Update NuttX (Testing Needs merge it first)

rc_input: Add SINGLEWIRE_MANUAL_DUPLEX for manually changing TXDIR
Fixes telemetry on fmu-v6xrt
2026-08-20 05:30:34 +08:00 · 2024-05-04 21:47:55 +02:00 · 2024-05-04 21:47:35 +02:00 · 2024-05-03 06:59:55 +02:00 · 2024-05-02 17:52:26 -04:00 · 2024-05-02 17:40:58 -04:00
126 changed files with 1620 additions and 815 deletions
@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -4,6 +4,7 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -34,24 +34,23 @@ def extract_timer(line):
    if search:
        return search.group(1), 'generic'

-    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'imxrt'
+        return (search.group(1) + '_' +  search.group(2)), 'imxrt'

    return None, 'unknown'

-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line, timer_names):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
        return search.group(1)

-    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
    if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return str(timer_names.index((search.group(1) + '_' +  search.group(2))))

    return None

@@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
    timers_str = timer_config[open_idx:close_idx]
    timers = []
+    timer_names = []
    for line in timers_str.splitlines():
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
@@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):

        if timer_type == 'imxrt':
            if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
+            timer_names.append(timer)
+            timers.append(str(len(timers)))
+            dshot_support = {str(i): False for i in range(16)}
            for i in range(8): # First 8 channels support dshot
                dshot_support[str(i)] = True
-            break
-
-        if timer:
+        elif timer:
            if verbose: print('found timer def: {:}'.format(timer))
            dshot_support[timer] = 'DMA' in line
            timers.append(timer)
@@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line, timer_names)

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -6,6 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
+param set-default GPS_1_GNSS 63
 param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -32,17 +32,17 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi

-param set-default EKF2_BARO_DELAY 13
+param set-default EKF2_BARO_DELAY 39
 param set-default EKF2_BARO_NOISE 0.9
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_MAG_DELAY 100
+param set-default EKF2_HGT_REF 0
+param set-default EKF2_MAG_DELAY 60
 param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 48
+param set-default EKF2_OF_DELAY 28
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_DELAY 48
+param set-default EKF2_RNG_DELAY 105
 param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
 param set-default EKF2_RNG_SFE 0.03
@@ -21,8 +21,10 @@ then
 fi

 # Internal magnetometer on I2C
-# TODO: Write a driver for the MMC5983MA
-mmc5983ma -I -b 4 start
+if ! iis2mdc -R 4 -I -b 4 start
+then
+	mmc5983ma -I -b 4 start
+fi

 # Internal Baro on I2C
 bmp388 -I -b 4 start
@@ -185,7 +185,6 @@ CONFIG_LPUART8_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
@@ -451,10 +451,12 @@
 #define HRT_PPM_CHANNEL         /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)

-#define RC_SERIAL_PORT                  "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
-#define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
-#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
+#define RC_SERIAL_SINGLEWIRE               1 // Suport Single wire wiring
+#define RC_SERIAL_SWAP_RXTX                1 // Set Swap (but not supported in HW) to use Single wire
+#define RC_SERIAL_SWAP_USING_SINGLEWIRE    1 // Set to use Single wire swap as HW does not support swap
+#define RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX 1 // Set to use ioctl's to manually swap duplex
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* FLEXSPI4 */

@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
@@ -1,5 +1,5 @@
 uint64 timestamp				# time since system start (microseconds)
-uint64 last_heartbeat				# timestamp of the last successful sbd session
+uint64 last_at_ok_timestamp			# timestamp of the last "OK" received after the "AT" command
 uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer
@@ -1,4 +1,4 @@
-# A logging message, output with PX4_{WARN,ERR,INFO}
+# A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO

 uint64 timestamp		# time since system start (microseconds)

@@ -50,3 +50,15 @@
 * @return 0 on success, -errno otherwise
 */
 int px4_get_parameter_value(const char *option, int &value);
+
+/**
+ * Parse a CLI argument to a float. There are 2 valid formats:
+ * - 'p:<param_name>'
+ *   in this case the parameter is loaded from an integer parameter
+ * - <float>
+ *   a floating-point value, so just a string to float conversion is done
+ * @param option CLI argument
+ * @param value returned value
+ * @return 0 on success, -errno otherwise
+ */
+int px4_get_parameter_value(const char *option, float &value);
@@ -45,7 +45,7 @@
 #endif

 #include <events/events_generated.h>
-#include <libevents_definitions.h>
+#include <uORB/topics/event.h>

 #include <stdint.h>

@@ -93,7 +93,7 @@ constexpr unsigned sizeofArguments(const T &t, const Args &... args)
 /**
 * publish/send an event
 */
-void send(EventType &event);
+void send(event_s &event);

 /**
 * Generate event ID from an event name
@@ -109,7 +109,7 @@ constexpr uint32_t ID(const char (&name)[N])
 template<typename... Args>
 inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args)
 {
-	EventType e{};
+	event_s e{};
 	e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
 	e.id = id;
 	static_assert(util::sizeofArguments(args...) <= sizeof(e.arguments), "Too many arguments");
@@ -120,7 +120,7 @@ inline void send(uint32_t id, const LogLevels &log_levels, const char *message,

 inline void send(uint32_t id, const LogLevels &log_levels, const char *message)
 {
-	EventType e{};
+	event_s e{};
 	e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
 	e.id = id;
 	CONSOLE_PRINT_EVENT(e.log_level_external, e.id, message);
@@ -59,6 +59,7 @@ int px4_get_parameter_value(const char *option, int &value)
 		if (param_handle != PARAM_INVALID) {

 			if (param_type(param_handle) != PARAM_TYPE_INT32) {
+				PX4_ERR("Type of param '%s' is different from INT32", param_name);
 				return -EINVAL;
 			}

@@ -87,3 +88,48 @@ int px4_get_parameter_value(const char *option, int &value)

 	return 0;
 }
+
+int px4_get_parameter_value(const char *option, float &value)
+{
+	value = 0;
+
+	/* check if this is a param name */
+	if (strncmp("p:", option, 2) == 0) {
+
+		const char *param_name = option + 2;
+
+		/* user wants to use a param name */
+		param_t param_handle = param_find(param_name);
+
+		if (param_handle != PARAM_INVALID) {
+
+			if (param_type(param_handle) != PARAM_TYPE_FLOAT) {
+				PX4_ERR("Type of param '%s' is different from FLOAT", param_name);
+				return -EINVAL;
+			}
+
+			float pwm_parm;
+			int ret = param_get(param_handle, &pwm_parm);
+
+			if (ret != 0) {
+				return ret;
+			}
+
+			value = pwm_parm;
+
+		} else {
+			PX4_ERR("param name '%s' not found", param_name);
+			return -ENXIO;
+		}
+
+	} else {
+		char *ep;
+		value = strtof(option, &ep);
+
+		if (*ep != '\0') {
+			return -EINVAL;
+		}
+	}
+
+	return 0;
+}
@@ -255,6 +255,34 @@ static inline int channels_timer(unsigned channel)
 	return timer_io_channels[channel].timer_index;
 }

+static uint32_t get_timer_channels(unsigned timer)
+{
+	uint32_t channels = 0;
+	static uint32_t channels_cache[MAX_IO_TIMERS] = {0};
+
+	if (validate_timer_index(timer) < 0) {
+		return channels;
+
+	} else {
+		if (channels_cache[timer] == 0) {
+			/* Gather the channel bits that belong to the timer */
+
+			uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
+			uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+
+			for (unsigned chan_index = first_channel_index; chan_index < last_channel_index; chan_index++) {
+				channels |= 1 << chan_index;
+			}
+
+			/* cache them */
+
+			channels_cache[timer] = channels;
+		}
+	}
+
+	return channels_cache[timer];
+}
+
 static uint32_t get_channel_mask(unsigned channel)
 {
 	return io_timer_validate_channel_index(channel) == 0 ? 1 << channel : 0;
@@ -391,41 +419,66 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode)
 	return rv;
 }

-static int timer_set_rate(unsigned channel, unsigned rate)
+static int timer_set_rate(unsigned timer, unsigned rate)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+		}
+	}
+
 	px4_leave_critical_section(flags);
 	return 0;
 }

-static inline void io_timer_set_oneshot_mode(unsigned channel)
+static inline void io_timer_set_oneshot_mode(unsigned timer)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
-	rvalue &= ~SMCTRL_PRSC_MASK;
-	rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
+			rvalue &= ~SMCTRL_PRSC_MASK;
+			rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+		}
+	}
+
 	px4_leave_critical_section(flags);

 }

-static inline void io_timer_set_PWM_mode(unsigned channel)
+static inline void io_timer_set_PWM_mode(unsigned timer)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
-	rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
-	rvalue |= SMCTRL_PRSC_DIV16;
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
+			rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
+			rvalue |= SMCTRL_PRSC_DIV16;
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+		}
+	}
+
 	px4_leave_critical_section(flags);
 }

@@ -530,33 +583,35 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
 			break;
 		}

-		uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
-		uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+		int channels = get_timer_channels(timer);

-		for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) {
+		for (uint32_t chan = 0; chan < DIRECT_PWM_OUTPUT_CHANNELS; ++chan) {
+			if ((1 << chan) & channels) {

-			/* Clear all Faults */
-			rFSTS0(timer) = FSTS_FFLAG_MASK;
+				/* Clear all Faults */
+				rFSTS0(timer) = FSTS_FFLAG_MASK;

-			rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
-			rCTRL(timer, timer_io_channels[chan].sub_module)  = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
-			/* Edge aligned at 0 */
-			rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
-			rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
-			rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
-			rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
-					 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
-			rDTSRCSEL(timer) = 0;
-			rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
-			rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
-			io_timer_set_PWM_mode(chan);
-			timer_set_rate(chan, 50);
+				rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
+				rCTRL(timer, timer_io_channels[chan].sub_module)  = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
+				/* Edge aligned at 0 */
+				rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
+				rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
+				rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
+				rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
+						 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
+				rDTSRCSEL(timer) = 0;
+				rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
+				rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
+			}
 		}

+		io_timer_set_PWM_mode(timer);
+		timer_set_rate(timer, 50);
+
 		px4_leave_critical_section(flags);
 	}

@@ -818,8 +873,7 @@ uint16_t io_channel_get_ccr(unsigned channel)
 	return value;
 }

-// The rt has 1:1 group to channel
-uint32_t io_timer_get_group(unsigned group)
+uint32_t io_timer_get_group(unsigned timer)
 {
-	return get_channel_mask(group);
+	return get_timer_channels(timer);
 }
@@ -75,7 +75,7 @@ SF45LaserSerial::SF45LaserSerial(const char *port, uint8_t rotation) :
 	// populate obstacle map members
 	_obstacle_map_msg.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD;
 	_obstacle_map_msg.increment = 5;
-	_obstacle_map_msg.angle_offset = -2.5;
+	_obstacle_map_msg.angle_offset = 2.5;
 	_obstacle_map_msg.min_distance = UINT16_MAX;
 	_obstacle_map_msg.max_distance = 5000;

@@ -157,7 +157,6 @@ int SF45LaserSerial::collect()
 	int64_t read_elapsed = hrt_elapsed_time(&_last_read);
 	int ret;
 	/* the buffer for read chars is buflen minus null termination */
-	param_get(param_find("SF45_CP_LIMIT"), &_collision_constraint);
 	uint8_t readbuf[SF45_MAX_PAYLOAD];

 	float distance_m = -1.0f;
@@ -669,34 +668,35 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m)
 				raw_yaw = raw_yaw * -1;
 			}

+			// SF45/B product guide {Data output bit: 8 Description: "Yaw angle [1/100 deg] size: int16}"
+			scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;
+
 			switch (_yaw_cfg) {
 			case 0:
 				break;

 			case 1:
-				if (raw_yaw > 180) {
-					raw_yaw = raw_yaw - 180;
+				if (scaled_yaw > 180) {
+					scaled_yaw = scaled_yaw - 180;

 				} else {
-					raw_yaw = raw_yaw + 180; // rotation facing aft
+					scaled_yaw = scaled_yaw + 180; // rotation facing aft
 				}

 				break;

 			case 2:
-				raw_yaw = raw_yaw + 90; // rotation facing right
+				scaled_yaw = scaled_yaw + 90; // rotation facing right
 				break;

 			case 3:
-				raw_yaw = raw_yaw - 90; // rotation facing left
+				scaled_yaw = scaled_yaw - 90; // rotation facing left
 				break;

 			default:
 				break;
 			}

-			scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;
-
 			// Convert to meters for rangefinder update
 			*distance_m = raw_distance * SF45_SCALE_FACTOR;
 			obstacle_dist_cm = (uint16_t)raw_distance;
@@ -64,6 +64,7 @@
 #define DRV_MAG_DEVTYPE_IST8308  0x0B
 #define DRV_MAG_DEVTYPE_LIS2MDL  0x0C
 #define DRV_MAG_DEVTYPE_MMC5983MA  0x0D
+#define DRV_MAG_DEVTYPE_IIS2MDC  0x0E

 #define DRV_IMU_DEVTYPE_LSM303D  0x11

@@ -939,7 +939,8 @@ GPS::run()
 						set_device_type(DRV_GPS_DEVTYPE_UBX_9);
 						break;

-					case GPSDriverUBX::Board::u_blox9_F9P:
+					case GPSDriverUBX::Board::u_blox9_F9P_L1L2:
+					case GPSDriverUBX::Board::u_blox9_F9P_L1L5:
 						set_device_type(DRV_GPS_DEVTYPE_UBX_F9P);
 						break;

@@ -247,14 +247,16 @@ PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
 * 2 : Use Galileo
 * 3 : Use BeiDou
 * 4 : Use GLONASS
+ * 5 : Use NAVIC
 *
 * @min 0
- * @max 31
+ * @max 63
 * @bit 0 GPS (with QZSS)
 * @bit 1 SBAS
 * @bit 2 Galileo
 * @bit 3 BeiDou
 * @bit 4 GLONASS
+ * @bit 5 NAVIC
 *
 * @reboot_required true
 * @group GPS
@@ -277,14 +279,16 @@ PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
 * 2 : Use Galileo
 * 3 : Use BeiDou
 * 4 : Use GLONASS
+ * 5 : Use NAVIC
 *
 * @min 0
- * @max 31
+ * @max 63
 * @bit 0 GPS (with QZSS)
 * @bit 1 SBAS
 * @bit 2 Galileo
 * @bit 3 BeiDou
 * @bit 4 GLONASS
+ * @bit 5 NAVIC
 *
 * @reboot_required true
 * @group GPS
@@ -172,7 +172,9 @@ void ADIS16507::RunImpl()
 			const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);

 			if (DIAG_STAT != 0) {
-				PX4_ERR("DIAG_STAT: %#X", DIAG_STAT);
+				PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", DIAG_STAT);
+				_state = STATE::RESET;
+				ScheduleDelayed(3_s);

 			} else {
 				PX4_DEBUG("self test passed");
@@ -441,10 +441,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 			sensor_gps.altitude_msl_m = positionGpsLla.c[2];
 			sensor_gps.altitude_ellipsoid_m = sensor_gps.altitude_msl_m;

-			sensor_gps.vel_ned_valid = true;
+			sensor_gps.vel_m_s = matrix::Vector3f(velocityGpsNed.c).length();
 			sensor_gps.vel_n_m_s = velocityGpsNed.c[0];
 			sensor_gps.vel_e_m_s = velocityGpsNed.c[1];
 			sensor_gps.vel_d_m_s = velocityGpsNed.c[2];
+			sensor_gps.vel_ned_valid = true;

 			sensor_gps.hdop = dop.hDOP;
 			sensor_gps.vdop = dop.vDOP;
@@ -41,4 +41,5 @@ add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)
 add_subdirectory(memsic)
 add_subdirectory(rm3100)
+add_subdirectory(st)
 add_subdirectory(vtrantech)
@@ -14,6 +14,7 @@ menu "Magnetometer"
        select DRIVERS_MAGNETOMETER_RM3100
        select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
        select DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA
+        select DRIVERS_MAGNETOMETER_ST_IIS2MDC
        ---help---
            Enable default set of magnetometer drivers
    rsource "*/Kconfig"
@@ -0,0 +1,3 @@
+menu "ST"
+    rsource "*/Kconfig"
+endmenu
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__magnetometer__st__iis2mdc
+	MAIN iis2mdc
+	COMPILE_FLAGS
+		# -DDEBUG_BUILD
+	SRCS
+		iis2mdc_i2c.cpp
+		iis2mdc_main.cpp
+		iis2mdc.cpp
+	DEPENDS
+		drivers_magnetometer
+		px4_work_queue
+	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_ST_IIS2MDC
+	bool "iis2mdc"
+	default n
+	---help---
+		Enable support for iis2mdc
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "iis2mdc.h"
+
+using namespace time_literals;
+
+IIS2MDC::IIS2MDC(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
+	_interface(interface),
+	_px4_mag(interface->get_device_id(), config.rotation),
+	_sample_count(perf_alloc(PC_COUNT, "iis2mdc_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "iis2mdc_comms_errors"))
+{}
+
+IIS2MDC::~IIS2MDC()
+{
+	perf_free(_sample_count);
+	perf_free(_comms_errors);
+	delete _interface;
+}
+
+int IIS2MDC::init()
+{
+	if (hrt_absolute_time() < 20_ms) {
+		px4_usleep(20_ms); // ~10ms power-on time
+	}
+
+	write_register(IIS2MDC_ADDR_CFG_REG_A, MD_CONTINUOUS | ODR_100 | COMP_TEMP_EN);
+	write_register(IIS2MDC_ADDR_CFG_REG_B, OFF_CANC);
+	write_register(IIS2MDC_ADDR_CFG_REG_C, BDU);
+
+	_px4_mag.set_scale(100.f / 65535.f); // +/- 50 Gauss, 16bit
+
+	ScheduleDelayed(20_ms);
+
+	return PX4_OK;
+}
+
+void IIS2MDC::RunImpl()
+{
+	uint8_t status = read_register(IIS2MDC_ADDR_STATUS_REG);
+
+	if (status & IIS2MDC_STATUS_REG_READY) {
+		SensorData data = {};
+
+		if (read_register_block(&data) == PX4_OK) {
+			int16_t x = int16_t((data.xout1 << 8) | data.xout0);
+			int16_t y = int16_t((data.yout1 << 8) | data.yout0);
+			int16_t z = -int16_t((data.zout1 << 8) | data.zout0);
+			int16_t t = int16_t((data.tout1 << 8) | data.tout0);
+			// 16 bits twos complement with a sensitivity of 8 LSB/°C. Typically, the output zero level corresponds to 25 °C.
+			_px4_mag.set_temperature(float(t) / 8.f + 25.f);
+			_px4_mag.update(hrt_absolute_time(), x, y, z);
+			_px4_mag.set_error_count(perf_event_count(_comms_errors));
+			perf_count(_sample_count);
+
+		} else {
+			PX4_DEBUG("read failed");
+			perf_count(_comms_errors);
+		}
+
+	} else {
+		PX4_DEBUG("not ready: %u", status);
+		perf_count(_comms_errors);
+	}
+
+	ScheduleDelayed(10_ms);
+}
+
+uint8_t IIS2MDC::read_register_block(SensorData *data)
+{
+	uint8_t reg = IIS2MDC_ADDR_OUTX_L_REG;
+
+	if (_interface->read(reg, data, sizeof(SensorData)) != PX4_OK) {
+		perf_count(_comms_errors);
+
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+uint8_t IIS2MDC::read_register(uint8_t reg)
+{
+	uint8_t value = 0;
+
+	if (_interface->read(reg, &value, sizeof(value)) != PX4_OK) {
+		perf_count(_comms_errors);
+	}
+
+	return value;
+}
+
+void IIS2MDC::write_register(uint8_t reg, uint8_t value)
+{
+	if (_interface->write(reg, &value, sizeof(value)) != PX4_OK) {
+		perf_count(_comms_errors);
+	}
+}
+
+void IIS2MDC::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_count);
+	perf_print_counter(_comms_errors);
+}
@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+
+// IIS2MDC Registers
+#define IIS2MDC_ADDR_CFG_REG_A  0x60
+#define IIS2MDC_ADDR_CFG_REG_B  0x61
+#define IIS2MDC_ADDR_CFG_REG_C  0x62
+#define IIS2MDC_ADDR_STATUS_REG 0x67
+#define IIS2MDC_ADDR_OUTX_L_REG 0x68
+#define IIS2MDC_ADDR_WHO_AM_I   0x4F
+
+// IIS2MDC Definitions
+#define IIS2MDC_WHO_AM_I         0b01000000
+#define IIS2MDC_STATUS_REG_READY 0b00001111
+// CFG_REG_A
+#define COMP_TEMP_EN    (1 << 7)
+#define MD_CONTINUOUS   (0 << 0)
+#define ODR_100         ((1 << 3) | (1 << 2))
+// CFG_REG_B
+#define OFF_CANC        (1 << 1)
+// CFG_REG_C
+#define BDU             (1 << 4)
+
+extern device::Device *IIS2MDC_I2C_interface(const I2CSPIDriverConfig &config);
+
+class IIS2MDC : public I2CSPIDriver<IIS2MDC>
+{
+public:
+	IIS2MDC(device::Device *interface, const I2CSPIDriverConfig &config);
+	virtual ~IIS2MDC();
+
+	struct SensorData {
+		uint8_t xout0;
+		uint8_t xout1;
+		uint8_t yout0;
+		uint8_t yout1;
+		uint8_t zout0;
+		uint8_t zout1;
+		uint8_t tout0;
+		uint8_t tout1;
+	};
+
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
+	static void print_usage();
+
+	int init();
+	void print_status() override;
+
+	void RunImpl();
+
+private:
+	uint8_t read_register_block(SensorData *data);
+	uint8_t read_register(uint8_t reg);
+	void write_register(uint8_t reg, uint8_t value);
+
+	device::Device *_interface;
+	PX4Magnetometer _px4_mag;
+	perf_counter_t _sample_count;
+	perf_counter_t _comms_errors;
+};
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -31,18 +31,67 @@
 *
 ****************************************************************************/

-/*
- * This header defines the events::EventType type.
- */
+#include "iis2mdc.h"
+#include <drivers/device/i2c.h>

-#pragma once
-
-#include <uORB/topics/event.h>
-
-namespace events
+class IIS2MDC_I2C : public device::I2C
 {
-using EventType = event_s;
-} // namespace events
+public:
+	IIS2MDC_I2C(const I2CSPIDriverConfig &config);
+	virtual ~IIS2MDC_I2C() = default;

+	virtual int read(unsigned address, void *data, unsigned count) override;
+	virtual int write(unsigned address, void *data, unsigned count) override;

+protected:
+	virtual int probe();
+};

+IIS2MDC_I2C::IIS2MDC_I2C(const I2CSPIDriverConfig &config) :
+	I2C(config)
+{
+}
+
+int IIS2MDC_I2C::probe()
+{
+	uint8_t data = 0;
+
+	if (read(IIS2MDC_ADDR_WHO_AM_I, &data, 1)) {
+		DEVICE_DEBUG("read_reg fail");
+		return -EIO;
+	}
+
+	if (data != IIS2MDC_WHO_AM_I) {
+		DEVICE_DEBUG("IIS2MDC bad ID: %02x", data);
+		return -EIO;
+	}
+
+	_retries = 1;
+
+	return OK;
+}
+
+int IIS2MDC_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+int IIS2MDC_I2C::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+device::Device *IIS2MDC_I2C_interface(const I2CSPIDriverConfig &config)
+{
+	return new IIS2MDC_I2C(config);
+}
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "iis2mdc.h"
+#include <px4_platform_common/module.h>
+
+I2CSPIDriverBase *IIS2MDC::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
+{
+	device::Device *interface = IIS2MDC_I2C_interface(config);
+
+	if (interface == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (interface->init() != OK) {
+		delete interface;
+		PX4_DEBUG("no device on bus %i (devid 0x%lx)", config.bus, config.spi_devid);
+		return nullptr;
+	}
+
+	IIS2MDC *dev = new IIS2MDC(interface, config);
+
+	if (dev == nullptr) {
+		delete interface;
+		return nullptr;
+	}
+
+	if (OK != dev->init()) {
+		delete dev;
+		return nullptr;
+	}
+
+	return dev;
+}
+
+void IIS2MDC::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("iis2mdc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int iis2mdc_main(int argc, char *argv[])
+{
+	using ThisDriver = IIS2MDC;
+	int ch;
+	BusCLIArguments cli{true, false};
+	cli.i2c_address = 0x1E;
+	cli.default_i2c_frequency = 400000;
+
+	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_IIS2MDC);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}
@@ -87,14 +87,6 @@ void PowerMonitorSelectorAuterion::Run()
 			int ret_val = ina226_probe(i);

 			if (ret_val == PX4_OK) {
-
-				float current_shunt_value = 0.0f;
-				param_get(param_find("INA226_SHUNT"), &current_shunt_value);
-
-				if (fabsf(current_shunt_value - _sensors[i].shunt_value) > FLT_EPSILON) {
-					param_set(param_find("INA226_SHUNT"), &(_sensors[i].shunt_value));
-				}
-
 				char bus_number[4] = {0};
 				itoa(_sensors[i].bus_number, bus_number, 10);
 				const char *start_argv[] {
@@ -734,7 +734,15 @@ void RCInput::Run()
 						}

 						if (_crsf_telemetry) {
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_TX);
+#endif
 							_crsf_telemetry->update(cycle_timestamp);
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							tcflush(_rcs_fd, TCIOFLUSH);
+							tcdrain(_rcs_fd); // Ensure TX FIFO is empty before swapping
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_RX);
+#endif
 						}
 					}
 				}
@@ -787,7 +795,15 @@ void RCInput::Run()
 						}

 						if (_ghst_telemetry) {
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_TX);
+#endif
 							_ghst_telemetry->update(cycle_timestamp);
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							tcflush(_rcs_fd, TCIOFLUSH);
+							tcdrain(_rcs_fd); // Ensure TX FIFO is empty before swapping
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_RX);
+#endif
 						}
 					}
 				}
@@ -34,4 +34,4 @@
 add_subdirectory(bst)
 add_subdirectory(frsky_telemetry)
 add_subdirectory(hott)
-#add_subdirectory(iridiumsbd)
+add_subdirectory(iridiumsbd)
@@ -235,7 +235,7 @@ int IridiumSBD::print_status()
 	PX4_INFO("RX session pending:           %d", _rx_session_pending);
 	PX4_INFO("RX read pending:              %d", _rx_read_pending);
 	PX4_INFO("Time since last signal check: %" PRId64, hrt_absolute_time() - _last_signal_check);
-	PX4_INFO("Last heartbeat:               %" PRId64, _last_heartbeat);
+	PX4_INFO("Last heartbeat:               %" PRId64, _last_at_ok_timestamp);
 	return 0;
 }

@@ -333,6 +333,11 @@ void IridiumSBD::standby_loop(void)
 		}
 	}

+	if (!is_modem_responsive()) {
+		VERBOSE_INFO("MODEM IS NOT RENSPONSIVE");
+		return;
+	}
+
 	// check for incoming SBDRING, handled inside read_at_command()
 	read_at_command();

@@ -477,7 +482,6 @@ void IridiumSBD::sbdsession_loop(void)
 		_ring_pending = false;
 		_tx_session_pending = false;
 		_last_read_time = hrt_absolute_time();
-		_last_heartbeat = _last_read_time;
 		++_successful_sbd_sessions;

 		if (mt_queued > 0) {
@@ -498,8 +502,6 @@ void IridiumSBD::sbdsession_loop(void)

 	case 1:
 		VERBOSE_INFO("SBD SESSION: MO SUCCESS, MT FAIL");
-		_last_heartbeat = hrt_absolute_time();
-
 		// after a successful session reset the tx buffer
 		_tx_buf_write_idx = 0;
 		++_successful_sbd_sessions;
@@ -552,11 +554,6 @@ void IridiumSBD::start_csq(void)

 	_last_signal_check = hrt_absolute_time();

-	if (!is_modem_ready()) {
-		VERBOSE_INFO("UPDATE SIGNAL QUALITY: MODEM NOT READY!");
-		return;
-	}
-
 	write_at("AT+CSQ");
 	_new_state = SATCOM_STATE_CSQ;
 }
@@ -571,11 +568,6 @@ void IridiumSBD::start_sbd_session(void)
 		VERBOSE_INFO("STARTING SBD SESSION");
 	}

-	if (!is_modem_ready()) {
-		VERBOSE_INFO("SBD SESSION: MODEM NOT READY!");
-		return;
-	}
-
 	if (_ring_pending) {
 		write_at("AT+SBDIXA");

@@ -610,8 +602,8 @@ void IridiumSBD::start_test(void)
 		printf("\n");
 	}

-	if (!is_modem_ready()) {
-		PX4_WARN("MODEM NOT READY!");
+	if (!is_modem_responsive()) {
+		PX4_WARN("MODEM NOT RENSPONSIVE!");
 		return;
 	}

@@ -718,11 +710,6 @@ ssize_t IridiumSBD::read(struct file *filp, char *buffer, size_t buflen)

 void IridiumSBD::write_tx_buf()
 {
-	if (!is_modem_ready()) {
-		VERBOSE_INFO("WRITE SBD: MODEM NOT READY!");
-		return;
-	}
-
 	pthread_mutex_lock(&_tx_buf_mutex);

 	char command[13];
@@ -779,11 +766,6 @@ void IridiumSBD::write_tx_buf()

 void IridiumSBD::read_rx_buf(void)
 {
-	if (!is_modem_ready()) {
-		VERBOSE_INFO("READ SBD: MODEM NOT READY!");
-		return;
-	}
-
 	pthread_mutex_lock(&_rx_buf_mutex);


@@ -949,11 +931,12 @@ satcom_uart_status IridiumSBD::open_uart(char *uart_name)
 	return SATCOM_UART_OK;
 }

-bool IridiumSBD::is_modem_ready(void)
+bool IridiumSBD::is_modem_responsive(void)
 {
 	write_at("AT");

 	if (read_at_command() == SATCOM_RESULT_OK) {
+		_last_at_ok_timestamp = hrt_absolute_time();
 		return true;

 	} else {
@@ -980,9 +963,9 @@ void IridiumSBD::publish_iridium_status()
 {
 	bool need_to_publish = false;

-	if (_status.last_heartbeat != _last_heartbeat) {
+	if (_status.last_at_ok_timestamp != _last_at_ok_timestamp) {
 		need_to_publish = true;
-		_status.last_heartbeat = _last_heartbeat;
+		_status.last_at_ok_timestamp = _last_at_ok_timestamp;
 	}

 	if (_status.tx_buf_write_index != _tx_buf_write_idx) {
@@ -245,7 +245,7 @@ private:
 	/*
 	 * Checks if the modem responds to the "AT" command
 	 */
-	bool is_modem_ready(void);
+	bool is_modem_responsive(void);

 	/*
 	 * Get the poll state
@@ -321,7 +321,7 @@ private:

 	hrt_abstime _last_write_time = 0;
 	hrt_abstime _last_read_time = 0;
-	hrt_abstime _last_heartbeat = 0;
+	hrt_abstime _last_at_ok_timestamp = 0;
 	hrt_abstime _session_start_time = 0;

 	satcom_state _state = SATCOM_STATE_STANDBY;
@@ -45,7 +45,7 @@ static uint16_t event_sequence{events::initial_event_sequence};
 namespace events
 {

-void send(EventType &event)
+void send(event_s &event)
 {
 	event.timestamp = hrt_absolute_time();

@@ -47,5 +47,5 @@

 #define EVENTSIOCSEND _EVENTSIOC(1)
 typedef struct eventiocsend {
-	events::EventType &event;
+	event_s &event;
 } eventiocsend_t;
@@ -44,7 +44,7 @@
 namespace events
 {

-void send(EventType &event)
+void send(event_s &event)
 {
 	eventiocsend_t data = {event};
 	boardctl(EVENTSIOCSEND, reinterpret_cast<unsigned long>(&data));
@@ -1109,7 +1109,7 @@ Commander::handle_command(const vehicle_command_s &cmd)

 	case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
 			// if no high latency telemetry exists send a failed acknowledge
-			if (_high_latency_datalink_heartbeat > _boot_timestamp) {
+			if (_high_latency_datalink_timestamp < _boot_timestamp) {
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
 				mavlink_log_critical(&_mavlink_log_pub, "Control high latency failed! Telemetry unavailable\t");
 				events::send(events::ID("commander_ctrl_high_latency_failed"), {events::Log::Critical, events::LogInternal::Info},
@@ -2634,7 +2634,7 @@ int Commander::task_spawn(int argc, char *argv[])
 	_task_id = px4_task_spawn_cmd("commander",
 				      SCHED_DEFAULT,
 				      SCHED_PRIORITY_DEFAULT + 40,
-				      3250,
+				      PX4_STACK_ADJUSTED(3250),
 				      (px4_main_t)&run_trampoline,
 				      (char *const *)argv);

@@ -2672,6 +2672,28 @@ void Commander::enable_hil()

 void Commander::dataLinkCheck()
 {
+	// high latency data link
+	iridiumsbd_status_s iridium_status;
+
+	if (_iridiumsbd_status_sub.update(&iridium_status)) {
+		_high_latency_datalink_timestamp = iridium_status.last_at_ok_timestamp;
+
+		if (_vehicle_status.high_latency_data_link_lost &&
+		    (_high_latency_datalink_timestamp > _high_latency_datalink_lost) &&
+		    (_high_latency_datalink_regained == 0)
+		   ) {
+			_high_latency_datalink_regained = _high_latency_datalink_timestamp;
+		}
+
+		if (_vehicle_status.high_latency_data_link_lost &&
+		    (_high_latency_datalink_regained != 0) &&
+		    (hrt_elapsed_time(&_high_latency_datalink_regained) > (_param_com_hldl_reg_t.get() * 1_s))
+		   ) {
+			_vehicle_status.high_latency_data_link_lost = false;
+			_status_changed = true;
+		}
+	}
+
 	for (auto &telemetry_status :  _telemetry_status_subs) {
 		telemetry_status_s telemetry;

@@ -2685,16 +2707,18 @@ void Commander::dataLinkCheck()
 				break;

 			case telemetry_status_s::LINK_TYPE_IRIDIUM: {
-					iridiumsbd_status_s iridium_status;

-					if (_iridiumsbd_status_sub.update(&iridium_status)) {
-						_high_latency_datalink_heartbeat = iridium_status.last_heartbeat;
+					if ((_high_latency_datalink_timestamp > 0) &&
+					    (hrt_elapsed_time(&_high_latency_datalink_timestamp) > (_param_com_hldl_loss_t.get() * 1_s))) {

-						if (_vehicle_status.high_latency_data_link_lost) {
-							if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_param_com_hldl_reg_t.get() * 1_s)) {
-								_vehicle_status.high_latency_data_link_lost = false;
-								_status_changed = true;
-							}
+						_high_latency_datalink_lost = _high_latency_datalink_timestamp;
+						_high_latency_datalink_regained = 0;
+
+						if (!_vehicle_status.high_latency_data_link_lost) {
+							_vehicle_status.high_latency_data_link_lost = true;
+							mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
+							events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
+							_status_changed = true;
 						}
 					}

@@ -2836,19 +2860,6 @@ void Commander::dataLinkCheck()
 			_vehicle_status.avoidance_system_valid = false;
 		}
 	}
-
-	// high latency data link loss failsafe
-	if (_high_latency_datalink_heartbeat > 0
-	    && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) {
-		_high_latency_datalink_lost = hrt_absolute_time();
-
-		if (!_vehicle_status.high_latency_data_link_lost) {
-			_vehicle_status.high_latency_data_link_lost = true;
-			mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
-			events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
-			_status_changed = true;
-		}
-	}
 }

 void Commander::battery_status_check()
@@ -246,8 +246,9 @@ private:

 	hrt_abstime _last_print_mode_reject_time{0};	///< To remember when last notification was sent

-	hrt_abstime _high_latency_datalink_heartbeat{0};
+	hrt_abstime _high_latency_datalink_timestamp{0};
 	hrt_abstime _high_latency_datalink_lost{0};
+	hrt_abstime _high_latency_datalink_regained{0};

 	hrt_abstime _boot_timestamp{0};
 	hrt_abstime _last_disarmed_timestamp{0};
@@ -284,7 +284,7 @@ bool Report::report(bool is_armed, bool force)

 	// send all events
 	int offset = 0;
-	events::EventType event;
+	event_s event;

 	for (int i = 0; i < max_num_events && offset < _next_buffer_idx; ++i) {
 		EventBufferHeader *header = (EventBufferHeader *)(_event_buffer + offset);
@@ -376,7 +376,7 @@ bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, co
 		      Args... args)
 {
 	constexpr unsigned args_size = events::util::sizeofArguments(modes, args...);
-	static_assert(args_size <= sizeof(events::EventType::arguments), "Too many arguments");
+	static_assert(args_size <= sizeof(event_s::arguments), "Too many arguments");
 	unsigned total_size = sizeof(EventBufferHeader) + args_size;

 	if (total_size > sizeof(_event_buffer) - _next_buffer_idx) {
@@ -99,8 +99,12 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}

+	param_t param_ekf2_en_handle = param_find_no_notification("EKF2_EN");
 	int32_t param_ekf2_en = 0;
-	param_get(param_find_no_notification("EKF2_EN"), &param_ekf2_en);
+
+	if (param_ekf2_en_handle != PARAM_INVALID) {
+		param_get(param_ekf2_en_handle, &param_ekf2_en);
+	}

 	if (missing_data && (param_ekf2_en == 1)) {
 		/* EVENT
@@ -48,13 +48,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report

 			const float accel_inconsistency_m_s_s = imu.accel_inconsistency_m_s_s[i];

-			NavModes required_groups = NavModes::None;
-
 			if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get()) {
-				required_groups = NavModes::All;
-			}
-
-			if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get() * 0.8f) {
 				/* EVENT
 				 * @description
 				 * Check the calibration.
@@ -66,7 +60,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
 				 * This check can be configured via <param>COM_ARM_IMU_ACC</param> parameter.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure<uint8_t, float, float>(required_groups, health_component_t::accel,
+				reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::accel,
 						events::ID("check_imu_accel_inconsistent"),
 						events::Log::Warning, "Accel {1} inconsistent", i, accel_inconsistency_m_s_s, _param_com_arm_imu_acc.get());

@@ -85,13 +79,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report

 			const float gyro_inconsistency_rad_s = imu.gyro_inconsistency_rad_s[i];

-			NavModes required_groups = NavModes::None;
-
 			if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get()) {
-				required_groups = NavModes::All;
-			}
-
-			if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get() * 0.5f) {
 				/* EVENT
 				 * @description
 				 * Check the calibration.
@@ -103,7 +91,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
 				 * This check can be configured via <param>COM_ARM_IMU_GYR</param> parameter.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure<uint8_t, float, float>(required_groups, health_component_t::gyro,
+				reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::gyro,
 						events::ID("check_imu_gyro_inconsistent"),
 						events::Log::Warning, "Gyro {1} inconsistent", i, gyro_inconsistency_rad_s, _param_com_arm_imu_gyr.get());

@@ -58,7 +58,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 		 * @description
 		 * Wait until the estimator initialized
 		 */
-		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::system,
+		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::attitude_estimate,
 					    events::ID("check_modes_attitude"),
 					    events::Log::Critical, "No valid attitude estimate");
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude);
@@ -78,7 +78,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 	if (local_position_modes != NavModes::None) {
 		/* EVENT
 		 */
-		reporter.armingCheckFailure(local_position_modes, health_component_t::system,
+		reporter.armingCheckFailure(local_position_modes, health_component_t::local_position_estimate,
 					    events::ID("check_modes_local_pos"),
 					    events::Log::Error, "No valid local position estimate");
 		reporter.clearCanRunBits(local_position_modes);
@@ -87,7 +87,8 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 	if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) {
 		/* EVENT
 		 */
-		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system,
+		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position,
+					    health_component_t::global_position_estimate,
 					    events::ID("check_modes_global_pos"),
 					    events::Log::Error, "No valid global position estimate");
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);
@@ -116,111 +116,108 @@ endif()
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	EKF/bias_estimator.cpp
 	EKF/control.cpp
 	EKF/covariance.cpp
 	EKF/ekf.cpp
 	EKF/ekf_helper.cpp
 	EKF/estimator_interface.cpp
-	EKF/fake_height_control.cpp
-	EKF/fake_pos_control.cpp
 	EKF/height_control.cpp
-	EKF/imu_down_sampler.cpp
-	EKF/output_predictor.cpp
 	EKF/velocity_fusion.cpp
 	EKF/position_fusion.cpp
 	EKF/yaw_fusion.cpp
-	EKF/zero_innovation_heading_update.cpp

+	EKF/imu_down_sampler/imu_down_sampler.cpp
+
+	EKF/aid_sources/fake_height_control.cpp
+	EKF/aid_sources/fake_pos_control.cpp
 	EKF/aid_sources/ZeroGyroUpdate.cpp
 	EKF/aid_sources/ZeroVelocityUpdate.cpp
+	EKF/aid_sources/zero_innovation_heading_update.cpp
 )

 if(CONFIG_EKF2_AIRSPEED)
-	list(APPEND EKF_SRCS EKF/airspeed_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/airspeed/airspeed_fusion.cpp)
 endif()

 if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-	list(APPEND EKF_SRCS EKF/aux_global_position.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/aux_global_position/aux_global_position.cpp)
 endif()

 if(CONFIG_EKF2_AUXVEL)
-	list(APPEND EKF_SRCS EKF/auxvel_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/auxvel/auxvel_fusion.cpp)
 endif()

 if(CONFIG_EKF2_BAROMETER)
 	list(APPEND EKF_SRCS
-		EKF/baro_height_control.cpp
+		EKF/aid_sources/barometer/baro_height_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_DRAG_FUSION)
-	list(APPEND EKF_SRCS EKF/drag_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/drag/drag_fusion.cpp)
 endif()

 if(CONFIG_EKF2_EXTERNAL_VISION)
 	list(APPEND EKF_SRCS
-		EKF/ev_control.cpp
-		EKF/ev_height_control.cpp
-		EKF/ev_pos_control.cpp
-		EKF/ev_vel_control.cpp
-		EKF/ev_yaw_control.cpp
+		EKF/aid_sources/external_vision/ev_control.cpp
+		EKF/aid_sources/external_vision/ev_height_control.cpp
+		EKF/aid_sources/external_vision/ev_pos_control.cpp
+		EKF/aid_sources/external_vision/ev_vel_control.cpp
+		EKF/aid_sources/external_vision/ev_yaw_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
-		EKF/gnss_height_control.cpp
-		EKF/gps_checks.cpp
-		EKF/gps_control.cpp
+		EKF/aid_sources/gnss/gnss_height_control.cpp
+		EKF/aid_sources/gnss/gps_checks.cpp
+		EKF/aid_sources/gnss/gps_control.cpp
 	)

+	if(CONFIG_EKF2_GNSS_YAW)
+		list(APPEND EKF_SRCS EKF/aid_sources/gnss/gps_yaw_fusion.cpp)
+	endif()
+
 	list(APPEND EKF_LIBS yaw_estimator)
 endif()

-if(CONFIG_EKF2_GNSS_YAW)
-	list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
-endif()
-
 if(CONFIG_EKF2_GRAVITY_FUSION)
-	list(APPEND EKF_SRCS EKF/gravity_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/gravity/gravity_fusion.cpp)
 endif()

 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
-		EKF/mag_3d_control.cpp
-		EKF/mag_control.cpp
-		EKF/mag_fusion.cpp
+		EKF/aid_sources/magnetometer/mag_3d_control.cpp
+		EKF/aid_sources/magnetometer/mag_control.cpp
+		EKF/aid_sources/magnetometer/mag_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_OPTICAL_FLOW)
 	list(APPEND EKF_SRCS
-		EKF/optical_flow_control.cpp
-		EKF/optflow_fusion.cpp
+		EKF/aid_sources/optical_flow/optical_flow_control.cpp
+		EKF/aid_sources/optical_flow/optical_flow_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_RANGE_FINDER)
 	list(APPEND EKF_SRCS
-		EKF/range_finder_consistency_check.cpp
-		EKF/range_height_control.cpp
-		EKF/sensor_range_finder.cpp
+		EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+		EKF/aid_sources/range_finder/range_height_control.cpp
+		EKF/aid_sources/range_finder/sensor_range_finder.cpp
 	)
 endif()

 if(CONFIG_EKF2_SIDESLIP)
-	list(APPEND EKF_SRCS EKF/sideslip_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/sideslip/sideslip_fusion.cpp)
 endif()

 if(CONFIG_EKF2_TERRAIN)
-	list(APPEND EKF_SRCS EKF/terrain_estimator.cpp)
+	list(APPEND EKF_SRCS EKF/terrain_estimator/terrain_estimator.cpp)
 endif()

 add_subdirectory(EKF)

-
-
 px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
@@ -260,7 +257,10 @@ px4_add_module(
 		EKF2Utility
 		px4_work_queue
 		world_magnetic_model
+
 		${EKF_LIBS}
+		bias_estimator
+		output_predictor
 	UNITY_BUILD
 	)

@@ -31,109 +31,111 @@
 #
 ############################################################################

+add_subdirectory(bias_estimator)
+add_subdirectory(output_predictor)
+
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	bias_estimator.cpp
 	control.cpp
 	covariance.cpp
 	ekf.cpp
 	ekf_helper.cpp
 	estimator_interface.cpp
-	fake_height_control.cpp
-	fake_pos_control.cpp
 	height_control.cpp
-	imu_down_sampler.cpp
-	output_predictor.cpp
 	velocity_fusion.cpp
 	position_fusion.cpp
 	yaw_fusion.cpp
-	zero_innovation_heading_update.cpp

+	imu_down_sampler/imu_down_sampler.cpp
+
+	aid_sources/fake_height_control.cpp
+	aid_sources/fake_pos_control.cpp
 	aid_sources/ZeroGyroUpdate.cpp
 	aid_sources/ZeroVelocityUpdate.cpp
+	aid_sources/zero_innovation_heading_update.cpp
 )

 if(CONFIG_EKF2_AIRSPEED)
-	list(APPEND EKF_SRCS airspeed_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/airspeed/airspeed_fusion.cpp)
 endif()

 if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-	list(APPEND EKF_SRCS aux_global_position.cpp)
+	list(APPEND EKF_SRCS aid_sources/aux_global_position/aux_global_position.cpp)
 endif()

 if(CONFIG_EKF2_AUXVEL)
-	list(APPEND EKF_SRCS auxvel_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/auxvel/auxvel_fusion.cpp)
 endif()

 if(CONFIG_EKF2_BAROMETER)
 	list(APPEND EKF_SRCS
-		baro_height_control.cpp
+		aid_sources/barometer/baro_height_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_DRAG_FUSION)
-	list(APPEND EKF_SRCS drag_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/drag/drag_fusion.cpp)
 endif()

 if(CONFIG_EKF2_EXTERNAL_VISION)
 	list(APPEND EKF_SRCS
-		ev_control.cpp
-		ev_height_control.cpp
-		ev_pos_control.cpp
-		ev_vel_control.cpp
-		ev_yaw_control.cpp
+		aid_sources/external_vision/ev_control.cpp
+		aid_sources/external_vision/ev_height_control.cpp
+		aid_sources/external_vision/ev_pos_control.cpp
+		aid_sources/external_vision/ev_vel_control.cpp
+		aid_sources/external_vision/ev_yaw_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
-		gnss_height_control.cpp
-		gps_checks.cpp
-		gps_control.cpp
+		aid_sources/gnss/gnss_height_control.cpp
+		aid_sources/gnss/gps_checks.cpp
+		aid_sources/gnss/gps_control.cpp
 	)

+	if(CONFIG_EKF2_GNSS_YAW)
+		list(APPEND EKF_SRCS aid_sources/gnss/gps_yaw_fusion.cpp)
+	endif()
+
 	add_subdirectory(yaw_estimator)
 	list(APPEND EKF_LIBS yaw_estimator)
 endif()

-if(CONFIG_EKF2_GNSS_YAW)
-	list(APPEND EKF_SRCS gps_yaw_fusion.cpp)
-endif()
-
 if(CONFIG_EKF2_GRAVITY_FUSION)
-	list(APPEND EKF_SRCS gravity_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/gravity/gravity_fusion.cpp)
 endif()

 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
-		mag_3d_control.cpp
-		mag_control.cpp
-		mag_fusion.cpp
+		aid_sources/magnetometer/mag_3d_control.cpp
+		aid_sources/magnetometer/mag_control.cpp
+		aid_sources/magnetometer/mag_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_OPTICAL_FLOW)
 	list(APPEND EKF_SRCS
-		optical_flow_control.cpp
-		optflow_fusion.cpp
+		aid_sources/optical_flow/optical_flow_control.cpp
+		aid_sources/optical_flow/optical_flow_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_RANGE_FINDER)
 	list(APPEND EKF_SRCS
-		range_finder_consistency_check.cpp
-		range_height_control.cpp
-		sensor_range_finder.cpp
+		aid_sources/range_finder/range_finder_consistency_check.cpp
+		aid_sources/range_finder/range_height_control.cpp
+		aid_sources/range_finder/sensor_range_finder.cpp
 	)
 endif()

 if(CONFIG_EKF2_SIDESLIP)
-	list(APPEND EKF_SRCS sideslip_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/sideslip/sideslip_fusion.cpp)
 endif()

 if(CONFIG_EKF2_TERRAIN)
-	list(APPEND EKF_SRCS terrain_estimator.cpp)
+	list(APPEND EKF_SRCS terrain_estimator/terrain_estimator.cpp)
 endif()

 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
@@ -146,7 +148,9 @@ target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PAT

 target_link_libraries(ecl_EKF
 	PRIVATE
+		bias_estimator
 		geo
+		output_predictor
 		world_magnetic_model
 		${EKF_LIBS}
 )
@@ -33,7 +33,7 @@

 #include "ekf.h"

-#include "aux_global_position.hpp"
+#include "aid_sources/aux_global_position/aux_global_position.hpp"

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)

@@ -42,8 +42,8 @@
 //  WelfordMean for init?
 //  WelfordMean for rate

-#include "common.h"
-#include "RingBuffer.h"
+#include "../../common.h"
+#include "../../RingBuffer.h"

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)

@@ -196,3 +196,39 @@ void Ekf::stopBaroHgtFusion()
 		_control_status.flags.baro_hgt = false;
 	}
 }
+
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
+float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
+{
+	if (_control_status.flags.wind && local_position_is_valid()) {
+		// calculate static pressure error = Pmeas - Ptruth
+		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
+		// negative X and Y directions. Used to correct baro data for positional errors
+
+		// Calculate airspeed in body frame
+		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
+		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;
+
+		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
+
+		const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;
+
+		const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth);
+
+		const Vector3f K_pstatic_coef(
+			airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn,
+			airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
+			_params.static_pressure_coef_z);
+
+		const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));
+
+		const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));
+
+		// correct baro measurement using pressure error estimate and assuming sea level gravity
+		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
+	}
+
+	// otherwise return the uncorrected baro measurement
+	return baro_alt_uncompensated;
+}
+#endif // CONFIG_EKF2_BARO_COMPENSATION
@@ -358,7 +358,6 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
 				&& !_gps_intermittent;

 		if (_control_status.flags.gps_yaw) {
-
 			if (continuing_conditions_passing) {

 				fuseGpsYaw(gps_sample.yaw_offset);
@@ -366,27 +365,14 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
 				const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max);

 				if (is_fusion_failing) {
-					if (_nb_gps_yaw_reset_available > 0) {
-						// Data seems good, attempt a reset
-						resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset);
+					stopGpsYawFusion();

-						if (_control_status.flags.in_air) {
-							_nb_gps_yaw_reset_available--;
-						}
-
-					} else if (starting_conditions_passing) {
-						// Data seems good, but previous reset did not fix the issue
-						// something else must be wrong, declare the sensor faulty and stop the fusion
-						_control_status.flags.gps_yaw_fault = true;
-						stopGpsYawFusion();
-
-					} else {
-						// A reset did not fix the issue but all the starting checks are not passing
-						// This could be a temporary issue, stop the fusion without declaring the sensor faulty
-						stopGpsYawFusion();
+					// Before takeoff, we do not want to continue to rely on the current heading
+					// if we had to stop the fusion
+					if (!_control_status.flags.in_air) {
+						ECL_INFO("clearing yaw alignment");
+						_control_status.flags.yaw_align = false;
 					}
-
-					// TODO: should we give a new reset credit when the fusion does not fail for some time?
 				}

 			} else {
@@ -397,14 +383,27 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
 		} else {
 			if (starting_conditions_passing) {
 				// Try to activate GPS yaw fusion
-				if (resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset)) {
-					ECL_INFO("starting GPS yaw fusion");
+				const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;

-					_aid_src_gnss_yaw.time_last_fuse = _time_delayed_us;
+				if (!_control_status.flags.in_air
+				    || !_control_status.flags.yaw_align
+				    || not_using_ne_aiding) {
+
+					// Reset before starting the fusion
+					if (resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset)) {
+						_aid_src_gnss_yaw.time_last_fuse = _time_delayed_us;
+						_control_status.flags.gps_yaw = true;
+						_control_status.flags.yaw_align = true;
+					}
+
+				} else if (!_aid_src_gnss_yaw.innovation_rejected) {
+					// Do not force a reset but wait for the consistency check to pass
 					_control_status.flags.gps_yaw = true;
-					_control_status.flags.yaw_align = true;
+					fuseGpsYaw(gps_sample.yaw_offset);
+				}

-					_nb_gps_yaw_reset_available = 1;
+				if (_control_status.flags.gps_yaw) {
+					ECL_INFO("starting GPS yaw fusion");
 				}
 			}
 		}
@@ -424,15 +423,7 @@ void Ekf::stopGpsYawFusion()
 		_control_status.flags.gps_yaw = false;
 		resetEstimatorAidStatus(_aid_src_gnss_yaw);

-		// Before takeoff, we do not want to continue to rely on the current heading
-		// if we had to stop the fusion
-		if (!_control_status.flags.in_air) {
-			ECL_INFO("stopping GPS yaw fusion, clearing yaw alignment");
-			_control_status.flags.yaw_align = false;
-
-		} else {
-			ECL_INFO("stopping GPS yaw fusion");
-		}
+		ECL_INFO("stopping GPS yaw fusion");
 	}
 }
 #endif // CONFIG_EKF2_GNSS_YAW
@@ -42,7 +42,7 @@
 #ifndef EKF_SENSOR_HPP
 #define EKF_SENSOR_HPP

-#include "common.h"
+#include <cstdint>

 namespace estimator
 {
@@ -35,9 +35,10 @@
 * @file range_finder_consistency_check.cpp
 */

-#include "range_finder_consistency_check.hpp"
+#include <aid_sources/range_finder/range_finder_consistency_check.hpp>

-void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, bool horizontal_motion, uint64_t time_us)
+void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_var, float vz, float vz_var,
+		bool horizontal_motion, uint64_t time_us)
 {
 	if (horizontal_motion) {
 		_time_last_horizontal_motion = time_us;
@@ -55,7 +56,8 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
 	const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt;
 	_innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down

-	const float var = 2.f * dist_bottom_var / (dt * dt); // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
+	// Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
+	const float var = 2.f * dist_bottom_var / (dt * dt);
 	_innov_var = var + vz_var;

 	const float normalized_innov_sq = (_innov * _innov) / _innov_var;
@@ -84,8 +86,9 @@ void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
 		}

 	} else {
-		if (_test_ratio < 1.f
-		   && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) {
+		if ((_test_ratio < 1.f)
+		    && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)
+		   ) {
 			_is_kinematically_consistent = true;
 		}
 	}
@@ -64,13 +64,14 @@ void Ekf::controlRangeHeightFusion()

 			if (_control_status.flags.in_air) {
 				const bool horizontal_motion = _control_status.flags.fixed_wing
-								|| (sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f));
+							       || (sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f));

 				const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom());
 				const float var = sq(_params.range_noise) + dist_dependant_var;

 				_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);
+				_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);
 			}

 		} else {
@@ -121,13 +122,15 @@ void Ekf::controlRangeHeightFusion()
 		}

 		// determine if we should use height aiding
-		const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)) && isConditionalRangeAidSuitable();
+		const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
+						      && isConditionalRangeAidSuitable();
+
 		const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED)) || do_conditional_range_aid)
 				&& measurement_valid
 				&& _range_sensor.isDataHealthy();

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

 		if (_control_status.flags.rng_hgt) {
@@ -165,13 +168,17 @@ void Ekf::controlRangeHeightFusion()

 		} else {
 			if (starting_conditions_passing) {
-				if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))) {
+				if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE))
+				    && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
+				   ) {
 					// Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference.
 					ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME);
 					_height_sensor_ref = HeightSensor::RANGE;
 					bias_est.setBias(_state.pos(2) + measurement);

-				} else if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl != static_cast<int32_t>(RngCtrl::CONDITIONAL))) {
+				} else if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE))
+					   && (_params.rng_ctrl != static_cast<int32_t>(RngCtrl::CONDITIONAL))
+					  ) {
 					// Range finder is the primary height source, the ground is now the datum used
 					// to compute the local vertical position
 					ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME);
@@ -193,7 +200,7 @@ void Ekf::controlRangeHeightFusion()
 		}

 	} else if (_control_status.flags.rng_hgt
-		   && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * RNG_MAX_INTERVAL)) {
+		   && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)) {
 		// No data anymore. Stop until it comes back.
 		ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME);
 		stopRngHgtFusion();
@@ -203,6 +210,7 @@ void Ekf::controlRangeHeightFusion()
 bool Ekf::isConditionalRangeAidSuitable()
 {
 #if defined(CONFIG_EKF2_TERRAIN)
+
 	if (_control_status.flags.in_air
 	    && _range_sensor.isHealthy()
 	    && isTerrainEstimateValid()) {
@@ -236,6 +244,7 @@ bool Ekf::isConditionalRangeAidSuitable()

 		return is_in_range && is_hagl_stable && is_below_max_speed;
 	}
+
 #endif // CONFIG_EKF2_TERRAIN

 	return false;
@@ -38,20 +38,22 @@
 *
 */

-#include "sensor_range_finder.hpp"
+#include <aid_sources/range_finder/sensor_range_finder.hpp>
+
+#include <lib/matrix/matrix/math.hpp>

 namespace estimator
 {
 namespace sensor
 {

-void SensorRangeFinder::runChecks(const uint64_t current_time_us, const Dcmf &R_to_earth)
+void SensorRangeFinder::runChecks(const uint64_t current_time_us, const matrix::Dcmf &R_to_earth)
 {
 	updateSensorToEarthRotation(R_to_earth);
 	updateValidity(current_time_us);
 }

-void SensorRangeFinder::updateSensorToEarthRotation(const Dcmf &R_to_earth)
+void SensorRangeFinder::updateSensorToEarthRotation(const matrix::Dcmf &R_to_earth)
 {
 	// calculate 2,2 element of rotation matrix from sensor frame to earth frame
 	// this is required for use of range finder and flow data
@@ -114,7 +116,7 @@ inline bool SensorRangeFinder::isDataInRange() const

 void SensorRangeFinder::updateStuckCheck()
 {
-	if(!isStuckDetectorEnabled()){
+	if (!isStuckDetectorEnabled()) {
 		// Stuck detector disabled
 		_is_stuck = false;
 		return;
@@ -42,6 +42,7 @@
 #define EKF_SENSOR_RANGE_FINDER_HPP

 #include "Sensor.hpp"
+
 #include <matrix/math.hpp>

 namespace estimator
@@ -49,6 +50,14 @@ namespace estimator
 namespace sensor
 {

+struct rangeSample {
+	uint64_t    time_us{};  ///< timestamp of the measurement (uSec)
+	float       rng{};      ///< range (distance to ground) measurement (m)
+	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)
+
 class SensorRangeFinder : public Sensor
 {
 public:
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_library(bias_estimator
+	bias_estimator.cpp
+	bias_estimator.hpp
+	height_bias_estimator.hpp
+	position_bias_estimator.hpp
+)
+
+add_dependencies(bias_estimator prebuild_targets)
@@ -39,7 +39,7 @@
 #define EKF_HEIGHT_BIAS_ESTIMATOR_HPP

 #include "bias_estimator.hpp"
-#include "common.h"
+#include "../common.h"

 class HeightBiasEstimator: public BiasEstimator
 {
@@ -39,7 +39,6 @@
 #define EKF_POSITION_BIAS_ESTIMATOR_HPP

 #include "bias_estimator.hpp"
-#include "common.h"

 class PositionBiasEstimator
 {
@@ -70,7 +70,6 @@ static constexpr uint64_t BARO_MAX_INTERVAL     = 200e3;  ///< Maximum allowable
 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 RNG_MAX_INTERVAL      = 200e3;  ///< Maximum allowable time interval between range finder measurements (uSec)
 static constexpr uint64_t MAG_MAX_INTERVAL      = 500e3;  ///< Maximum allowable time interval between magnetic field measurements (uSec)

 // bad accelerometer detection and mitigation
@@ -197,12 +196,6 @@ struct baroSample {
 	bool        reset{false};
 };

-struct rangeSample {
-	uint64_t    time_us{};  ///< timestamp of the measurement (uSec)
-	float       rng{};      ///< range (distance to ground) measurement (m)
-	int8_t      quality{};  ///< Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
-};
-
 struct airspeedSample {
 	uint64_t    time_us{};          ///< timestamp of the measurement (uSec)
 	float       true_airspeed{};    ///< true airspeed measurement (m/sec)
@@ -282,6 +282,25 @@ void Ekf::resetQuatCov(const Vector3f &rot_var_ned)
 	P.uncorrelateCovarianceSetVariance<State::quat_nominal.dof>(State::quat_nominal.idx, rot_var_ned);
 }

+void Ekf::resetGyroBiasCov()
+{
+	// Zero the corresponding covariances and set
+	// variances to the values use for initial alignment
+	P.uncorrelateCovarianceSetVariance<State::gyro_bias.dof>(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias));
+}
+
+void Ekf::resetGyroBiasZCov()
+{
+	P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, sq(_params.switch_on_gyro_bias));
+}
+
+void Ekf::resetAccelBiasCov()
+{
+	// Zero the corresponding covariances and set
+	// variances to the values use for initial alignment
+	P.uncorrelateCovarianceSetVariance<State::accel_bias.dof>(State::accel_bias.idx, sq(_params.switch_on_accel_bias));
+}
+
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 void Ekf::resetMagCov()
 {
@@ -295,7 +314,10 @@ void Ekf::resetMagCov()
 }
 #endif // CONFIG_EKF2_MAGNETOMETER

-void Ekf::resetGyroBiasZCov()
+#if defined(CONFIG_EKF2_WIND)
+void Ekf::resetWindCov()
 {
-	P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, sq(_params.switch_on_gyro_bias));
+	// start with a small initial uncertainty to improve the initial estimate
+	P.uncorrelateCovarianceSetVariance<State::wind_vel.dof>(State::wind_vel.idx, sq(_params.initial_wind_uncertainty));
 }
+#endif // CONFIG_EKF2_WIND
@@ -49,9 +49,9 @@
 # include "yaw_estimator/EKFGSF_yaw.h"
 #endif // CONFIG_EKF2_GNSS

-#include "bias_estimator.hpp"
-#include "height_bias_estimator.hpp"
-#include "position_bias_estimator.hpp"
+#include "bias_estimator/bias_estimator.hpp"
+#include "bias_estimator/height_bias_estimator.hpp"
+#include "bias_estimator/position_bias_estimator.hpp"

 #include <ekf_derivation/generated/state.h>

@@ -63,7 +63,7 @@
 #include "aid_sources/ZeroVelocityUpdate.hpp"

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-# include "aux_global_position.hpp"
+# include "aid_sources/aux_global_position/aux_global_position.hpp"
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION

 enum class Likelihood { LOW, MEDIUM, HIGH };
@@ -265,12 +265,13 @@ public:
 	// get the 1-sigma horizontal and vertical velocity uncertainty
 	void get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const;

-	// get the vehicle control limits required by the estimator to keep within sensor limitations
+	// Returns the following vehicle control limits required by the estimator to keep within sensor limitations.
+	//  vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed.
+	//  vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed.
+	//  hagl_min : Minimum height above ground (meters). NaN when limiting is not needed.
+	// hagl_max : Maximum height above ground (meters). NaN when limiting is not needed.
 	void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const;

-	// Reset all IMU bias states and covariances to initial alignment values.
-	void resetImuBias();
-
 	void resetGyroBias();
 	void resetGyroBiasCov();

@@ -390,7 +391,7 @@ public:
 	void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
 					float &hagl, float &beta) const;

-	// return a bitmask integer that describes which state estimates can be used for flight control
+	// return a bitmask integer that describes which state estimates are valid
 	void get_ekf_soln_status(uint16_t *status) const;

 	HeightSensor getHeightSensorRef() const { return _height_sensor_ref; }
@@ -672,7 +673,6 @@ private:

 # if defined(CONFIG_EKF2_GNSS_YAW)
 	estimator_aid_source1d_s _aid_src_gnss_yaw{};
-	uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source
 # endif // CONFIG_EKF2_GNSS_YAW
 #endif // CONFIG_EKF2_GNSS

@@ -948,10 +948,6 @@ private:
 	// and a scalar innovation value
 	void fuse(const VectorState &K, float innovation);

-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
-	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
-#endif // CONFIG_EKF2_BARO_COMPENSATION
-
 	// calculate the earth rotation vector from a given latitude
 	Vector3f calcEarthRateNED(float lat_rad) const;

@@ -1080,6 +1076,11 @@ private:
 	void stopBaroHgtFusion();

 	void updateGroundEffect();
+
+# if defined(CONFIG_EKF2_BARO_COMPENSATION)
+	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
+# endif // CONFIG_EKF2_BARO_COMPENSATION
+
 #endif // CONFIG_EKF2_BAROMETER

 #if defined(CONFIG_EKF2_GRAVITY_FUSION)
@@ -56,43 +56,6 @@ bool Ekf::isHeightResetRequired() const
 	return (continuous_bad_accel_hgt || hgt_fusion_timeout);
 }

-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
-float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
-{
-	if (_control_status.flags.wind && local_position_is_valid()) {
-		// calculate static pressure error = Pmeas - Ptruth
-		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
-		// negative X and Y directions. Used to correct baro data for positional errors
-
-		// Calculate airspeed in body frame
-		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
-		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;
-
-		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
-
-		const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;
-
-		const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth);
-
-		const Vector3f K_pstatic_coef(
-			airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn,
-			airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
-			_params.static_pressure_coef_z);
-
-		const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));
-
-		const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));
-
-		// correct baro measurement using pressure error estimate and assuming sea level gravity
-		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
-	}
-
-	// otherwise return the uncorrected baro measurement
-	return baro_alt_uncompensated;
-}
-#endif // CONFIG_EKF2_BARO_COMPENSATION
-
-// calculate the earth rotation vector
 Vector3f Ekf::calcEarthRateNED(float lat_rad) const
 {
 	return Vector3f(CONSTANTS_EARTH_SPIN_RATE * cosf(lat_rad),
@@ -235,7 +198,6 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
 	*ekf_epv = sqrtf(P(State::pos.idx + 2, State::pos.idx + 2));
 }

-// get the 1-sigma horizontal and vertical velocity uncertainty
 void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
 {
 	float hvel_err = sqrtf(P.trace<2>(State::vel.idx));
@@ -276,13 +238,6 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
 	*ekf_evv = sqrtf(P(State::vel.idx + 2, State::vel.idx + 2));
 }

-/*
-Returns the following vehicle control limits required by the estimator to keep within sensor limitations.
-vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed.
-vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed.
-hagl_min : Minimum height above ground (meters). NaN when limiting is not needed.
-hagl_max : Maximum height above ground (meters). NaN when limiting is not needed.
-*/
 void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const
 {
 	// Do not require limiting by default
@@ -330,12 +285,6 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 #endif // CONFIG_EKF2_RANGE_FINDER
 }

-void Ekf::resetImuBias()
-{
-	resetGyroBias();
-	resetAccelBias();
-}
-
 void Ekf::resetGyroBias()
 {
 	// Zero the gyro bias states
@@ -344,13 +293,6 @@ void Ekf::resetGyroBias()
 	resetGyroBiasCov();
 }

-void Ekf::resetGyroBiasCov()
-{
-	// Zero the corresponding covariances and set
-	// variances to the values use for initial alignment
-	P.uncorrelateCovarianceSetVariance<State::gyro_bias.dof>(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias));
-}
-
 void Ekf::resetAccelBias()
 {
 	// Zero the accel bias states
@@ -359,18 +301,6 @@ void Ekf::resetAccelBias()
 	resetAccelBiasCov();
 }

-void Ekf::resetAccelBiasCov()
-{
-	// Zero the corresponding covariances and set
-	// variances to the values use for initial alignment
-	P.uncorrelateCovarianceSetVariance<State::accel_bias.dof>(State::accel_bias.idx, sq(_params.switch_on_accel_bias));
-}
-
-// get EKF innovation consistency check status information comprising of:
-// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
-// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
-// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
-// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
 void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
 				     float &hagl, float &beta) const
 {
@@ -498,7 +428,6 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
 #endif // CONFIG_EKF2_SIDESLIP
 }

-// return a bitmask integer that describes which state estimates are valid
 void Ekf::get_ekf_soln_status(uint16_t *status) const
 {
 	ekf_solution_status_u soln_status{};
@@ -694,53 +623,6 @@ void Ekf::updateGroundEffect()
 }
 #endif // CONFIG_EKF2_BAROMETER

-void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
-{
-	// save a copy of the quaternion state for later use in calculating the amount of reset change
-	const Quatf quat_before_reset = _state.quat_nominal;
-
-	// update the yaw angle variance
-	if (PX4_ISFINITE(yaw_variance) && (yaw_variance > FLT_EPSILON)) {
-		P.uncorrelateCovarianceSetVariance<1>(2, yaw_variance);
-	}
-
-	// update transformation matrix from body to world frame using the current estimate
-	// update the rotation matrix using the new yaw value
-	_R_to_earth = updateYawInRotMat(yaw, Dcmf(_state.quat_nominal));
-
-	// calculate the amount that the quaternion has changed by
-	const Quatf quat_after_reset(_R_to_earth);
-	const Quatf q_error((quat_after_reset * quat_before_reset.inversed()).normalized());
-
-	// update quaternion states
-	_state.quat_nominal = quat_after_reset;
-
-	// add the reset amount to the output observer buffered data
-	_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
-	if (_state_reset_status.reset_count.quat == _state_reset_count_prev.quat) {
-		_state_reset_status.quat_change = q_error;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.quat_change = q_error * _state_reset_status.quat_change;
-		_state_reset_status.quat_change.normalize();
-	}
-
-	_state_reset_status.reset_count.quat++;
-
-	_time_last_heading_fuse = _time_delayed_us;
-}
-
 #if defined(CONFIG_EKF2_WIND)
 void Ekf::resetWind()
 {
@@ -764,11 +646,6 @@ void Ekf::resetWindToZero()
 	resetWindCov();
 }

-void Ekf::resetWindCov()
-{
-	// start with a small initial uncertainty to improve the initial estimate
-	P.uncorrelateCovarianceSetVariance<State::wind_vel.dof>(State::wind_vel.idx, sq(_params.initial_wind_uncertainty));
-}
 #endif // CONFIG_EKF2_WIND

 void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
@@ -266,7 +266,7 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
 #endif // CONFIG_EKF2_AIRSPEED

 #if defined(CONFIG_EKF2_RANGE_FINDER)
-void EstimatorInterface::setRangeData(const rangeSample &range_sample)
+void EstimatorInterface::setRangeData(const sensor::rangeSample &range_sample)
 {
 	if (!_initialised) {
 		return;
@@ -274,7 +274,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)

 	// Allocate the required buffer size if not previously done
 	if (_range_buffer == nullptr) {
-		_range_buffer = new RingBuffer<rangeSample>(_obs_buffer_length);
+		_range_buffer = new RingBuffer<sensor::rangeSample>(_obs_buffer_length);

 		if (_range_buffer == nullptr || !_range_buffer->valid()) {
 			delete _range_buffer;
@@ -291,7 +291,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)
 	// limit data rate to prevent data being lost
 	if (time_us >= static_cast<int64_t>(_range_buffer->get_newest().time_us + _min_obs_interval_us)) {

-		rangeSample range_sample_new{range_sample};
+		sensor::rangeSample range_sample_new{range_sample};
 		range_sample_new.time_us = time_us;

 		_range_buffer->push(range_sample_new);
@@ -63,12 +63,12 @@

 #include "common.h"
 #include "RingBuffer.h"
-#include "imu_down_sampler.hpp"
-#include "output_predictor.h"
+#include "imu_down_sampler/imu_down_sampler.hpp"
+#include "output_predictor/output_predictor.h"

 #if defined(CONFIG_EKF2_RANGE_FINDER)
-# include "range_finder_consistency_check.hpp"
-# include "sensor_range_finder.hpp"
+# include "aid_sources/range_finder/range_finder_consistency_check.hpp"
+# include "aid_sources/range_finder/sensor_range_finder.hpp"
 #endif // CONFIG_EKF2_RANGE_FINDER

 #include <lib/atmosphere/atmosphere.h>
@@ -107,7 +107,7 @@ public:
 #endif // CONFIG_EKF2_AIRSPEED

 #if defined(CONFIG_EKF2_RANGE_FINDER)
-	void setRangeData(const rangeSample &range_sample);
+	void setRangeData(const estimator::sensor::rangeSample &range_sample);

 	// set sensor limitations reported by the rangefinder
 	void set_rangefinder_limits(float min_distance, float max_distance)
@@ -115,7 +115,7 @@ public:
 		_range_sensor.setLimits(min_distance, max_distance);
 	}

-	const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
+	const estimator::sensor::rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
 #endif // CONFIG_EKF2_RANGE_FINDER

 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
@@ -356,7 +356,7 @@ protected:
 #endif // CONFIG_EKF2_EXTERNAL_VISION

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

 	sensor::SensorRangeFinder _range_sensor{};
@@ -1,4 +1,4 @@
-#include "imu_down_sampler.hpp"
+#include "imu_down_sampler/imu_down_sampler.hpp"

 #include <lib/mathlib/mathlib.h>

@@ -41,7 +41,7 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>

-#include "common.h"
+#include "../common.h"

 using namespace estimator;

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_library(output_predictor
+	output_predictor.cpp
+	output_predictor.h
+)
+
+add_dependencies(output_predictor prebuild_targets)
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2022 PX4. All rights reserved.
+ *   Copyright (c) 2022-2024 PX4. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2022 PX4. All rights reserved.
+ *   Copyright (c) 2022-2024 PX4. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -36,8 +36,7 @@

 #include <matrix/math.hpp>

-#include "common.h"
-#include "RingBuffer.h"
+#include "../RingBuffer.h"

 #include <lib/geo/geo.h>

@@ -37,7 +37,12 @@ import symforce
 symforce.set_epsilon_to_symbol()

 import symforce.symbolic as sf
-from utils.derivation_utils import *
+
+# generate_px4_function from derivation_utils in EKF/ekf_derivation/utils
+import os, sys
+derivation_utils_dir = os.path.dirname(os.path.abspath(__file__)) + "/../../python/ekf_derivation/utils"
+sys.path.append(derivation_utils_dir)
+import derivation_utils

 def predict_opt_flow(
        terrain_vpos: sf.Scalar,
@@ -49,7 +54,7 @@ def predict_opt_flow(
    R_to_earth = sf.Rot3(sf.Quaternion(xyz=q_att[1:4], w=q_att[0])).to_rotation_matrix()
    flow_pred = sf.V2()
    dist = - (pos_z - terrain_vpos)
-    dist = add_epsilon_sign(dist, dist, epsilon)
+    dist = derivation_utils.add_epsilon_sign(dist, dist, epsilon)
    flow_pred[0] = -v[1] / dist * R_to_earth[2, 2]
    flow_pred[1] = v[0] / dist * R_to_earth[2, 2]
    return flow_pred
@@ -90,5 +95,5 @@ def terr_est_compute_flow_y_innov_var_and_h(
    return (innov_var, Hy[0, 0])

 print("Derive terrain estimator equations...")
-generate_px4_function(terr_est_compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"])
-generate_px4_function(terr_est_compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"])
+derivation_utils.generate_px4_function(terr_est_compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"])
+derivation_utils.generate_px4_function(terr_est_compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"])
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Peter van der Perk	7bbc73b390	Update NuttX (Testing Needs merge it first)	2024-05-04 21:47:55 +02:00
Peter van der Perk	beccd10f66	rc_input: Add SINGLEWIRE_MANUAL_DUPLEX for manually changing TXDIR Fixes telemetry on fmu-v6xrt	2024-05-04 21:47:35 +02:00
Beat Küng	9e6dcb1f60	fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset Regression from https://github.com/PX4/PX4-Autopilot/pull/23043 Also avoids a race condition by making sure the command ack is handled before sending out the mavlink message (in case an external component reacts immediately to the mavlink message).	2024-05-03 06:59:55 +02:00
Alex Klimaj	36ea872e72	drivers: adis16507 reschedule reset after failed self test	2024-05-02 17:52:26 -04:00
Daniel Agar	224d6f2fa7	ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition)	2024-05-02 17:40:58 -04:00
Daniel Agar	c1fc893cca	ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	63c2ea33c1	ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	1ca4056b6a	ekf2: delete unused Ekf::resetImuBias()	2024-05-02 17:40:58 -04:00
Daniel Agar	6b3b66619b	ekf2: move baro dynamic pressure compensation to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	4f0eb72fc9	ekf2: move IMU down sampler to imu_down_sampler/	2024-05-02 17:40:58 -04:00
Daniel Agar	58637d3825	ekf2: move terrain estimator and derivation to terrain_estimator/	2024-05-02 17:40:58 -04:00
Daniel Agar	58de8cbb77	ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/	2024-05-02 17:40:58 -04:00
Daniel Agar	49c782bad9	ekf2: move bias estimators to bias_estimtor/	2024-05-02 17:40:58 -04:00
Daniel Agar	e262fde4dc	ekf2: move aux global position fusion to aid_sources/aux_global_position	2024-05-02 17:40:58 -04:00
Daniel Agar	b8d46e60a5	ekf2: move mag fusion to aid_sources/magnetometer	2024-05-02 17:40:58 -04:00
Daniel Agar	3f6c3e0649	ekf2: move output predictor to output_predictor/	2024-05-02 17:40:58 -04:00
Daniel Agar	24fdd696cb	ekf2: move range finder files to aid_sources/range_finder	2024-05-02 17:40:58 -04:00
Daniel Agar	3dbd3f8a1a	ekf2: move airspeed fusion file to aid_sources/airspeed	2024-05-02 17:40:58 -04:00
Daniel Agar	789b2b3d8a	ekf2: move sideslip fusion file to aid_sources/sideslip	2024-05-02 17:40:58 -04:00
Daniel Agar	eb8ee74066	ekf2: move baro height file to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	de178b1435	ekf2: move gravity fusion file to aid_sources/gravity	2024-05-02 17:40:58 -04:00
Daniel Agar	78f2ccbb60	ekf2: move optical flow files to aid_sources/optical_flow	2024-05-02 17:40:58 -04:00
Daniel Agar	fcf94e7670	ekf2: move GNSS files to aid_sources/gnss	2024-05-02 17:40:58 -04:00
Daniel Agar	31ae5b77fe	ekf2: move drag_fusion file to aid_sources/drag	2024-05-02 17:40:58 -04:00
Daniel Agar	c3fb0b1090	ekf2: move auxvel file to aid_sources/auxvel	2024-05-02 17:40:58 -04:00
Daniel Agar	b5d1e87368	ekf2: move EV files to aid_sources/external_vision	2024-05-02 17:40:58 -04:00
Peter van der Perk	f382e585e8	sd_bench: Add U option for forcing byte aligned Co-authored-by: David Sidrane <david.sidrane@nscdg.com>	2024-05-02 12:33:25 -04:00
Daniel Agar	c64104e9f1	sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) - this warning was to catch any potential errors in sensor selection relative to what's actually available, we don't need to complain about initial selection before the EKF selector is available	2024-05-02 11:53:31 -04:00
David Sidrane	c13e3bae12	px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight	2024-05-01 20:45:42 -04:00
David Sidrane	a3e1dcce4b	NuttX with imxrt_sd-preflight backport	2024-05-01 20:45:42 -04:00
Daniel Agar	33234f4dc0	drivers/ins/vectornav: add missing sensor_gps velocity magnitude	2024-05-01 20:40:28 -04:00
Julian Oes	e79993a316	gps: split enum after rebase Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-01 14:42:58 -04:00
alexklimaj	b308c4fbcc	boards: ark rtk gps safety led open drain	2024-05-01 14:42:58 -04:00
alexklimaj	c90ccabbe0	gps: add ZED-F9P-15B	2024-05-01 14:42:58 -04:00
alexklimaj	2498ce6a5c	boards: add iis2mdc mag to ark pi6x	2024-04-30 21:26:42 -04:00
alexklimaj	67b39314bf	boards: update ark_pi6x EKF delays	2024-04-30 21:26:42 -04:00
Daniel Agar	b6da0b141d	ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure	2024-04-29 21:04:21 -04:00
Beat Küng	547209e1dc	libevents: update submodule And remove obsolete libevents_definitions.h	2024-04-29 07:22:40 -07:00
bresch	9dc7719d4a	ekf2: Only reset to GNSS heading if necessary When North-East (e.g.: GNSS pos/vel) aiding is active, the heading estimate is constrained and consistent with the vel/pos aiding. Reset to GNSS heading should only occur if no N-E aiding is active or if the filter is not yes aligned. Otherwise, just wait for the consistency check to pass again (will pass at some point if the heading uncertainty of the filter is getting too high).	2024-04-29 07:22:01 -07:00
Jukka Laitinen	6435e25929	commander: Use PX4_STACK_ADJUSTED to increase stack for 64-bit targets Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2024-04-29 08:11:54 +02:00
Hamish Willee	902712b97f	LogMessage.msg - expand out descriptive string (#23054 )	2024-04-29 14:02:09 +12:00
Peter van der Perk	500332e424	imxrt: flexpwm remove 1:1 mapping requirement	2024-04-27 07:57:32 -04:00
Silvan Fuhrer	34cb69898e	FW Position Controller: fix Altitude mode without valid z reference (e.g. no GPS) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-26 10:44:40 +02:00
oravla5	f91103af6e	boards: removed CONFIG_SYSTEMCMDS_REFLECT from Sky-Drones AIRLink board support	2024-04-26 09:42:06 +02:00
oravla5	9d6ac0b87a	mavlink: Added MAV_{i}_HL_FREQ parameter	2024-04-26 09:42:06 +02:00
oravla5	2b2e1c9521	mavlink: Added parsing of CLI option to configure HL frequency	2024-04-26 09:42:06 +02:00
oravla5	e7b4c5903f	px4_cli: Added px4_get_parameter_value function overload for float type	2024-04-26 09:42:06 +02:00
bresch	7cefc3172a	estimatorCheck: get param only if handle is valid	2024-04-25 14:48:23 -04:00
murata,katsutoshi	ba448fb549	MC Auto: add fixed yaw mode	2024-04-25 13:53:05 +02:00
oravla5	98b23e41f7	mavlink: fixed compilation error after var renaming	2024-04-25 08:23:32 +02:00
oravla5	283ae60a15	telemetry: removed iridium driver	2024-04-25 08:23:32 +02:00
oravla5	3cb48feb61	high_latency_stream: minor PR fix	2024-04-25 08:23:32 +02:00
oravla5	bf1266af11	mavlink: added back gimbal v1 protocol command	2024-04-25 08:23:32 +02:00
oravla5	03652beef8	commander: fixed format	2024-04-25 08:23:32 +02:00
oravla5	d0e7f2c368	high_latency_stream: heading taken from vehicle_attitude topic	2024-04-25 08:23:32 +02:00
Igor Mišić	d0532f45b2	telemetry: enable iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	61ca65d863	mavlink: use high_latency_data_link_lost as backup to normal data_link	2024-04-25 08:23:32 +02:00
Igor Mišić	4f8de500af	iridiumsbd: update logic for detecting if the modem is not responsive	2024-04-25 08:23:32 +02:00
Igor Mišić	5be0adc779	mavlink: don't send command ACK for internal commands over Iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	29af189cd0	mavlink: don't send events over Iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	208909d471	mavlink: use high_latency_data_link_lost as backup to normal data_link	2024-04-25 08:23:32 +02:00
Igor Mišić	de23c10b68	commander: improve handling high latency link lost/regain	2024-04-25 08:23:32 +02:00
Igor Mišić	d3b853a7f9	mavlink: fix handling of transmission enable/disable Co-authored-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Igor Mišić	760bcdec2f	high_latency_stream: fixed bug where fields were not updating - topic update was checked twice in the same loop and thus the second time the topic would never indicate to have updated Co-authored-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Igor Mišić	df2cc4af05	commander: fix check for availability of high latency link Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Beat Küng	f543951e10	commander: set correct health component when reporting errors	2024-04-24 16:06:32 -04:00
Jacob Dahl	69e082c83d	drivers/magnetometer: new ST IIS2MDC Magnetometer driver	2024-04-24 13:01:18 -07:00
dirksavage88	6a3e57d428	Shift vertical orientation above scaling yaw operation, cp angle sign change Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-04-24 15:58:12 -04:00
dirksavage88	0f6f4c5b07	fix to orientation offsets for scaled yaw, removed unused param Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-04-24 15:58:12 -04:00
Thomas Frans	65c7e034dc	VSCode: add EditorConfig extension to recommended and devcontainer.json	2024-04-24 15:52:23 -04:00
Daniel Agar	eb59bb9de9	simulation/gz_bridge: eliminate implicit float conversion	2024-04-24 15:51:30 -04:00
bresch	b508df39a2	imu consistency: don't scale param threshold	2024-04-24 15:51:07 -04:00
bresch	8bf1cf0b15	ekf2_params: reduce "short" description	2024-04-24 15:09:57 -04:00
Silvan Fuhrer	97191bd60f	autopilot_tester: for mission end timeout check take speed factor into account And increase the (simulation time) timeouts. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
Silvan Fuhrer	818e318334	autopilot_tester: reduce mission distance for wind world Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
Silvan Fuhrer	59232c27ae	autopilot_tester: use normal VTOL mission for airspeed blockage test Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
fury1895	2683128205	PM Selector Auterion: remove INA226_SHUNT value reset (skynode only)	2024-04-23 16:02:35 +02:00