buffer->get_newest().time_us,
+			 _min_obs_interval_us);
 	}
 }
 #endif // CONFIG_EKF2_AUXVEL
@@ -446,7 +467,8 @@ void EstimatorInterface::setSystemFlagData(const systemFlagUpdate &system_flags)
 		_system_flag_buffer->push(system_flags_new);

 	} else {
-		ECL_DEBUG("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _system_flag_buffer->get_newest().time_us, _min_obs_interval_us);
+		ECL_DEBUG("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us,
+			  _system_flag_buffer->get_newest().time_us, _min_obs_interval_us);
 	}
 }

@@ -293,10 +293,6 @@ public:
 	const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; }
 	const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }

-	const warning_event_status_u &warning_event_status() const { return _warning_events; }
-	const decltype(warning_event_status_u::flags) &warning_event_flags() const { return _warning_events.flags; }
-	void clear_warning_events() { _warning_events.value = 0; }
-
 	const information_event_status_u &information_event_status() const { return _information_events; }
 	const decltype(information_event_status_u::flags) &information_event_flags() const { return _information_events.flags; }
 	void clear_information_events() { _information_events.value = 0; }
@@ -348,15 +344,15 @@ protected:
 	OutputPredictor _output_predictor{};

 #if defined(CONFIG_EKF2_AIRSPEED)
-	airspeedSample _airspeed_sample_delayed{};
+	airspeedSample _airspeed_sample_delayed {};
 #endif // CONFIG_EKF2_AIRSPEED

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	extVisionSample _ev_sample_prev{};
+	extVisionSample _ev_sample_prev {};
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 #if defined(CONFIG_EKF2_RANGE_FINDER)
-	RingBuffer<sensor::rangeSample> *_range_buffer{nullptr};
+	RingBuffer<sensor::rangeSample> *_range_buffer {nullptr};
 	uint64_t _time_last_range_buffer_push{0};

 	sensor::SensorRangeFinder _range_sensor{};
@@ -364,7 +360,7 @@ protected:
 #endif // CONFIG_EKF2_RANGE_FINDER

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
-	RingBuffer<flowSample> 	*_flow_buffer{nullptr};
+	RingBuffer<flowSample> 	*_flow_buffer {nullptr};

 	flowSample _flow_sample_delayed{};

@@ -387,7 +383,7 @@ protected:
 	float _gpos_origin_epv{0.0f}; // vertical position uncertainty of the global origin

 #if defined(CONFIG_EKF2_GNSS)
-	RingBuffer<gnssSample> *_gps_buffer{nullptr};
+	RingBuffer<gnssSample> *_gps_buffer {nullptr};
 	uint64_t _time_last_gps_buffer_push{0};

 	gnssSample _gps_sample_delayed{};
@@ -406,7 +402,7 @@ protected:
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_DRAG_FUSION)
-	RingBuffer<dragSample> *_drag_buffer{nullptr};
+	RingBuffer<dragSample> *_drag_buffer {nullptr};
 	dragSample _drag_down_sampled{};	// down sampled drag specific force data (filter prediction rate -> observation rate)
 #endif // CONFIG_EKF2_DRAG_FUSION

@@ -424,25 +420,25 @@ protected:
 	RingBuffer<imuSample> _imu_buffer{kBufferLengthDefault};

 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	RingBuffer<magSample> *_mag_buffer{nullptr};
+	RingBuffer<magSample> *_mag_buffer {nullptr};
 	uint64_t _time_last_mag_buffer_push{0};
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_AIRSPEED)
-	RingBuffer<airspeedSample> *_airspeed_buffer{nullptr};
+	RingBuffer<airspeedSample> *_airspeed_buffer {nullptr};
 #endif // CONFIG_EKF2_AIRSPEED

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	RingBuffer<extVisionSample> *_ext_vision_buffer{nullptr};
+	RingBuffer<extVisionSample> *_ext_vision_buffer {nullptr};
 	uint64_t _time_last_ext_vision_buffer_push{0};
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 #if defined(CONFIG_EKF2_AUXVEL)
-	RingBuffer<auxVelSample> *_auxvel_buffer{nullptr};
+	RingBuffer<auxVelSample> *_auxvel_buffer {nullptr};
 #endif // CONFIG_EKF2_AUXVEL
-	RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
+	RingBuffer<systemFlagUpdate> *_system_flag_buffer {nullptr};

 #if defined(CONFIG_EKF2_BAROMETER)
-	RingBuffer<baroSample> *_baro_buffer{nullptr};
+	RingBuffer<baroSample> *_baro_buffer {nullptr};
 	uint64_t _time_last_baro_buffer_push{0};
 #endif // CONFIG_EKF2_BAROMETER

@@ -457,7 +453,7 @@ protected:
 	uint64_t _wmm_gps_time_last_set{0};      // time WMM last set

 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	float _mag_declination_gps{NAN};         // magnetic declination returned by the geo library using the last valid GPS position (rad)
+	float _mag_declination_gps {NAN};        // magnetic declination returned by the geo library using the last valid GPS position (rad)
 	float _mag_inclination_gps{NAN};	  // magnetic inclination returned by the geo library using the last valid GPS position (rad)
 	float _mag_strength_gps{NAN};	          // magnetic strength returned by the geo library using the last valid GPS position (T)

@@ -473,7 +469,6 @@ protected:

 	// these are used to record single frame events for external monitoring and should NOT be used for
 	// state logic becasue they will be cleared externally after being read.
-	warning_event_status_u _warning_events{};
 	information_event_status_u _information_events{};

 	unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec)
@@ -45,7 +45,7 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
 #if defined(CONFIG_EKF2_BAROMETER)
 	updateGroundEffect();

-	controlBaroHeightFusion();
+	controlBaroHeightFusion(imu_delayed);
 #endif // CONFIG_EKF2_BAROMETER

 #if defined(CONFIG_EKF2_GNSS)
@@ -53,7 +53,7 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_RANGE_FINDER)
-	controlRangeHaglFusion();
+	controlRangeHaglFusion(imu_delayed);
 #endif // CONFIG_EKF2_RANGE_FINDER

 	checkHeightSensorRefFallback();
@@ -216,7 +216,6 @@ void Ekf::checkVerticalAccelerationBias(const imuSample &imu_delayed)
 		_time_acc_bias_check = imu_delayed.time_us;

 		_fault_status.flags.bad_acc_bias = false;
-		_warning_events.flags.invalid_accel_bias_cov_reset = true;
 		ECL_WARN("invalid accel bias - covariance reset");
 	}
 }
@@ -294,12 +293,15 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 	} checks[6] {};

 #if defined(CONFIG_EKF2_BAROMETER)
+
 	if (_control_status.flags.baro_hgt) {
 		checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance};
 	}
+
 #endif // CONFIG_EKF2_BAROMETER

 #if defined(CONFIG_EKF2_GNSS)
+
 	if (_control_status.flags.gps_hgt) {
 		checks[1] = {ReferenceType::GNSS, _aid_src_gnss_hgt.innovation, _aid_src_gnss_hgt.innovation_variance};
 	}
@@ -307,16 +309,20 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 	if (_control_status.flags.gps) {
 		checks[2] = {ReferenceType::GNSS, _aid_src_gnss_vel.innovation[2], _aid_src_gnss_vel.innovation_variance[2]};
 	}
+
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_RANGE_FINDER)
+
 	if (_control_status.flags.rng_hgt) {
 		// Range is a distance to ground measurement, not a direct height observation and has an opposite sign
 		checks[3] = {ReferenceType::GROUND, -_aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance};
 	}
+
 #endif // CONFIG_EKF2_RANGE_FINDER

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	if (_control_status.flags.ev_hgt) {
 		checks[4] = {ReferenceType::GROUND, _aid_src_ev_hgt.innovation, _aid_src_ev_hgt.innovation_variance};
 	}
@@ -324,6 +330,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 	if (_control_status.flags.ev_vel) {
 		checks[5] = {ReferenceType::GROUND, _aid_src_ev_vel.innovation[2], _aid_src_ev_vel.innovation_variance[2]};
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 	// Compute the check based on innovation ratio for all the sources
@@ -261,7 +261,8 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 }

 void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
-		const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias)
+		const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias,
+		const matrix::Vector3f &accel_bias)
 {
 	// calculate an average filter update time
 	if (_time_last_correct_states_us != 0) {
@@ -365,7 +366,8 @@ void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_corre
 		next_state.vert_vel += vert_vel_correction;

 		// position is propagated forward using the corrected velocity and a trapezoidal integrator
-		next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f * next_state.dt;
+		next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f *
+					    next_state.dt;

 		// advance the index
 		index = (index + 1) % size;
@@ -67,7 +67,8 @@ public:
 				   const matrix::Vector3f &delta_velocity, const float delta_velocity_dt);

 	void correctOutputStates(const uint64_t time_delayed_us,
-				 const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);
+				 const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state,
+				 const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);

 	void resetQuaternion(const matrix::Quatf &quat_change);

@@ -40,9 +40,9 @@ void Ekf::updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, con
 	float innovation_variance = getStateVariance<State::pos>()(2) + observation_variance;

 	updateAidSourceStatus(aid_src, time_us,
-				 observation, observation_variance,
-				 innovation, innovation_variance,
-				 innovation_gate);
+			      observation, observation_variance,
+			      innovation, innovation_variance,
+			      innovation_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
@@ -57,8 +57,10 @@ bool 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)
+	    && 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;
@@ -76,7 +78,8 @@ bool 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)
+	    && 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;
@@ -64,8 +64,8 @@ void Ekf::controlTerrainFakeFusion()
 	}

 	if (!_control_status.flags.in_air
-	    && !_hagl_sensor_status.flags.range_finder
-	    && !_hagl_sensor_status.flags.flow) {
+	    && !_control_status.flags.rng_terrain
+	    && !_control_status.flags.opt_flow_terrain) {

 		bool recent_terrain_aiding = false;

@@ -93,7 +93,7 @@ bool Ekf::isTerrainEstimateValid() const
 #if defined(CONFIG_EKF2_RANGE_FINDER)

 	// Assume that the terrain estimate is always valid when direct observations are fused
-	if (_hagl_sensor_status.flags.range_finder && isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)5e6)) {
+	if (_control_status.flags.rng_terrain && isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)5e6)) {
 		valid = true;
 	}

@@ -37,8 +37,10 @@ bool 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)
+	    && 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;
@@ -56,9 +58,12 @@ bool 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)
+	    && 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;
@@ -301,7 +301,8 @@ void EKFGSF_yaw::predictEKF(const uint8_t model_index, const Vector3f &delta_ang
 	// Use fixed values for delta angle process noise variances
 	const float d_ang_var = sq(_gyro_noise * delta_ang_dt);

-	_ekf_gsf[model_index].P = sym::YawEstPredictCovariance(_ekf_gsf[model_index].X, _ekf_gsf[model_index].P, Vector2f(dvx, dvy), d_vel_var, daz, d_ang_var);
+	_ekf_gsf[model_index].P = sym::YawEstPredictCovariance(_ekf_gsf[model_index].X, _ekf_gsf[model_index].P, Vector2f(dvx,
+				  dvy), d_vel_var, daz, d_ang_var);

 	// covariance matrix is symmetrical, so copy upper half to lower half
 	_ekf_gsf[model_index].P(1, 0) = _ekf_gsf[model_index].P(0, 1);
@@ -145,11 +145,13 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
 	_output_predictor.resetQuaternion(q_error);

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
+
 	// update EV attitude error filter
 	if (_ev_q_error_initialized) {
 		const Quatf ev_q_error_updated = (q_error * _ev_q_error_filt.getState()).normalized();
 		_ev_q_error_filt.reset(ev_q_error_updated);
 	}
+
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 	// record the state change
@@ -1107,16 +1107,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 		_filter_information_event_changes++;
 	}

-	// warning events
-	uint32_t warning_events = _ekf.warning_event_status().value;
-	bool warning_event_updated = false;
-
-	if (warning_events != 0) {
-		warning_event_updated = true;
-		_filter_warning_event_changes++;
-	}
-
-	if (information_event_updated || warning_event_updated) {
+	if (information_event_updated) {
 		estimator_event_flags_s event_flags{};
 		event_flags.timestamp_sample = _ekf.time_delayed_us();

@@ -1139,27 +1130,12 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 		event_flags.reset_hgt_to_rng                    = _ekf.information_event_flags().reset_hgt_to_rng;
 		event_flags.reset_hgt_to_ev                     = _ekf.information_event_flags().reset_hgt_to_ev;

-		event_flags.warning_event_changes               = _filter_warning_event_changes;
-		event_flags.gps_quality_poor                    = _ekf.warning_event_flags().gps_quality_poor;
-		event_flags.gps_fusion_timout                   = _ekf.warning_event_flags().gps_fusion_timout;
-		event_flags.gps_data_stopped                    = _ekf.warning_event_flags().gps_data_stopped;
-		event_flags.gps_data_stopped_using_alternate    = _ekf.warning_event_flags().gps_data_stopped_using_alternate;
-		event_flags.height_sensor_timeout               = _ekf.warning_event_flags().height_sensor_timeout;
-		event_flags.stopping_navigation                 = _ekf.warning_event_flags().stopping_mag_use;
-		event_flags.invalid_accel_bias_cov_reset        = _ekf.warning_event_flags().invalid_accel_bias_cov_reset;
-		event_flags.bad_yaw_using_gps_course            = _ekf.warning_event_flags().bad_yaw_using_gps_course;
-		event_flags.stopping_mag_use                    = _ekf.warning_event_flags().stopping_mag_use;
-		event_flags.vision_data_stopped                 = _ekf.warning_event_flags().vision_data_stopped;
-		event_flags.emergency_yaw_reset_mag_stopped     = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped;
-		event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped;
-
 		event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 		_estimator_event_flags_pub.update(event_flags);

 		_last_event_flags_publish = event_flags.timestamp;

 		_ekf.clear_information_events();
-		_ekf.clear_warning_events();

 	} else if ((_last_event_flags_publish != 0) && (timestamp >= _last_event_flags_publish + 1_s)) {
 		// continue publishing periodically
@@ -1253,6 +1229,7 @@ void EKF2::PublishGpsStatus(const hrt_abstime &timestamp)
 	estimator_gps_status.check_fail_max_vert_drift   = _ekf.gps_check_fail_status_flags().vdrift;
 	estimator_gps_status.check_fail_max_horz_spd_err = _ekf.gps_check_fail_status_flags().hspeed;
 	estimator_gps_status.check_fail_max_vert_spd_err = _ekf.gps_check_fail_status_flags().vspeed;
+	estimator_gps_status.check_fail_spoofed_gps      = _ekf.gps_check_fail_status_flags().spoofed;

 	estimator_gps_status.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 	_estimator_gps_status_pub.publish(estimator_gps_status);
@@ -1643,8 +1620,19 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
 #if defined(CONFIG_EKF2_TERRAIN)
 	// Distance to bottom surface (ground) in meters, must be positive
 	lpos.dist_bottom = math::max(_ekf.getHagl(), 0.f);
+	lpos.dist_bottom_var = _ekf.getTerrainVariance();
 	lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid();
-	lpos.dist_bottom_sensor_bitfield = _ekf.getTerrainEstimateSensorBitfield();
+
+	lpos.dist_bottom_sensor_bitfield = vehicle_local_position_s::DIST_BOTTOM_SENSOR_NONE;
+
+	if (_ekf.control_status_flags().rng_terrain) {
+		lpos.dist_bottom_sensor_bitfield |= vehicle_local_position_s::DIST_BOTTOM_SENSOR_RANGE;
+	}
+
+	if (_ekf.control_status_flags().opt_flow_terrain) {
+		lpos.dist_bottom_sensor_bitfield |= vehicle_local_position_s::DIST_BOTTOM_SENSOR_FLOW;
+	}
+
 #endif // CONFIG_EKF2_TERRAIN

 	_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);
@@ -1937,6 +1925,8 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_ev_yaw_fault            = _ekf.control_status_flags().ev_yaw_fault;
 		status_flags.cs_mag_heading_consistent  = _ekf.control_status_flags().mag_heading_consistent;
 		status_flags.cs_aux_gpos                = _ekf.control_status_flags().aux_gpos;
+		status_flags.cs_rng_terrain    = _ekf.control_status_flags().rng_terrain;
+		status_flags.cs_opt_flow_terrain    = _ekf.control_status_flags().opt_flow_terrain;

 		status_flags.fault_status_changes     = _filter_fault_status_changes;
 		status_flags.fs_bad_mag_x             = _ekf.fault_status_flags().bad_mag_x;
@@ -2043,7 +2033,7 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
 		_ekf.getFlowGyro().copyTo(flow_vel.gyro_rate);

 		_ekf.getFlowGyroBias().copyTo(flow_vel.gyro_bias);
-		_ekf.getRefBodyRate().copyTo(flow_vel.ref_gyro);
+		_ekf.getFlowRefBodyRate().copyTo(flow_vel.ref_gyro);

 		flow_vel.timestamp = _replay_mode ? timestamp : hrt_absolute_time();

@@ -2447,6 +2437,7 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
 			.yaw = vehicle_gps_position.heading, //TODO: move to different message
 			.yaw_acc = vehicle_gps_position.heading_accuracy,
 			.yaw_offset = vehicle_gps_position.heading_offset,
+			.spoofed = vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_MULTIPLE,
 		};

 		_ekf.setGpsData(gnss_sample);
@@ -2661,8 +2652,7 @@ void EKF2::UpdateAccelCalibration(const hrt_abstime &timestamp)
 				&& (_ekf.fault_status().value == 0)
 				&& !_ekf.fault_status_flags().bad_acc_bias
 				&& !_ekf.fault_status_flags().bad_acc_clipping
-				&& !_ekf.fault_status_flags().bad_acc_vertical
-				&& !_ekf.warning_event_flags().invalid_accel_bias_cov_reset;
+				&& !_ekf.fault_status_flags().bad_acc_vertical;

 	const bool learning_valid = bias_valid && !_ekf.accel_bias_inhibited();

@@ -418,7 +418,6 @@ private:
 	uint32_t _filter_control_status_changes{0};
 	uint32_t _filter_fault_status_changes{0};
 	uint32_t _innov_check_fail_status_changes{0};
-	uint32_t _filter_warning_event_changes{0};
 	uint32_t _filter_information_event_changes{0};

 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
@@ -136,7 +136,7 @@ parameters:
          run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal
          speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle
          is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy
-          set by EKF2_REQ_VDRIFT'
+          set by EKF2_REQ_VDRIFT. 9: Fails if GPS driver detects consistent spoofing'
      type: bitmask
      bit:
        0: Min sat count (EKF2_REQ_NSATS)
@@ -148,9 +148,10 @@ parameters:
        6: Max vertical position rate (EKF2_REQ_VDRIFT)
        7: Max horizontal speed (EKF2_REQ_HDRIFT)
        8: Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
+        9: Spoofing check
      default: 245
      min: 0
-      max: 511
+      max: 1023
    EKF2_REQ_EPH:
      description:
        short: Required EPH to use GPS
@@ -75,14 +75,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 7290000,0.78,-0.025,0.0067,-0.62,-0.38,-0.098,-0.14,-0.3,-0.082,-3.7e+02,5.3e-05,-0.011,-0.00022,-0.0016,-0.00042,0.00015,-0.1,-0.024,0.5,-0.0019,-0.085,-0.068,0,0,-3.6e+02,0.0013,0.0013,0.056,0.33,0.33,0.2,0.3,0.3,0.14,7.3e-05,7.5e-05,2.4e-06,0.04,0.04,0.04,0.0013,0.00013,0.0013,0.00081,0.0013,0.0013,1,1,1.9
 7390000,0.78,-0.024,0.0068,-0.62,-0.41,-0.11,-0.16,-0.34,-0.093,-3.7e+02,7.4e-05,-0.011,-0.00022,-0.0017,-0.00046,8.6e-07,-0.1,-0.024,0.5,-0.0018,-0.085,-0.068,0,0,-3.6e+02,0.0013,0.0014,0.056,0.37,0.37,0.18,0.36,0.36,0.13,7.3e-05,7.4e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.00012,0.0013,0.00081,0.0013,0.0013,1,1,1.9
 7490000,0.78,-0.024,0.0069,-0.62,-0.43,-0.12,-0.16,-0.38,-0.11,-3.7e+02,0.00021,-0.011,-0.00023,-0.0019,-0.00054,-0.00076,-0.1,-0.024,0.5,-0.002,-0.085,-0.069,0,0,-3.6e+02,0.0013,0.0014,0.055,0.42,0.42,0.15,0.43,0.43,0.12,7.2e-05,7.4e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.00011,0.0013,0.0008,0.0013,0.0013,1,1,1.9
-7590000,0.78,-0.024,0.007,-0.62,-0.45,-0.12,-0.16,-0.41,-0.12,-3.7e+02,0.0002,-0.011,-0.00022,-0.0018,-0.00051,-0.0016,-0.1,-0.024,0.5,-0.0019,-0.085,-0.068,0,0,-3.6e+02,0.0013,0.0014,0.055,0.46,0.46,0.14,0.52,0.51,0.12,7.2e-05,7.3e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.00011,0.0013,0.0008,0.0013,0.0013,1,1,1.9
+7590000,0.78,-0.024,0.007,-0.62,-0.45,-0.12,-0.16,-0.41,-0.12,-3.7e+02,0.0002,-0.011,-0.00022,-0.0018,-0.00052,-0.0016,-0.1,-0.024,0.5,-0.0019,-0.085,-0.068,0,0,-3.6e+02,0.0013,0.0014,0.055,0.46,0.46,0.14,0.52,0.51,0.12,7.2e-05,7.3e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.00011,0.0013,0.0008,0.0013,0.0013,1,1,1.9
 7690000,0.78,-0.024,0.007,-0.62,-0.011,-0.0016,-0.16,-0.44,-0.14,-3.7e+02,0.00029,-0.011,-0.00022,-0.0019,-0.00051,-0.0036,-0.1,-0.024,0.5,-0.002,-0.085,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,25,25,0.13,1e+02,1e+02,0.11,7.1e-05,7.3e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.0001,0.0013,0.0008,0.0013,0.0013,1,1,2
 7790000,0.78,-0.024,0.0073,-0.62,-0.038,-0.0061,-0.16,-0.44,-0.14,-3.7e+02,0.00035,-0.011,-0.00023,-0.0019,-0.00051,-0.0056,-0.1,-0.024,0.5,-0.002,-0.085,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,25,25,0.12,1e+02,1e+02,0.11,7e-05,7.2e-05,2.4e-06,0.04,0.04,0.038,0.0013,0.0001,0.0013,0.00079,0.0013,0.0013,1,1,2
-7890000,0.78,-0.024,0.0072,-0.62,-0.063,-0.011,-0.15,-0.44,-0.14,-3.7e+02,0.00039,-0.011,-0.00022,-0.0019,-0.00051,-0.0081,-0.1,-0.024,0.5,-0.0021,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,25,25,0.11,50,50,0.1,6.9e-05,7.1e-05,2.4e-06,0.04,0.04,0.038,0.0013,9.8e-05,0.0013,0.00079,0.0013,0.0013,1,1,2
+7890000,0.78,-0.024,0.0072,-0.62,-0.063,-0.011,-0.15,-0.44,-0.14,-3.7e+02,0.00039,-0.011,-0.00022,-0.0019,-0.00051,-0.0081,-0.1,-0.024,0.5,-0.0021,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,25,25,0.11,50,50,0.1,6.9e-05,7e-05,2.4e-06,0.04,0.04,0.038,0.0013,9.8e-05,0.0013,0.00079,0.0013,0.0013,1,1,2
 7990000,0.78,-0.024,0.0072,-0.62,-0.089,-0.016,-0.16,-0.45,-0.14,-3.7e+02,0.0004,-0.011,-0.00022,-0.0019,-0.00051,-0.0094,-0.1,-0.024,0.5,-0.0021,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,25,25,0.1,51,51,0.099,6.7e-05,6.9e-05,2.4e-06,0.04,0.04,0.038,0.0013,9.5e-05,0.0013,0.00079,0.0013,0.0013,1,1,2
 8090000,0.78,-0.024,0.0071,-0.62,-0.11,-0.021,-0.17,-0.45,-0.14,-3.7e+02,0.00044,-0.01,-0.00021,-0.0019,-0.00051,-0.0096,-0.1,-0.024,0.5,-0.0022,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,24,24,0.1,35,35,0.097,6.6e-05,6.8e-05,2.4e-06,0.04,0.04,0.037,0.0013,9.4e-05,0.0013,0.00079,0.0013,0.0013,1,1,2.1
 8190000,0.78,-0.024,0.0073,-0.62,-0.14,-0.025,-0.18,-0.47,-0.14,-3.7e+02,0.00043,-0.01,-0.00021,-0.0019,-0.00051,-0.012,-0.1,-0.024,0.5,-0.0022,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.055,25,25,0.099,36,36,0.094,6.4e-05,6.6e-05,2.4e-06,0.04,0.04,0.037,0.0013,9.2e-05,0.0013,0.00078,0.0013,0.0013,1,1,2.1
-8290000,0.78,-0.024,0.0073,-0.62,-0.16,-0.03,-0.17,-0.47,-0.14,-3.7e+02,0.00053,-0.01,-0.00021,-0.0019,-0.00051,-0.016,-0.1,-0.024,0.5,-0.0023,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.054,24,24,0.097,28,28,0.091,6.3e-05,6.4e-05,2.4e-06,0.04,0.04,0.036,0.0013,9e-05,0.0013,0.00078,0.0013,0.0013,1,1,2.1
+8290000,0.78,-0.024,0.0073,-0.62,-0.16,-0.03,-0.17,-0.47,-0.14,-3.7e+02,0.00053,-0.01,-0.00021,-0.0019,-0.00051,-0.016,-0.1,-0.024,0.5,-0.0023,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.054,24,24,0.097,28,28,0.091,6.2e-05,6.4e-05,2.4e-06,0.04,0.04,0.036,0.0013,9e-05,0.0013,0.00078,0.0013,0.0013,1,1,2.1
 8390000,0.78,-0.024,0.007,-0.63,-0.18,-0.036,-0.17,-0.48,-0.15,-3.7e+02,0.00055,-0.01,-0.00021,-0.0019,-0.00051,-0.019,-0.1,-0.024,0.5,-0.0024,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.054,24,24,0.097,29,29,0.091,6.1e-05,6.3e-05,2.4e-06,0.04,0.04,0.035,0.0013,8.9e-05,0.0013,0.00078,0.0013,0.0013,1,1,2.1
 8490000,0.78,-0.024,0.007,-0.63,-0.2,-0.04,-0.17,-0.49,-0.15,-3.7e+02,0.00056,-0.0099,-0.0002,-0.0019,-0.00051,-0.024,-0.1,-0.024,0.5,-0.0024,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.054,23,23,0.096,24,24,0.089,5.9e-05,6.1e-05,2.4e-06,0.04,0.04,0.034,0.0013,8.8e-05,0.0013,0.00077,0.0013,0.0013,1,1,2.2
 8590000,0.78,-0.023,0.0072,-0.63,-0.22,-0.038,-0.17,-0.51,-0.15,-3.7e+02,0.00036,-0.0099,-0.0002,-0.0019,-0.00051,-0.028,-0.1,-0.024,0.5,-0.0022,-0.086,-0.069,0,0,-3.6e+02,0.0014,0.0014,0.054,23,23,0.095,26,26,0.088,5.6e-05,5.9e-05,2.4e-06,0.04,0.04,0.034,0.0013,8.7e-05,0.0013,0.00077,0.0013,0.0013,1,1,2.2
@@ -92,41 +92,41 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 8990000,0.78,-0.023,0.0068,-0.63,-0.27,-0.053,-0.14,-0.55,-0.16,-3.7e+02,0.00045,-0.0093,-0.00018,-0.0019,-0.00051,-0.049,-0.1,-0.024,0.5,-0.0026,-0.086,-0.069,0,0,-3.6e+02,0.0013,0.0014,0.054,19,19,0.096,24,24,0.087,4.8e-05,5e-05,2.4e-06,0.04,0.04,0.029,0.0012,8.3e-05,0.0013,0.00075,0.0013,0.0013,1,1,2.3
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+34690000,-0.3,0.014,-0.0051,0.95,0.05,0.1,1.7,0.097,-0.011,0.087,-0.0013,-0.0057,-3.7e-05,0.066,0.016,-0.12,-0.11,-0.025,0.5,0.085,-0.031,-0.067,0,0,0.12,4.1e-05,3.6e-05,0.046,0.02,0.021,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,6.4e-05,0.0012,0.0011,0.00062,0.0012,1,1,0.36
 34790000,-0.3,0.014,-0.005,0.95,0.051,0.099,2.7,0.091,-0.025,0.27,-0.0013,-0.0057,-4.7e-05,0.066,0.016,-0.12,-0.11,-0.025,0.5,0.085,-0.031,-0.067,0,0,0.12,4.1e-05,3.6e-05,0.046,0.019,0.019,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,6.4e-05,0.0012,0.0011,0.00062,0.0012,1,1,0.38
 34890000,-0.3,0.014,-0.005,0.95,0.056,0.1,3.7,0.096,-0.015,0.56,-0.0013,-0.0057,-4.3e-05,0.066,0.016,-0.12,-0.11,-0.025,0.5,0.085,-0.031,-0.067,0,0,0.12,4.1e-05,3.6e-05,0.046,0.019,0.019,0.005,0.4,0.4,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,6.3e-05,0.0012,0.0011,0.00062,0.0012,1,1,0.41
@@ -242,16 +242,12 @@ bool EkfWrapper::isWindVelocityEstimated() const

 bool EkfWrapper::isIntendingTerrainRngFusion() const
 {
-	terrain_fusion_status_u terrain_status;
-	terrain_status.value = _ekf->getTerrainEstimateSensorBitfield();
-	return terrain_status.flags.range_finder;
+	return _ekf->control_status_flags().rng_terrain;
 }

 bool EkfWrapper::isIntendingTerrainFlowFusion() const
 {
-	terrain_fusion_status_u terrain_status;
-	terrain_status.value = _ekf->getTerrainEstimateSensorBitfield();
-	return terrain_status.flags.flow;
+	return _ekf->control_status_flags().opt_flow_terrain;
 }

 Eulerf EkfWrapper::getEulerAngles() const
@@ -632,29 +632,27 @@ bool FlightTaskAuto::_evaluateGlobalReference()
 State FlightTaskAuto::_getCurrentState()
 {
 	// Calculate the vehicle current state based on the Navigator triplets and the current position.
-	const Vector2f u_prev_to_target_xy = Vector2f(_triplet_target - _triplet_prev_wp).unit_or_zero();
-	const Vector2f pos_to_target_xy = Vector2f(_triplet_target - _position);
-	const Vector2f prev_to_pos_xy = Vector2f(_position - _triplet_prev_wp);
+	const Vector3f u_prev_to_target = (_triplet_target - _triplet_prev_wp).unit_or_zero();
+	const Vector3f prev_to_pos = _position - _triplet_prev_wp;
+	const Vector3f pos_to_target = _triplet_target - _position;
 	// Calculate the closest point to the vehicle position on the line prev_wp - target
-	const Vector2f closest_pt_xy = Vector2f(_triplet_prev_wp) + u_prev_to_target_xy * (prev_to_pos_xy *
-				       u_prev_to_target_xy);
-	_closest_pt = Vector3f(closest_pt_xy(0), closest_pt_xy(1), _triplet_target(2));
+	_closest_pt = _triplet_prev_wp + u_prev_to_target * (prev_to_pos * u_prev_to_target);

 	State return_state = State::none;

-	if (u_prev_to_target_xy.length() < FLT_EPSILON) {
+	if (!u_prev_to_target.longerThan(FLT_EPSILON)) {
 		// Previous and target are the same point, so we better don't try to do any special line following
 		return_state = State::none;

-	} else if (u_prev_to_target_xy * pos_to_target_xy < 0.0f) {
+	} else if (u_prev_to_target * pos_to_target < 0.0f) {
 		// Target is behind
 		return_state = State::target_behind;

-	} else if (u_prev_to_target_xy * prev_to_pos_xy < 0.0f && prev_to_pos_xy.longerThan(_target_acceptance_radius)) {
+	} else if (u_prev_to_target * prev_to_pos < 0.0f && prev_to_pos.longerThan(_target_acceptance_radius)) {
 		// Previous is in front
 		return_state = State::previous_infront;

-	} else if (Vector2f(_position - _closest_pt).longerThan(_target_acceptance_radius)) {
+	} else if ((_position - _closest_pt).longerThan(_target_acceptance_radius)) {
 		// Vehicle too far from the track
 		return_state = State::offtrack;

@@ -990,7 +990,6 @@ private:
 		(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
 		(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
 		(ParamFloat<px4::params::FW_SPOILERS_LND>) _param_fw_spoilers_lnd,
-		(ParamFloat<px4::params::FW_SPOILERS_DESC>) _param_fw_spoilers_desc,

 		(ParamInt<px4::params::FW_POS_STK_CONF>) _param_fw_pos_stk_conf,

@@ -193,9 +193,9 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
 PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);

 /**
- * Minimum pitch angle
+ * Minimum pitch angle setpoint
 *
- * The minimum pitch angle setpoint for a height-rate or altitude controlled mode.
+ * Applies in any altitude controlled flight mode.
 *
 * @unit deg
 * @min -60.0
@@ -207,9 +207,9 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
 PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);

 /**
- * Maximum pitch angle
+ * Maximum pitch angle setpoint
 *
- * The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.
+ * Applies in any altitude controlled flight mode.
 *
 * @unit deg
 * @min 0.0
@@ -221,9 +221,9 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
 PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);

 /**
- * Maximum roll angle
+ * Maximum roll angle setpoint
 *
- * The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.
+ * Applies in any altitude controlled flight mode.
 *
 * @unit deg
 * @min 35.0
@@ -237,7 +237,7 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
 /**
 * Throttle limit max
 *
- * Maximum throttle limit in altitude controlled modes.
+ * Applies in any altitude controlled flight mode.
 * Should be set accordingly to achieve FW_T_CLMB_MAX.
 *
 * @unit norm
@@ -252,13 +252,10 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
 /**
 * Throttle limit min
 *
- * Minimum throttle limit in altitude controlled modes.
+ * Applies in any altitude controlled flight mode.
 * Usually set to 0 but can be increased to prevent the motor from stopping when
 * descending, which can increase achievable descent rates.
 *
- * For aircraft with internal combustion engine this parameter should be set
- * for desired idle rpm.
- *
 * @unit norm
 * @min 0.0
 * @max 1.0
@@ -271,13 +268,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 /**
 * Idle throttle
 *
- * This is the minimum throttle while on the ground
- *
- * For aircraft with internal combustion engines, this parameter should be set
- * above the desired idle rpm. For electric motors, idle should typically be set
- * to zero.
- *
- * Note that in automatic modes, "landed" conditions will engage idle throttle.
+ * This is the minimum throttle while on the ground ("landed") in auto modes.
 *
 * @unit norm
 * @min 0.0
@@ -318,9 +309,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
 /**
 * Takeoff Airspeed
 *
- * The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout.
+ * The calibrated airspeed setpoint during the takeoff climbout.
 *
- * If set <= 0.0, FW_AIRSPD_MIN will be set by default.
+ * If set <= 0, FW_AIRSPD_MIN will be set by default.
 *
 * @unit m/s
 * @min -1.0
@@ -344,7 +335,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
 PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);

 /**
- * Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible.
+ * Use terrain estimation during landing.
+ *
+ * This is critical for detecting when to flare, and should be enabled if possible.
 *
 * NOTE: terrain estimate is currently solely derived from a distance sensor.
 *
@@ -365,9 +358,9 @@ PARAM_DEFINE_INT32(FW_LND_USETER, 1);
 /**
 * Early landing configuration deployment
 *
- * When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated
- * on the final approach to landing. When enabled, it is already activated when entering the
- * final loiter-down (loiter-to-alt) waypoint before the landing approach.
+ * Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in
+ * the loiter-down waypoint before the final approach.
+ * Otherwise is enabled only in the final approach.
 *
 * @boolean
 *
@@ -378,8 +371,7 @@ PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0);
 /**
 * Flare, minimum pitch
 *
- * Minimum pitch during flare, a positive sign means nose up
- * Applied once flaring is triggered
+ * Minimum pitch during landing flare.
 *
 * @unit deg
 * @min -5
@@ -393,8 +385,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
 /**
 * Flare, maximum pitch
 *
- * Maximum pitch during flare, a positive sign means nose up
- * Applied once flaring is triggered
+ * Maximum pitch during landing flare.
 *
 * @unit deg
 * @min 0
@@ -410,7 +401,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
 *
 * The calibrated airspeed setpoint during landing.
 *
- * If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.
+ * If set <= 0, landing airspeed = FW_AIRSPD_MIN by default.
 *
 * @unit m/s
 * @min -1.0
@@ -423,9 +414,8 @@ PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
 /**
 * Altitude time constant factor for landing
 *
- * Set this parameter to less than 1.0 to make TECS react faster to altitude errors during
- * landing than during normal flight. During landing, the TECS
- * altitude time constant (FW_T_ALT_TC) is multiplied by this value.
+ * During landing, the TECS altitude time constant (FW_T_ALT_TC)
+ * is multiplied by this value.
 *
 * @unit
 * @min 0.2
@@ -445,10 +435,6 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
 * Maximum descent rate
 *
 * This sets the maximum descent rate that the controller will use.
- * If this value is too large, the aircraft can over-speed on descent.
- * This should be set to a value that can be achieved without
- * exceeding the lower pitch angle limit and without over-speeding
- * the aircraft.
 *
 * @unit m/s
 * @min 1.0
@@ -463,7 +449,6 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 * Throttle damping factor
 *
 * This is the damping gain for the throttle demand loop.
- * Increase to add damping to correct for oscillations in speed and height.
 *
 * @min 0.0
 * @max 1.0
@@ -476,7 +461,6 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMPING, 0.05f);
 /**
 * Integrator gain throttle
 *
- * Integrator gain on the throttle part of the control loop.
 * Increase it to trim out speed and height offsets faster,
 * with the downside of possible overshoots and oscillations.
 *
@@ -491,7 +475,6 @@ PARAM_DEFINE_FLOAT(FW_T_THR_INTEG, 0.02f);
 /**
 * Integrator gain pitch
 *
- * Integrator gain on the pitch part of the control loop.
 * Increase it to trim out speed and height offsets faster,
 * with the downside of possible overshoots and oscillations.
 *
@@ -506,11 +489,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
 /**
 * Maximum vertical acceleration
 *
- * This is the maximum vertical acceleration (in m/s/s)
+ * This is the maximum vertical acceleration
 * either up or down that the controller will use to correct speed
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
- * allows for reasonably aggressive pitch changes if required to recover
- * from under-speed conditions.
+ * or height errors.
 *
 * @unit m/s^2
 * @min 1.0
@@ -522,9 +503,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
 PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);

 /**
- * Airspeed measurement standard deviation for airspeed filter.
+ * Airspeed measurement standard deviation
 *
- * This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.
+ * For the airspeed filter in TECS.
 *
 * @unit m/s
 * @min 0.01
@@ -536,9 +517,9 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f);

 /**
- * Airspeed rate measurement standard deviation for airspeed filter.
+ * Airspeed rate measurement standard deviation
 *
- * This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.
+ * For the airspeed filter in TECS.
 *
 * @unit m/s^2
 * @min 0.01
@@ -550,12 +531,10 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f);
 PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f);

 /**
- * Process noise standard deviation for the airspeed rate in the airspeed filter.
+ * Process noise standard deviation for the airspeed rate
 *
- * This is the process noise standard deviation in the airspeed filter filter defining the noise in the
- * airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and
- * the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the
- * drawback for delays.
+ * This is defining the noise in the airspeed rate for the constant airspeed rate model
+ * of the TECS airspeed filter.
 *
 * @unit m/s^2
 * @min 0.01
@@ -570,14 +549,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f);
 /**
 * Roll -> Throttle feedforward
 *
- * Increasing this gain turn increases the amount of throttle that will
- * be used to compensate for the additional drag created by turning.
- * Ideally this should be set to  approximately 10 x the extra sink rate
- * in m/s created by a 45 degree bank turn. Increase this gain if
- * the aircraft initially loses energy in turns and reduce if the
- * aircraft initially gains energy in turns. Efficient high aspect-ratio
- * aircraft (eg powered sailplanes) can use a lower value, whereas
- * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
+ * Is used to compensate for the additional drag created by turning.
+ * Increase this gain if the aircraft initially loses energy in turns
+ * and reduce if the aircraft initially gains energy in turns.
 *
 * @min 0.0
 * @max 20.0
@@ -590,13 +564,11 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
 /**
 * Speed <--> Altitude priority
 *
- * This parameter adjusts the amount of weighting that the pitch control
+ * Adjusts the amount of weighting that the pitch control
 * applies to speed vs height errors. Setting it to 0.0 will cause the
- * pitch control to control height and ignore speed errors. This will
- * normally improve height accuracy but give larger airspeed errors.
+ * pitch control to control height and ignore speed errors.
 * Setting it to 2.0 will cause the pitch control loop to control speed
- * and ignore height errors. This will normally reduce airspeed errors,
- * but give larger height errors. The default value of 1.0 allows the pitch
+ * and ignore height errors. The default value of 1.0 allows the pitch
 * control to simultaneously control height and speed.
 * Set to 2 for gliders.
 *
@@ -609,12 +581,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
 PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);

 /**
- * Pitch damping factor
- *
- * This is the damping gain for the pitch demand loop. Increase to add
- * damping to correct for oscillations in height. The default value of 0.0
- * will work well provided the pitch to servo controller has been tuned
- * properly.
+ * Pitch damping gain
 *
 * @min 0.0
 * @max 2.0
@@ -635,7 +602,10 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
 PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);

 /**
- * Minimum altitude error needed to descend with max airspeed. A negative value disables fast descend.
+ * Fast descend: minimum altitude error
+ *
+ * Minimum altitude error needed to descend with max airspeed and minimal throttle.
+ * A negative value disables fast descend.
 *
 * @min -1.0
 * @decimal 0
@@ -680,9 +650,9 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f);
 PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);

 /**
- * RC stick configuration fixed-wing.
+ * Custom stick configuration
 *
- * Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.
+ * Applies in manual Position and Altitude flight modes.
 *
 * @min 0
 * @max 3
@@ -720,9 +690,8 @@ PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
 /**
 * Default target climbrate.
 *
- * The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints.
- * In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
- *
+ * In auto modes: default climb rate output by controller to achieve altitude setpoints.
+ * In manual modes: maximum climb rate setpoint.
 *
 * @unit m/s
 * @min 0.5
@@ -736,9 +705,8 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
 /**
 * Default target sinkrate.
 *
- *
- * The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints.
- * In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.
+ * In auto modes: default sink rate output by controller to achieve altitude setpoints.
+ * In manual modes: maximum sink rate setpoint.
 *
 * @unit m/s
 * @min 0.5
@@ -752,7 +720,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
 /**
 * GPS failure loiter time
 *
- * The time in seconds the system should do open loop loiter and wait for GPS recovery
+ * The time the system should do open loop loiter and wait for GPS recovery
 * before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
 * Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
 *
@@ -766,7 +734,7 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
 /**
 * GPS failure fixed roll angle
 *
- * Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).
+ * Roll angle in GPS failure loiter mode.
 *
 * @unit deg
 * @min 0.0
@@ -875,7 +843,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TD_OFF, 3.0);
 * Approach path nudging: shifts the touchdown point laterally along with the entire approach path
 *
 * This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the
- * desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
+ * desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
 * relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
 *
 * @min 0
@@ -914,7 +882,6 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
 * Multiplying this factor with the current absolute wind estimate gives the airspeed offset
 * added to the minimum airspeed setpoint limit. This helps to make the
 * system more robust against disturbances (turbulence) in high wind.
- * Only applies to AUTO flight mode.
 *
 * @min 0
 * @decimal 2
@@ -975,15 +942,3 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
 * @group FW Attitude Control
 */
 PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f);
-
-/**
- * Spoiler descend setting
- *
- * @unit norm
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group FW Attitude Control
- */
-PARAM_DEFINE_FLOAT(FW_SPOILERS_DESC, 0.f);
@@ -103,7 +103,8 @@ void LoggedTopics::add_default_topics()
 	add_topic("position_setpoint_triplet", 200);
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
-	add_topic("rover_ackermann_guidance_status", 100);
+	add_optional_topic("rover_ackermann_guidance_status", 100);
+	add_optional_topic("rover_ackermann_status", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);
 	add_optional_topic("sensor_airflow", 100);
@@ -42,6 +42,7 @@ px4_add_module(
 	DEPENDS
 		RoverAckermannGuidance
 		px4_work_queue
+		SlewRate
 	MODULE_CONFIG
 		module.yaml
 )
@@ -40,6 +40,7 @@ RoverAckermann::RoverAckermann() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
 {
+	_rover_ackermann_status_pub.advertise();
 	updateParams();
 }

@@ -52,6 +53,16 @@ bool RoverAckermann::init()
 void RoverAckermann::updateParams()
 {
 	ModuleParams::updateParams();
+
+	// Update slew rates
+	if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON) {
+		_throttle_with_accel_limit.setSlewRate(_param_ra_max_accel.get() / _param_ra_max_speed.get());
+	}
+
+	if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) {
+		_steering_with_rate_limit.setSlewRate((M_DEG_TO_RAD_F * _param_ra_max_steering_rate.get()) /
+						      _param_ra_max_steer_angle.get());
+	}
 }

 void RoverAckermann::Run()
@@ -59,6 +70,7 @@ void RoverAckermann::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		exit_and_cleanup();
+		return;
 	}

 	// uORB subscriber updates
@@ -70,44 +82,98 @@ void RoverAckermann::Run()
 		vehicle_status_s vehicle_status;
 		_vehicle_status_sub.copy(&vehicle_status);
 		_nav_state = vehicle_status.nav_state;
+		_armed = vehicle_status.arming_state == 2;
 	}

-	// Navigation modes
-	switch (_nav_state) {
-	case vehicle_status_s::NAVIGATION_STATE_MANUAL: {
-			manual_control_setpoint_s manual_control_setpoint{};
+	if (_local_position_sub.updated()) {
+		vehicle_local_position_s local_position{};
+		_local_position_sub.copy(&local_position);
+		const Vector3f rover_velocity = {local_position.vx, local_position.vy, local_position.vz};
+		_actual_speed = rover_velocity.norm();
+	}

-			if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
-				_motor_setpoint.steering = manual_control_setpoint.roll;
-				_motor_setpoint.throttle =  manual_control_setpoint.throttle;
-			}
+	// Timestamps
+	hrt_abstime timestamp_prev = _timestamp;
+	_timestamp = hrt_absolute_time();
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;

-		} break;
+	if (_armed) {
+		// Navigation modes
+		switch (_nav_state) {
+		case vehicle_status_s::NAVIGATION_STATE_MANUAL: {
+				manual_control_setpoint_s manual_control_setpoint{};

-	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
-		_motor_setpoint = _ackermann_guidance.purePursuit();
-		break;
+				if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
+					_motor_setpoint.steering = manual_control_setpoint.roll;
+					_motor_setpoint.throttle =  manual_control_setpoint.throttle;
+				}

-	default: // Unimplemented nav states will stop the rover
+			} break;
+
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+			_motor_setpoint = _ackermann_guidance.purePursuit(_nav_state);
+			break;
+
+		default: // Unimplemented nav states will stop the rover
+			_motor_setpoint.steering = 0.f;
+			_motor_setpoint.throttle =  0.f;
+			break;
+		}
+
+		// Sanitize actuator commands
+		if (!PX4_ISFINITE(_motor_setpoint.steering)) {
+			_motor_setpoint.steering = 0.f;
+		}
+
+		if (!PX4_ISFINITE(_motor_setpoint.throttle)) {
+			_motor_setpoint.throttle = 0.f;
+		}
+
+		// Acceleration slew rate
+		if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON
+		    && fabsf(_motor_setpoint.throttle) > fabsf(_throttle_with_accel_limit.getState())) {
+			_throttle_with_accel_limit.update(_motor_setpoint.throttle, dt);
+
+		} else {
+			_throttle_with_accel_limit.setForcedValue(_motor_setpoint.throttle);
+		}
+
+		// Steering slew rate
+		if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) {
+			_steering_with_rate_limit.update(_motor_setpoint.steering, dt);
+
+		} else {
+			_steering_with_rate_limit.setForcedValue(_motor_setpoint.steering);
+		}
+
+		// Publish rover ackermann status (logging)
+		rover_ackermann_status_s rover_ackermann_status{};
+		rover_ackermann_status.timestamp = _timestamp;
+		rover_ackermann_status.throttle_setpoint = _motor_setpoint.throttle;
+		rover_ackermann_status.steering_setpoint = _motor_setpoint.steering;
+		rover_ackermann_status.actual_speed = _actual_speed;
+		_rover_ackermann_status_pub.publish(rover_ackermann_status);
+
+		// Publish to motor
+		actuator_motors_s actuator_motors{};
+		actuator_motors.reversible_flags = _param_r_rev.get();
+		actuator_motors.control[0] = math::constrain(_throttle_with_accel_limit.getState(), -1.f, 1.f);
+		actuator_motors.timestamp = _timestamp;
+		_actuator_motors_pub.publish(actuator_motors);
+
+		// Publish to servo
+		actuator_servos_s actuator_servos{};
+		actuator_servos.control[0] = math::constrain(_steering_with_rate_limit.getState(), -1.f, 1.f);
+		actuator_servos.timestamp = _timestamp;
+		_actuator_servos_pub.publish(actuator_servos);
+
+	} else { // Reset on disarm
 		_motor_setpoint.steering = 0.f;
 		_motor_setpoint.throttle =  0.f;
-		break;
+		_throttle_with_accel_limit.setForcedValue(0.f);
+		_steering_with_rate_limit.setForcedValue(0.f);
 	}
-
-	hrt_abstime now = hrt_absolute_time();
-
-	// Publish to wheel motors
-	actuator_motors_s actuator_motors{};
-	actuator_motors.reversible_flags = _param_r_rev.get();
-	actuator_motors.control[0] = _motor_setpoint.throttle;
-	actuator_motors.timestamp = now;
-	_actuator_motors_pub.publish(actuator_motors);
-
-	// Publish to servo
-	actuator_servos_s actuator_servos{};
-	actuator_servos.control[0] = _motor_setpoint.steering;
-	actuator_servos.timestamp = now;
-	_actuator_servos_pub.publish(actuator_servos);
 }

 int RoverAckermann::task_spawn(int argc, char *argv[])
@@ -147,7 +213,7 @@ int RoverAckermann::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-Rover state machine.
+Rover ackermann module.
 )DESCR_STR");

 	PRINT_MODULE_USAGE_NAME("rover_ackermann", "controller");
@@ -39,6 +39,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/slew_rate/SlewRate.hpp>

 // uORB includes
 #include <uORB/Publication.hpp>
@@ -49,6 +50,9 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_motors.h>
 #include <uORB/topics/actuator_servos.h>
+#include <uORB/topics/rover_ackermann_status.h>
+#include <uORB/topics/vehicle_local_position.h>
+

 // Standard library includes
 #include <math.h>
@@ -89,10 +93,12 @@ private:
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)};

 	// uORB publications
 	uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
 	uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
+	uORB::Publication<rover_ackermann_status_s> _rover_ackermann_status_pub{ORB_ID(rover_ackermann_status)};

 	// Instances
 	RoverAckermannGuidance _ackermann_guidance{this};
@@ -100,9 +106,18 @@ private:
 	// Variables
 	int _nav_state{0};
 	RoverAckermannGuidance::motor_setpoint _motor_setpoint;
+	hrt_abstime _timestamp{0};
+	float _actual_speed{0.f};
+	SlewRate<float> _steering_with_rate_limit{0.f};
+	SlewRate<float> _throttle_with_accel_limit{0.f};
+	bool _armed{false};

 	// Parameters
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
+		(ParamInt<px4::params::CA_R_REV>) _param_r_rev,
+		(ParamFloat<px4::params::RA_MAX_STR_ANG>) _param_ra_max_steer_angle,
+		(ParamFloat<px4::params::RA_MAX_SPEED>) _param_ra_max_speed,
+		(ParamFloat<px4::params::RA_MAX_ACCEL>) _param_ra_max_accel,
+		(ParamFloat<px4::params::RA_MAX_STR_RATE>) _param_ra_max_steering_rate
 	)
 };
@@ -40,6 +40,7 @@ using namespace time_literals;

 RoverAckermannGuidance::RoverAckermannGuidance(ModuleParams *parent) : ModuleParams(parent)
 {
+	_rover_ackermann_guidance_status_pub.advertise();
 	updateParams();
 	pid_init(&_pid_throttle, PID_MODE_DERIVATIV_NONE, 0.001f);
 }
@@ -55,13 +56,14 @@ void RoverAckermannGuidance::updateParams()
 			   1); // Output limit
 }

-RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit()
+RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit(const int nav_state)
 {
 	// Initializations
 	float desired_speed{0.f};
 	float desired_steering{0.f};
 	float vehicle_yaw{0.f};
 	float actual_speed{0.f};
+	bool mission_finished{false};

 	// uORB subscriber updates
 	if (_vehicle_global_position_sub.updated()) {
@@ -84,6 +86,12 @@ RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit()
 		actual_speed = rover_velocity.norm();
 	}

+	if (_home_position_sub.updated()) {
+		home_position_s home_position{};
+		_home_position_sub.copy(&home_position);
+		_home_position = Vector2d(home_position.lat, home_position.lon);
+	}
+
 	if (_position_setpoint_triplet_sub.updated()) {
 		updateWaypoints();
 	}
@@ -98,21 +106,58 @@ RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit()
 	if (_mission_result_sub.updated()) {
 		mission_result_s mission_result{};
 		_mission_result_sub.copy(&mission_result);
-		_mission_finished = mission_result.finished;
+		mission_finished = mission_result.finished;
+	}
+
+	if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
+	    && get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1), _next_wp(0),
+					     _next_wp(1)) < _acceptance_radius) { // Return to launch
+		mission_finished = true;
 	}

 	// Guidance logic
-	if (!_mission_finished) {
+	if (!mission_finished) {
 		// Calculate desired speed
 		const float distance_to_prev_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1),
 						  _prev_wp(0),
 						  _prev_wp(1));
+		const float distance_to_curr_wp = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1),
+						  _curr_wp(0),
+						  _curr_wp(1));

-		if (distance_to_prev_wp <= _prev_acc_rad) { // Cornering speed
-			const float cornering_speed = _param_ra_miss_vel_gain.get() / _prev_acc_rad;
-			desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
+		if (_param_ra_miss_vel_min.get() > 0.f  && _param_ra_miss_vel_min.get() < _param_ra_miss_vel_def.get()
+		    && _param_ra_miss_vel_gain.get() > FLT_EPSILON) { // Cornering slow down effect
+			if (distance_to_prev_wp <= _prev_acceptance_radius && _prev_acceptance_radius > FLT_EPSILON) {
+				const float cornering_speed = _param_ra_miss_vel_gain.get() / _prev_acceptance_radius;
+				desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());

-		} else { // Default mission speed
+			} else if (distance_to_curr_wp <= _acceptance_radius && _acceptance_radius > FLT_EPSILON) {
+				const float cornering_speed = _param_ra_miss_vel_gain.get() / _acceptance_radius;
+				desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
+
+			} else { // Straight line speed
+				if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_jerk.get() > FLT_EPSILON
+				    && _acceptance_radius > FLT_EPSILON) {
+					float max_velocity{0.f};
+
+					if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
+						max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_ra_max_jerk.get(),
+								_param_ra_max_accel.get(), distance_to_curr_wp, 0.f);
+
+					} else {
+						const float cornering_speed = _param_ra_miss_vel_gain.get() / _acceptance_radius;
+						max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_ra_max_jerk.get(),
+								_param_ra_max_accel.get(), distance_to_curr_wp - _acceptance_radius, cornering_speed);
+					}
+
+					desired_speed = math::constrain(max_velocity, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
+
+				} else {
+					desired_speed = _param_ra_miss_vel_def.get();
+				}
+			}
+
+		} else {
 			desired_speed = _param_ra_miss_vel_def.get();
 		}

@@ -124,9 +169,9 @@ RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit()
 	}

 	// Throttle PID
-	hrt_abstime now = hrt_absolute_time();
-	const float dt = math::min((now - _time_stamp_last), 5000_ms) / 1e6f;
-	_time_stamp_last = now;
+	hrt_abstime timestamp_prev = _timestamp;
+	_timestamp = hrt_absolute_time();
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
 	float throttle = 0.f;

 	if (desired_speed < FLT_EPSILON) {
@@ -144,8 +189,7 @@ RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit()
 	}

 	// Publish ackermann controller status (logging)
-	_rover_ackermann_guidance_status.timestamp = now;
-	_rover_ackermann_guidance_status.actual_speed = actual_speed;
+	_rover_ackermann_guidance_status.timestamp = _timestamp;
 	_rover_ackermann_guidance_status.desired_speed = desired_speed;
 	_rover_ackermann_guidance_status.pid_throttle_integral = _pid_throttle.integral;
 	_rover_ackermann_guidance_status_pub.publish(_rover_ackermann_guidance_status);
@@ -165,7 +209,12 @@ void RoverAckermannGuidance::updateWaypoints()
 	_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);

 	// Global waypoint coordinates
-	_curr_wp = Vector2d(position_setpoint_triplet.current.lat, position_setpoint_triplet.current.lon);
+	if (position_setpoint_triplet.current.valid) {
+		_curr_wp = Vector2d(position_setpoint_triplet.current.lat, position_setpoint_triplet.current.lon);
+
+	} else {
+		_curr_wp = Vector2d(0, 0);
+	}

 	if (position_setpoint_triplet.previous.valid) {
 		_prev_wp = Vector2d(position_setpoint_triplet.previous.lat, position_setpoint_triplet.previous.lon);
@@ -178,7 +227,7 @@ void RoverAckermannGuidance::updateWaypoints()
 		_next_wp = Vector2d(position_setpoint_triplet.next.lat, position_setpoint_triplet.next.lon);

 	} else {
-		_next_wp = _curr_wp;
+		_next_wp = _home_position; // Enables corner slow down with RTL
 	}

 	// Local waypoint coordinates
@@ -187,9 +236,15 @@ void RoverAckermannGuidance::updateWaypoints()
 	_next_wp_local = _global_local_proj_ref.project(_next_wp(0), _next_wp(1));

 	// Update acceptance radius
-	_prev_acc_rad = _acceptance_radius;
-	_acceptance_radius = updateAcceptanceRadius(_curr_wp_local, _prev_wp_local, _next_wp_local, _param_ra_acc_rad_def.get(),
-			     _param_ra_acc_rad_gain.get(), _param_ra_acc_rad_max.get(), _param_ra_wheel_base.get(), _param_ra_max_steer_angle.get());
+	_prev_acceptance_radius = _acceptance_radius;
+
+	if (_param_ra_acc_rad_max.get() >= _param_nav_acc_rad.get()) {
+		_acceptance_radius = updateAcceptanceRadius(_curr_wp_local, _prev_wp_local, _next_wp_local, _param_nav_acc_rad.get(),
+				     _param_ra_acc_rad_gain.get(), _param_ra_acc_rad_max.get(), _param_ra_wheel_base.get(), _param_ra_max_steer_angle.get());
+
+	} else {
+		_acceptance_radius = _param_nav_acc_rad.get();
+	}
 }

 float RoverAckermannGuidance::updateAcceptanceRadius(const Vector2f &curr_wp_local, const Vector2f &prev_wp_local,
@@ -43,10 +43,11 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/mission_result.h>
+#include <uORB/topics/home_position.h>

 // Standard library includes
 #include <matrix/matrix/math.hpp>
@@ -78,8 +79,9 @@ public:

 	/**
 	 * @brief Compute guidance for ackermann rover and return motor_setpoint for throttle and steering.
+	 * @param nav_state Vehicle navigation state
 	 */
-	motor_setpoint purePursuit();
+	motor_setpoint purePursuit(const int nav_state);

 	/**
 	 * @brief Update global/local waypoint coordinates and acceptance radius
@@ -143,6 +145,7 @@ private:
 	uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _mission_result_sub{ORB_ID(mission_result)};
+	uORB::Subscription _home_position_sub{ORB_ID(home_position)};

 	// uORB publications
 	uORB::Publication<rover_ackermann_guidance_status_s> _rover_ackermann_guidance_status_pub{ORB_ID(rover_ackermann_guidance_status)};
@@ -156,18 +159,18 @@ private:
 	Vector2d _curr_pos{};
 	Vector2f _curr_pos_local{};
 	PID_t _pid_throttle;
-	hrt_abstime _time_stamp_last{0};
+	hrt_abstime _timestamp{0};

 	// Waypoint variables
 	Vector2d _curr_wp{};
 	Vector2d _next_wp{};
 	Vector2d _prev_wp{};
+	Vector2d _home_position{};
 	Vector2f _curr_wp_local{};
 	Vector2f _prev_wp_local{};
 	Vector2f _next_wp_local{};
 	float _acceptance_radius{0.5f};
-	float _prev_acc_rad{0.f};
-	bool _mission_finished{false};
+	float _prev_acceptance_radius{0.5f};

 	// Parameters
 	DEFINE_PARAMETERS(
@@ -177,7 +180,6 @@ private:
 		(ParamFloat<px4::params::RA_LOOKAHD_MAX>) _param_ra_lookahd_max,
 		(ParamFloat<px4::params::RA_LOOKAHD_MIN>) _param_ra_lookahd_min,
 		(ParamFloat<px4::params::RA_ACC_RAD_MAX>) _param_ra_acc_rad_max,
-		(ParamFloat<px4::params::RA_ACC_RAD_DEF>) _param_ra_acc_rad_def,
 		(ParamFloat<px4::params::RA_ACC_RAD_GAIN>) _param_ra_acc_rad_gain,
 		(ParamFloat<px4::params::RA_MISS_VEL_DEF>) _param_ra_miss_vel_def,
 		(ParamFloat<px4::params::RA_MISS_VEL_MIN>) _param_ra_miss_vel_min,
@@ -185,6 +187,8 @@ private:
 		(ParamFloat<px4::params::RA_SPEED_P>) _param_ra_p_speed,
 		(ParamFloat<px4::params::RA_SPEED_I>) _param_ra_i_speed,
 		(ParamFloat<px4::params::RA_MAX_SPEED>) _param_ra_max_speed,
+		(ParamFloat<px4::params::RA_MAX_JERK>) _param_ra_max_jerk,
+		(ParamFloat<px4::params::RA_MAX_ACCEL>) _param_ra_max_accel,
 		(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad
 	)
 };
@@ -66,31 +66,20 @@ parameters:

      RA_ACC_RAD_MAX:
        description:
-          short: Maximum acceptance radius
+          short: Maximum acceptance radius for the waypoints
          long: |
            The controller scales the acceptance radius based on the angle between
-            the previous, current and next waypoint. Used as tuning parameter.
+            the previous, current and next waypoint.
            Higher value -> smoother trajectory at the cost of how close the rover gets
-            to the waypoint (Set equal to RA_ACC_RAD_DEF to disable corner cutting).
+            to the waypoint (Set to -1 to disable corner cutting).
        type: float
        unit: m
-        min: 0.1
+        min: -1
        max: 100
        increment: 0.01
        decimal: 2
        default: 3

-      RA_ACC_RAD_DEF:
-        description:
-          short: Default acceptance radius
-        type: float
-        unit: m
-        min: 0.1
-        max: 100
-        increment: 0.01
-        decimal: 2
-        default: 0.5
-
      RA_ACC_RAD_GAIN:
        description:
          short: Tuning parameter for corner cutting
@@ -110,21 +99,21 @@ parameters:
          short: Default rover velocity during a mission
        type: float
        unit: m/s
-        min: 0.1
+        min: 0
        max: 100
        increment: 0.01
        decimal: 2
-        default: 3
+        default: 2

      RA_MISS_VEL_MIN:
        description:
          short: Minimum rover velocity during a mission
          long: |
            The velocity off the rover is reduced based on the corner it has to take
-            to smooth the trajectory (To disable this feature set it equal to RA_MISSION_VEL_DEF)
+            to smooth the trajectory (Set to -1 to disable)
        type: float
        unit: m/s
-        min: 0.1
+        min: -1
        max: 100
        increment: 0.01
        decimal: 2
@@ -133,9 +122,12 @@ parameters:
      RA_MISS_VEL_GAIN:
        description:
          short: Tuning parameter for the velocity reduction during cornering
-          long: Lower value -> More velocity reduction during cornering
+          long: |
+            The cornering speed is equal to the inverse of the acceptance radius
+            of the WP multiplied with this factor.
+            Lower value -> More velocity reduction during cornering.
        type: float
-        min: 0.1
+        min: 0.05
        max: 100
        increment: 0.01
        decimal: 2
@@ -175,3 +167,46 @@ parameters:
        increment: 0.01
        decimal: 2
        default: -1
+
+      RA_MAX_ACCEL:
+        description:
+          short: Maximum acceleration for the rover
+          long: |
+            This is used for the acceleration slew rate, the feed-forward term
+            for the speed controller during missions and the corner slow down effect.
+            Note: For the corner slow down effect RA_MAX_JERK, RA_MISS_VEL_GAIN and
+            RA_MISS_VEL_MIN also have to be set.
+        type: float
+        unit: m/s^2
+        min: -1
+        max: 100
+        increment: 0.01
+        decimal: 2
+        default: -1
+
+      RA_MAX_JERK:
+        description:
+          short: Maximum jerk
+          long: |
+            Limit for forwards acc/deceleration change.
+            This is used for the corner slow down effect.
+            Note: RA_MAX_ACCEL, RA_MISS_VEL_GAIN and RA_MISS_VEL_MIN also have to be set
+            for this to be enabled.
+        type: float
+        unit: m/s^3
+        min: -1
+        max: 100
+        increment: 0.01
+        decimal: 2
+        default: -1
+
+      RA_MAX_STR_RATE:
+        description:
+          short: Maximum steering rate for the rover
+        type: float
+        unit: deg/s
+        min: -1
+        max: 1000
+        increment: 0.01
+        decimal: 2
+        default: -1
@@ -243,8 +243,8 @@ void Sih::parameters_updated()
 	_KDW = _sih_kdw.get();
 	_H0 = _sih_h0.get();

-	_LAT0 = (double)_sih_lat0.get() * 1.0e-7;
-	_LON0 = (double)_sih_lon0.get() * 1.0e-7;
+	_LAT0 = (double)_sih_lat0.get();
+	_LON0 = (double)_sih_lon0.get();
 	_COS_LAT0 = cosl((long double)radians(_LAT0));

 	_MASS = _sih_mass.get();
@@ -273,8 +273,8 @@ private:
 		(ParamFloat<px4::params::SIH_L_PITCH>) _sih_l_pitch,
 		(ParamFloat<px4::params::SIH_KDV>) _sih_kdv,
 		(ParamFloat<px4::params::SIH_KDW>) _sih_kdw,
-		(ParamInt<px4::params::SIH_LOC_LAT0>) _sih_lat0,
-		(ParamInt<px4::params::SIH_LOC_LON0>) _sih_lon0,
+		(ParamFloat<px4::params::SIH_LOC_LAT0>) _sih_lat0,
+		(ParamFloat<px4::params::SIH_LOC_LON0>) _sih_lon0,
 		(ParamFloat<px4::params::SIH_LOC_H0>) _sih_h0,
 		(ParamFloat<px4::params::SIH_DISTSNSR_MIN>) _sih_distance_snsr_min,
 		(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
@@ -235,33 +235,31 @@ PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
 * Initial geodetic latitude
 *
 * This value represents the North-South location on Earth where the simulation begins.
- * A value of 45 deg should be written 450000000.
 *
 * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
 * to represent a physical ground location on Earth.
 *
- * @unit deg*1e7
- * @min -850000000
- * @max  850000000
+ * @unit deg
+ * @min -90
+ * @max  90
 * @group Simulation In Hardware
 */
-PARAM_DEFINE_INT32(SIH_LOC_LAT0, 454671160);
+PARAM_DEFINE_FLOAT(SIH_LOC_LAT0, 47.397742f);

 /**
 * Initial geodetic longitude
 *
 * This value represents the East-West location on Earth where the simulation begins.
- * A value of 45 deg should be written 450000000.
 *
 * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
 * to represent a physical ground location on Earth.
 *
- * @unit deg*1e7
- * @min -1800000000
- * @max  1800000000
+ * @unit deg
+ * @min -180
+ * @max  180
 * @group Simulation In Hardware
 */
-PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370);
+PARAM_DEFINE_FLOAT(SIH_LOC_LON0, 8.545594f);

 /**
 * Initial AMSL ground altitude
@@ -282,7 +280,7 @@ PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370);
 * @increment 0.01
 * @group Simulation In Hardware
 */
-PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f);
+PARAM_DEFINE_FLOAT(SIH_LOC_H0, 489.4f);

 /**
 * distance sensor minimum range
Author	SHA1	Message	Date
Daniel Agar	d5876ab0d2	ekf2: stop gps yaw fusion on numerical error	2024-07-11 12:25:14 -04:00
Daniel Agar	467f96f2a4	ekf2: stop airspeed fusion on numerical error	2024-07-11 12:23:15 -04:00
Daniel Agar	4263fa9ee4	ekf2: stop flow fusion on numerical error	2024-07-11 12:22:26 -04:00
Daniel Agar	b425253a54	ekf2: stop mag fusion on numerical error	2024-07-11 12:19:50 -04:00
Claudio Chies	33be5d8356	Survey - fix of survey tracking problem on steep slopes (#23371 ) * initial working * incoperated review	2024-07-11 14:54:22 +02:00
Daniel Agar	9124a7b471	ekf2: add IMU delta_ang_dt/delta_vel_dt safety constrain before pushing into buffer	2024-07-10 21:20:47 -04:00
Daniel Agar	ac77049c47	ekf2: directly use IMU sample to find corresponding aid source sample - I think this helps make it clear we're using a sensor sample corresponding with a particular IMU sample	2024-07-10 21:20:47 -04:00
Daniel Agar	f93dc61770	ekf2: use bias corrected angular velocity - avoid unnecessarily storing _ang_rate_delayed_raw	2024-07-10 21:20:47 -04:00
Julian Oes	20137bea40	boards: add console build for Cube Orange(+) This adds a build variant which enables the serial console, and therefore disables the ADSB receiver.	2024-07-10 21:14:08 -04:00
Claudio Chies	57e303b11b	bugfix for failing actions	2024-07-10 21:12:55 -04:00
PX4 BuildBot	e0ea91fc27	Update submodule gz to latest Thu Jul 11 00:39:09 UTC 2024 - gz in PX4/Firmware (`2c3401dc83`): https://github.com/PX4/PX4-gazebo-models/commit/881558c8c274d0d9f21970de24333122e050b561 - gz current upstream: https://github.com/PX4/PX4-gazebo-models/commit/312cd002ff9602644efef58eef93e447c10dcbe8 - Changes: https://github.com/PX4/PX4-gazebo-models/compare/881558c8c274d0d9f21970de24333122e050b561...312cd002ff9602644efef58eef93e447c10dcbe8 312cd00 2024-07-08 chfriedrich98 - Add rover ackermann model (#46)	2024-07-10 21:05:57 -04:00
chfriedrich98	c391509c23	ackermann: add SITL airframe	2024-07-10 21:04:59 -04:00
Matthias Grob	2c3401dc83	uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot (#23384 ) * SubscriptionInterval: ensure _last_update is never before timer start	2024-07-10 12:43:31 -04:00
Daniel Agar	75bb339d94	ekf2: remove warning events logging - some of these warning flags aren't even being used, and most of the rest we can figure out from other sources	2024-07-10 10:43:55 -04:00
Daniel Agar	c29b4ff87e	ekf2: apply astyle formatting and enforce	2024-07-10 10:43:55 -04:00
chfriedrich98	3fe609f769	exclude 4017 from v5x to save flash	2024-07-10 12:06:48 +02:00
chfriedrich98	03ff837c50	ackermann: new features and improvements added return mode support, slew rates for actuators, new ackermann specific message, improved cornering slow down effect and fixed logging issue.	2024-07-10 12:06:48 +02:00
Daniel Agar	223397c20e	ekf2: always add accel/gyro bias process noise - continue adding accel/gyro bias process noise even if inhibited	2024-07-10 11:49:01 +02:00
Marco Hauswirth	419652b9fe	EKF2: Spoofing GPS check (#23366 ) * estimator gps check fail flag for spoofing * warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion * dont introduce more GPS namings, GNSS instead * flash: exclude mantis for cuav_x7pro	2024-07-09 16:31:11 +02:00
Daniel Agar	62ff39a669	ekf2: EV vel (body) update last fuse timestamps - these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case	2024-07-09 10:16:12 -04:00
Daniel Agar	5d08b97fd7	ekf2: add vehicle_local_position dist_bottom_var	2024-07-09 10:10:01 -04:00
Daniel Agar	3e3b886b5d	ekf2: add terrain estimator_status_flags	2024-07-09 10:10:01 -04:00
Daniel Agar	64a6971bdb	ekf2: only limit opt flow HAGL if range only terrain - increase HALG limit from 75%->90% of sensor max	2024-07-09 10:10:01 -04:00
Daniel Agar	c56f84fe8a	ekf2: range, check if terrain valid for reset on fusion timeout	2024-07-09 10:10:01 -04:00
Daniel Agar	e52025cc20	ekf2: optical flow fusion timeout only reset if quality is good	2024-07-09 10:10:01 -04:00
Daniel Agar	6be06ecbb3	ekf2: optical flow failing also reset terrain if needed	2024-07-09 10:10:01 -04:00
Daniel Agar	ea8f14b883	ekf2: optical flow logic, timeout if bad_tilt, etc - previously we could get stuck with optical flow still technically active (_control_status.flags.opt_flow=true), but nothing being updated due to excessive tilt, etc	2024-07-09 10:10:01 -04:00
Daniel Agar	8bf15b01c4	ekf2: optical flow don't compute innovation variance twice - collapse updateOptFlow() and startFlowFusion() to avoid recomputing H - this is a relatively expensive call we can easily avoid with the right structure	2024-07-09 10:10:01 -04:00
Daniel Agar	f709ed409d	ekf2: optical flow stop reset all flags	2024-07-09 10:10:01 -04:00
Daniel Agar	9dfd82ab06	ekf2: optical flow remove _flow_data_ready flag	2024-07-09 10:10:01 -04:00
Daniel Agar	7047f9441c	ekf2: fix calcOptFlowBodyRateComp() gyro bias - adjust flow sample gyro_rate immediately after popping from ring buffer - always update flow gyro bias (calcOptFlowBodyRateComp()) regardless of flow quality or magnitude	2024-07-09 10:10:01 -04:00
Daniel Agar	4d324da9f8	ekf2: update flow aid src status every sample	2024-07-09 10:10:01 -04:00
Daniel Agar	bcd666b3f8	ekf2: fix optical flow start logic - remove fallthrough that enables flow regardless of success - add appropriate start messages for each case	2024-07-09 10:10:01 -04:00
Daniel Agar	bf4e564b23	ekf2: resetTerrainToFlow() reset aid src status appropriately	2024-07-09 10:10:01 -04:00
Daniel Agar	ced609daa8	ekf2: flow fusion start require valid fusion	2024-07-09 10:10:01 -04:00
Daniel Agar	1df8f3f9d2	ekf2: resetFlowFusion() reset aid src status appropriately	2024-07-09 10:10:01 -04:00
Roman Bapst	8221940b60	Added pitot tube icing detection (#23206 ) * lib: add FilteredDerivative class * AirspeedValidator: add first principle check - filters throttle, pitch and airspeed rate, and triggers if the airspeed rate is negative even though the vehicle is pitching down and giving high throttle. Check has to fail for duration defined by ASPD_FP_T_WINDOW to trigger an airspeed failure. * AirspeedValidator: define constants for first principle check * FilteredDerivative: set initialised to false if sample interval is invalid * airspeed_selector: improved comment * increase IAS derivative filter time constant from 4 to 5 * use legacy parameter handling for FW_PSP_OFF * handle FW_THR_MAX as well * ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2024-07-09 11:16:40 +02:00
Julian Oes	a35cecece4	gnss: add missing include Breaks CLion otherwise.	2024-07-08 20:38:40 -04:00
Peter van der Perk	6bd81f38a6	imxrt dshot timing fix (#23365 ) * imxrt: Change PLL settings for more accurate dshot timing * Update NuttX submodule	2024-07-08 12:57:15 -04:00
Silvan Fuhrer	77709c2948	FW Position control: clean up param descriptions Mostly to save flash, but also to improve generally. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-07-08 16:44:09 +02:00
Claudio Chies	aed0fd41cf	SIH - change how LAT and LON is used for Takeoff location (#23363 ) change how lat long is used for SIH	2024-07-08 14:51:08 +02:00
				`@@ -0,0 +1 @@`
				`# Same as default, only defconfig is different`