cmake: move FindPythonInterp->FindPython

- cmake CMP0148 FindPythonInterp deprecated
ci: publish pr images to registry
2026-05-27 15:40:05 +08:00 · 2024-11-22 21:57:53 -05:00 · 2024-11-22 16:08:12 -05:00 · 2024-11-22 16:08:12 -05:00 · 2024-11-22 16:08:12 -05:00 · 2024-11-22 16:05:58 -05:00
70 changed files with 1793 additions and 1239 deletions
@@ -25,6 +25,12 @@ jobs:
          submodules: false
          fetch-depth: 0

+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
@@ -38,12 +44,14 @@ jobs:
        with:
          images: |
            ghcr.io/PX4/px4-dev
+            px4io/px4-dev
          tags: |
            type=schedule
            type=semver,pattern={{version}}
            type=semver,pattern={{major}}.{{minor}}
            type=semver,pattern={{major}}
-            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}}
+            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
+            type=ref,event=branch,suffix=,priority=500
            type=ref,event=pr
            type=sha

@@ -82,7 +90,6 @@ jobs:

      - name: Push container image
        uses: docker/build-push-action@v6
-        if: ${{ github.event_name == 'push' }}
        with:
          context: Tools/setup
          tags: ${{ steps.meta.outputs.tags }}
@@ -10,8 +10,8 @@ on:

 jobs:
  analyze_flash:
-    name: FLASH usage analysis
-    runs-on: ubuntu-latest
+    name: Analyzing ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-nuttx-focal
    strategy:
@@ -29,7 +29,7 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      - name: Build
+      - name: Build Target
        run: make ${{ matrix.target }}

      - name: Store the ELF with the change
@@ -73,36 +73,46 @@ jobs:
          echo "$EOF" >> $GITHUB_OUTPUT

  post_pr_comment:
-    name: Post PR comment
-    runs-on: ubuntu-latest
+    name: Publish Results
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [analyze_flash]
+    if: ${{ github.event.pull_request }}
    steps:
-      - name: If it's a PR add a comment with the bloaty output
-        if: ${{ github.event.pull_request }}
-        uses: actions/github-script@v6
+      - name: Find Comment
+        uses: peter-evans/find-comment@v3
+        id: fc
        with:
-          script: |
-            const comment = [
-               '## FLASH Analysis',
-               '<details>',
-               '<summary>px4_fmu-v5x</summary>',
-               '',
-               '```',
-               `${{ needs.analyze_flash.outputs.px4_fmu-v5x }}`,
-               '```',
-               '</details>',
-               '',
-               '<details>',
-               '<summary>px4_fmu-v6x</summary>',
-               '',
-               '```',
-               `${{ needs.analyze_flash.outputs.px4_fmu-v6x }}`,
-               '```',
-               '</details>'
-            ]
-            github.rest.issues.createComment({
-              issue_number: context.issue.number,
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              body: comment.join('\n')
-            })
+          issue-number: ${{ github.event.pull_request.number }}
+          comment-author: 'github-actions[bot]'
+          body-includes: FLASH Analysis
+
+      - name: Set Build Time
+        id: bt
+        run: |
+          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+
+      - name: Create or update comment
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            ## FLASH Analysis
+            <details>
+              <summary>px4_fmu-v5x</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
+              ```
+            </details>
+
+            <details>
+              <summary>px4_fmu-v6x</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
+              ```
+            </details>
+
+            **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          edit-mode: replace
@@ -173,9 +173,10 @@ set(config_module_list)
 set(config_kernel_list)

 # Find Python
-find_package(PythonInterp 3)
+find_package(Python COMPONENTS Interpreter)
+
 # We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
+if(NOT Python_FOUND)
 	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
 		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
 		"    macOS: brew install python")
@@ -184,7 +185,7 @@ endif()
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
+	set(Python_EXECUTABLE coverage run -p)
 endif()

 include(px4_config)
@@ -481,7 +482,7 @@ foreach(module ${config_module_list})
 endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -502,7 +503,7 @@ include(package)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
@@ -169,7 +169,7 @@ endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Functions
@@ -124,15 +124,15 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
 		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
@@ -330,7 +330,7 @@ add_custom_target(romfs_gen_files_target

 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp
@@ -64,6 +64,7 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
+	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -35,7 +35,7 @@
 set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)

 add_custom_target(upload_teensy
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
 	DEPENDS ${PX4_FW_NAME}
 	COMMENT "uploading px4"
 	VERBATIM
@@ -1,20 +1,20 @@
 set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
 set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)

-execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
+execute_process(COMMAND ${Python_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
 if(ret EQUAL "1")
 	message(FATAL_ERROR "kconfiglib is not installed or not in PATH\n"
 				"please install using \"pip3 install kconfiglib\"\n")
 endif()

-set(MENUCONFIG_PATH ${PYTHON_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
-set(GUICONFIG_PATH ${PYTHON_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
-set(DEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
-set(SAVEDEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
-set(GENCONFIG_PATH ${PYTHON_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
+set(MENUCONFIG_PATH ${Python_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
+set(GUICONFIG_PATH ${Python_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
+set(DEFCONFIG_PATH ${Python_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
+set(SAVEDEFCONFIG_PATH ${Python_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
+set(GENCONFIG_PATH ${Python_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)

 set(COMMON_KCONFIG_ENV_SETTINGS
-	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	Python_EXECUTABLE=${Python_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_CONFIG}
 	# Set environment variables so that Kconfig can prune Kconfig source
 	# files for other architectures
@@ -47,7 +47,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		# Generate boardconfig from default.px4board and {label}.px4board
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 			OUTPUT_VARIABLE DUMMY_RESULTS
 		)
@@ -57,7 +57,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production")
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	endif()
@@ -452,7 +452,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -463,7 +463,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardguiconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${GUICONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -473,7 +473,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is

 	add_custom_target(px4_savedefconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -35,10 +35,10 @@

 add_custom_target(metadata_airframes
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
 	COMMENT "Generating full airframe metadata (markdown and xml)"
@@ -58,28 +58,28 @@ add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}

-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--all-ports --ethernet --params-file ${generated_params_dir}/serial_params.c --config-files ${yaml_config_files}

-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_params_dir}/module_params.c
 		--timer-config ${PX4_SOURCE_DIR}/boards/px4/fmu-v5/src/timer_config.cpp # select a typical board
 		--board-with-io
 		--ethernet
 		--config-files ${yaml_config_files} #--verbose

-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md

-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress

-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
@@ -90,7 +90,7 @@ add_custom_target(metadata_parameters

 add_custom_target(metadata_module_documentation
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
 		--markdown ${PX4_BINARY_DIR}/docs/modules
 	COMMENT "Generating module documentation"
 	USES_TERMINAL
@@ -99,17 +99,17 @@ add_custom_target(metadata_module_documentation
 set(events_src_path "${PX4_SOURCE_DIR}/src/lib/events")
 add_custom_target(metadata_extract_events
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/events
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--src-path ${PX4_SOURCE_DIR}/src
 		--json ${PX4_BINARY_DIR}/events/px4_full.json #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
 		${PX4_BINARY_DIR}/events/px4_full.json
 		${events_src_path}/libevents/events/common.json
 		${events_src_path}/enums.json
 		--output ${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
 	COMMENT "Extracting events from full source"
 	USES_TERMINAL
@@ -67,7 +67,7 @@ function(px4_generate_airframes_xml)
 		ARGN ${ARGN})

 	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			--airframes-path ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${PX4_BOARD}
 			--xml ${PX4_BINARY_DIR}/airframes.xml
@@ -312,7 +312,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_headers}
 		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -333,7 +333,7 @@ add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 add_custom_command(
 	OUTPUT
 		${uorb_json_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -356,7 +356,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_message_fields_cpp_file}
 		${uorb_message_fields_header_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
 		-f ${uorb_json_files}
 		--source-output-file ${uorb_message_fields_cpp_file}
 		--header-output-file ${uorb_message_fields_header_file}
@@ -371,7 +371,7 @@ add_custom_command(
 # Generate microcdr headers
 add_custom_command(
 	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -393,7 +393,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_sources}
 		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -459,7 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		OUTPUT ${uorb_cdr_idl}
 		COMMAND ${CMAKE_COMMAND}
 		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
 			${uorb_cdr_msg}
 		DEPENDS
 			${uorb_cdr_msg}
@@ -489,7 +489,7 @@ if(CONFIG_LIB_CDRSTREAM)

 	add_custom_target(
 		uorb_idl_header
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
 			-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -513,7 +513,7 @@ endif()

 if(CONFIG_MODULES_ZENOH)
 	# Update kconfig file for topics
-	execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+	execute_process(COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-config
 			-f ${msg_files}
 			-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
@@ -522,7 +522,7 @@ if(CONFIG_MODULES_ZENOH)
 	add_custom_command(
 		OUTPUT
 			${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-pub-sub
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
@@ -7,7 +7,7 @@ uint32 device_id

 uint64 time_last_fuse

-float32[2] observation
+float64[2] observation
 float32[2] observation_variance

 float32[2] innovation
@@ -328,7 +328,7 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 	add_custom_command(
 		OUTPUT ${fw_package}
 		COMMAND
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
 				--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
 				--git_identity ${PX4_SOURCE_DIR}
 				--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
@@ -6,13 +6,13 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 export APPSDIR="`pwd`/../apps"

 if [ "command -v python3" ]; then
-	PYTHON_EXECUTABLE=python3
+	Python_EXECUTABLE=python3
 else
-	PYTHON_EXECUTABLE=python
+	Python_EXECUTABLE=python
 fi

 if [ "${1}" = "--olddefconfig" ]; then
-	PYTHONPATH=${DIR} ${PYTHON_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
+	PYTHONPATH=${DIR} ${Python_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
 else
 	echo "ERROR: ${@} unsupported"
 	exit 1
@@ -81,7 +81,7 @@ endif()
 string(REPLACE ";" "," serial_ports "${serial_ports}")

 add_custom_target(upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4"
 	VERBATIM
@@ -90,7 +90,7 @@ add_custom_target(upload
 	)

 add_custom_target(force-upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4 with --force"
 	VERBATIM
@@ -71,7 +71,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 			${PX4_BINARY_DIR}/${uavcan_bl_image_name}
 			${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
 		COMMAND
-			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
+			${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND
@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
@@ -42,7 +42,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
    set(DSDLC_INPUT_FILES ${DSDLC_INPUT_FILES} ${DSDLC_NEW_INPUT_FILES})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
-                   COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+                   COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
                   COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
                   DEPENDS ${DSDLC_INPUT_FILES}
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
@@ -83,12 +83,12 @@ list(APPEND comp_metadata_types "--type" "5,${PX4_BINARY_DIR}/actuators.json.xz,
 set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
 set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h)
 add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz ${component_information_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
 		${component_general_json}
 		--compress
 		${comp_metadata_types}
 		--version-file ${PX4_BINARY_DIR}/src/lib/version/build_git_version.h
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
 		${component_general_json}
 		${PX4_BINARY_DIR}/events/all_events.json.xz
 		--output ${component_information_header}
@@ -47,7 +47,7 @@ set(generated_events_px4_file ${generated_events_dir}/px4.json)
 set(generated_events_common_enums_file ${generated_events_dir}/common_with_enums.json)
 add_custom_command(OUTPUT ${generated_events_px4_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--base-path ${PX4_SOURCE_DIR}/src
 		--src-path ${all_px4_src_files_relative}
 		--json ${generated_events_px4_file} #--verbose
@@ -64,13 +64,13 @@ add_custom_target(events_px4_json DEPENDS ${generated_events_px4_file})

 set(generated_events_file ${generated_events_dir}/all_events.json)
 add_custom_command(OUTPUT ${generated_events_file} ${generated_events_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		${generated_events_px4_file}
 		${generated_events_common_enums_file}
 		--output ${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/validate.py
 		${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${generated_events_file}
 	DEPENDS
 		${generated_events_px4_file}
@@ -86,7 +86,7 @@ add_custom_target(events_json DEPENDS ${generated_events_file})
 # combine common.json with our enums for the code generation
 add_custom_command(OUTPUT ${generated_events_common_enums_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		enums.json
 		libevents/events/common.json
 		--output ${generated_events_common_enums_file}
@@ -105,7 +105,7 @@ add_custom_command(OUTPUT ${generated_events_common_enums_file}
 set(generated_events_header ${generated_events_dir}/events_generated.h)
 add_custom_command(OUTPUT ${generated_events_header}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/generate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/generate.py
 		--template libevents/libs/cpp/templates/events_generated.h.jinja
 		--output ${generated_events_dir}
 		${generated_events_common_enums_file}
@@ -39,14 +39,14 @@ endif()
 set(generated_actuators_metadata_file ${PX4_BINARY_DIR}/actuators.json)
 add_custom_command(OUTPUT ${generated_actuators_metadata_file}
 	${generated_actuators_metadata_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
 		${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
 		--config-files ${module_config_files} #--verbose
 		--compress
 		--board ${PX4_BOARD}
 		--output-file ${generated_actuators_metadata_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/actuators.schema.json
 		${generated_actuators_metadata_file}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
@@ -33,7 +33,7 @@

 set(functions_header ${CMAKE_CURRENT_BINARY_DIR}/output_functions.hpp)
 add_custom_command(OUTPUT ${functions_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
 		${CMAKE_CURRENT_SOURCE_DIR}/output_functions.yaml
 		${functions_header}
 	DEPENDS
@@ -90,12 +90,12 @@ endif()

 add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--params-file ${generated_serial_params_file}
 		--serial-ports ${board_serial_ports} ${added_arguments} ${constrained_flash_arg}
 		--config-files ${module_config_files}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_module_params_file}
 		${added_arguments} ${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
@@ -114,7 +114,7 @@ set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
 file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c ${PX4_SOURCE_DIR}/src/*parameters.c)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
 		--src-path ${module_list} ${generated_params_dir}
 		--xml ${parameters_xml}
 		--json ${parameters_json}
@@ -123,7 +123,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/parameter.schema.json
 		${parameters_json}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
@@ -145,7 +145,7 @@ add_custom_target(parameters_xml DEPENDS ${parameters_xml})

 # generate px4_parameters.hpp
 add_custom_command(OUTPUT px4_parameters.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
@@ -157,7 +157,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)
 set(SRCS)

 list(APPEND SRCS
-	parameters.cpp 
+	parameters.cpp
 	atomic_transaction.cpp
 	autosave.cpp
 )
@@ -54,7 +54,7 @@ endif()
 set(px4_git_ver_header ${CMAKE_CURRENT_BINARY_DIR}/build_git_version.h)
 add_custom_command(OUTPUT ${px4_git_ver_header}
 	COMMAND
-		${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
+		${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
 	DEPENDS
 		${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py
 		${git_dir_path}/HEAD
@@ -40,7 +40,7 @@ add_dependencies(wind_estimator prebuild_targets)
 add_subdirectory(test)

 add_custom_target(wind_estimator_generate_airspeed_fusion
-	COMMAND ${PYTHON_EXECUTABLE} derivation.py
+	COMMAND ${Python_EXECUTABLE} derivation.py
 	#DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/python/derivation.py
 	#BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/python/generated/fuse_airspeed.h
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python
@@ -32,7 +32,7 @@
 ############################################################################

 add_custom_target(world_magnetic_model_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
 	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	USES_TERMINAL
@@ -40,7 +40,7 @@ add_custom_target(world_magnetic_model_update
 )

 add_custom_target(world_magnetic_model_tests_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
 	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	USES_TERMINAL
@@ -37,7 +37,7 @@ set(generated_uorb_struct_field_mapping_header ${PX4_BINARY_DIR}/generated_uorb_
 set(html_template_file ${CMAKE_CURRENT_SOURCE_DIR}/emscripten_template.html)
 set(html_output_file ${PX4_BINARY_DIR}/failsafe_html_template.html)
 add_custom_command(OUTPUT ${generated_uorb_struct_field_mapping_header} ${html_output_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
 		${failsafe_flags_msg_file} ${generated_uorb_struct_field_mapping_header}
 		${html_template_file} ${html_output_file}
 	DEPENDS
@@ -35,7 +35,7 @@ option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" OFF)

 # Symforce code generation TODO:fixme
 execute_process(
-    COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
+    COMMAND ${Python_EXECUTABLE} -m symforce.symbolic
    RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
    OUTPUT_QUIET
 )
@@ -58,7 +58,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
 			${EKF_DERIVATION_SRC_DIR}/generated/state.h
 		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
+			${Python_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
 		DEPENDS
 			${EKF_DERIVATION_SRC_DIR}/derivation.py
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
@@ -92,7 +92,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
 			${EKF_DERIVATION_DST_DIR}/generated/state.h
 		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
+			${Python_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
 		DEPENDS
 			${EKF_DERIVATION_SRC_DIR}/derivation.py
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
@@ -277,6 +277,7 @@ px4_add_module(
 		world_magnetic_model

 		${EKF_LIBS}
+		lat_lon_alt
 		bias_estimator
 		output_predictor
 	UNITY_BUILD
@@ -33,6 +33,7 @@

 add_subdirectory(bias_estimator)
 add_subdirectory(output_predictor)
+add_subdirectory(lat_lon_alt)

 set(EKF_LIBS)
 set(EKF_SRCS)
@@ -154,6 +155,7 @@ target_link_libraries(ecl_EKF
 	PRIVATE
 		bias_estimator
 		geo
+		lat_lon_alt
 		output_predictor
 		world_magnetic_model
 		${EKF_LIBS}
@@ -74,24 +74,21 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 		}

 		estimator_aid_source2d_s aid_src{};
-		Vector2f position;
+		const LatLonAlt position(sample.latitude, sample.longitude, sample.altitude_amsl);
+		const Vector2f innovation = (ekf.getLatLonAlt() - position).xy(); // altitude measurements are not used

-		if (ekf.global_origin_valid()) {
-			position = ekf.global_origin().project(sample.latitude, sample.longitude);
-			//const float hgt = ekf.getEkfGlobalOriginAltitude() - (float)sample.altitude;
-			// relax the upper observation noise limit which prevents bad measurements perturbing the position estimate
-			float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get(), 0.01f);
-			const float pos_var = sq(pos_noise);
-			const Vector2f pos_obs_var(pos_var, pos_var);
+		// relax the upper observation noise limit which prevents bad measurements perturbing the position estimate
+		float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get(), 0.01f);
+		const float pos_var = sq(pos_noise);
+		const Vector2f pos_obs_var(pos_var, pos_var);

-			ekf.updateAidSourceStatus(aid_src,
-						  sample.time_us,                                    // sample timestamp
-						  position,                                          // observation
-						  pos_obs_var,                                       // observation variance
-						  Vector2f(ekf.state().pos) - position,              // innovation
-						  Vector2f(ekf.getPositionVariance()) + pos_obs_var, // innovation variance
-						  math::max(_param_ekf2_agp_gate.get(), 1.f));       // innovation gate
-		}
+		ekf.updateAidSourceStatus(aid_src,
+					  sample.time_us,                                      // sample timestamp
+					  matrix::Vector2d(sample.latitude, sample.longitude), // observation
+					  pos_obs_var,                                         // observation variance
+					  innovation,                                          // innovation
+					  Vector2f(ekf.getPositionVariance()) + pos_obs_var,   // innovation variance
+					  math::max(_param_ekf2_agp_gate.get(), 1.f));         // innovation gate

 		const bool starting_conditions = PX4_ISFINITE(sample.latitude) && PX4_ISFINITE(sample.longitude)
 						 && ekf.control_status_flags().yaw_align;
@@ -113,8 +110,8 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed

 				} else {
 					// Try to initialize using measurement
-					if (ekf.setEkfGlobalOriginFromCurrentPos(sample.latitude, sample.longitude, sample.altitude_amsl, sample.eph,
-							sample.epv)) {
+					if (ekf.resetGlobalPositionTo(sample.latitude, sample.longitude, sample.altitude_amsl, sample.eph,
+								      sample.epv)) {
 						ekf.enableControlStatusAuxGpos();
 						_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 						_state = State::active;
@@ -131,7 +128,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 				if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max)
 				    || (_reset_counters.lat_lon != sample.lat_lon_reset_counter)) {

-					ekf.resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance));
+					ekf.resetHorizontalPositionTo(sample.latitude, sample.longitude, Vector2f(aid_src.observation_variance));

 					ekf.resetAidSourceStatusZeroInnovation(aid_src);

@@ -73,7 +73,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)

 			if (_baro_counter <= _obs_buffer_length) {
 				// Initialize the pressure offset (included in the baro bias)
-				bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+				bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());
 			}
 		}

@@ -106,7 +106,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 		if (measurement_valid) {
 			bias_est.setMaxStateNoise(sqrtf(measurement_var));
 			bias_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd);
-			bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+			bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
 		}

 		// determine if we should use height aiding
@@ -131,8 +131,8 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);

 					_information_events.flags.reset_hgt_to_baro = true;
-					resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
-					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+					resetAltitudeTo(_baro_lpf.getState() - bias_est.getBias(), measurement_var);
+					bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());

 					// reset vertical velocity if no valid sources available
 					if (!isVerticalVelocityAidingActive()) {
@@ -163,12 +163,12 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					_height_sensor_ref = HeightSensor::BARO;

 					_information_events.flags.reset_hgt_to_baro = true;
-					resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
-					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+					initialiseAltitudeTo(measurement, measurement_var);
+					bias_est.reset();

 				} else {
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
-					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
+					bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());
 				}

 				aid_src.time_last_fuse = imu_sample.time_us;
@@ -99,7 +99,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 	if (measurement_valid && quality_sufficient) {
 		bias_est.setMaxStateNoise(sqrtf(measurement_var));
 		bias_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd);
-		bias_est.fuseBias(measurement - _state.pos(2), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+		bias_est.fuseBias(measurement + _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
 	}

 	const bool continuing_conditions_passing = (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VPOS))
@@ -117,11 +117,11 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp

 					if (_height_sensor_ref == HeightSensor::EV) {
 						_information_events.flags.reset_hgt_to_ev = true;
-						resetVerticalPositionTo(measurement, measurement_var);
+						resetAltitudeTo(-measurement, measurement_var);
 						bias_est.reset();

 					} else {
-						bias_est.setBias(-_state.pos(2) + measurement);
+						bias_est.setBias(_gpos.altitude() + measurement);
 					}

 					aid_src.time_last_fuse = _time_delayed_us;
@@ -146,8 +146,8 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 				// All height sources are failing
 				ECL_WARN("%s fusion reset required, all height sources failing", AID_SRC_NAME);
 				_information_events.flags.reset_hgt_to_ev = true;
-				resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var);
-				bias_est.setBias(-_state.pos(2) + measurement);
+				resetAltitudeTo(-measurement - bias_est.getBias(), measurement_var);
+				bias_est.setBias(_gpos.altitude() + measurement);

 				aid_src.time_last_fuse = _time_delayed_us;

@@ -170,14 +170,14 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 			if (_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::EV)) {
 				ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
 				_information_events.flags.reset_hgt_to_ev = true;
-				resetVerticalPositionTo(measurement, measurement_var);
+				resetAltitudeTo(-measurement, measurement_var);

 				_height_sensor_ref = HeightSensor::EV;
 				bias_est.reset();

 			} else {
 				ECL_INFO("starting %s fusion", AID_SRC_NAME);
-				bias_est.setBias(-_state.pos(2) + measurement);
+				bias_est.setBias(_gpos.altitude() + measurement);
 			}

 			aid_src.time_last_fuse = _time_delayed_us;
@@ -137,6 +137,8 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample

 #endif // CONFIG_EKF2_GNSS

+	const Vector2f position_estimate = getLocalHorizontalPosition();
+
 	const Vector2f measurement{pos(0), pos(1)};

 	const Vector2f measurement_var{
@@ -150,7 +152,7 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 	if (!bias_fusion_was_active && _ev_pos_b_est.fusionActive()) {
 		if (quality_sufficient) {
 			// reset the bias estimator
-			_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+			_ev_pos_b_est.setBias(-position_estimate + measurement);

 		} else if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.ev_pos)) {
 			// otherwise stop EV position, when quality is good again it will restart with reset bias
@@ -165,7 +167,7 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 			      ev_sample.time_us,                                      // sample timestamp
 			      position,                                               // observation
 			      pos_obs_var,                                            // observation variance
-			      Vector2f(_state.pos) - position,                        // innovation
+			      position_estimate - position,                           // innovation
 			      Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
 			      math::max(_params.ev_pos_innov_gate, 1.f));             // innovation gate

@@ -174,7 +176,7 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 	if (measurement_valid && quality_sufficient) {
 		_ev_pos_b_est.setMaxStateNoise(Vector2f(sqrtf(measurement_var(0)), sqrtf(measurement_var(1))));
 		_ev_pos_b_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); // TODO
-		_ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()),
+		_ev_pos_b_est.fuseBias(measurement - position_estimate,
 				       measurement_var + Vector2f(getStateVariance<State::pos>()));
 	}

@@ -213,7 +215,7 @@ void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurem
 	// TODO:  (_params.position_sensor_ref == PositionSensor::EV)
 	if (_control_status.flags.gps) {
 		ECL_INFO("starting %s fusion", EV_AID_SRC_NAME);
-		_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+		_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
 		_ev_pos_b_est.setFusionActive();

 	} else {
@@ -245,7 +247,7 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
 				_ev_pos_b_est.reset();

 			} else {
-				_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+				_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
 			}

 			aid_src.time_last_fuse = _time_delayed_us;
@@ -275,14 +277,14 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure

 			if (_control_status.flags.gps && !pos_xy_fusion_failing) {
 				// reset EV position bias
-				_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+				_ev_pos_b_est.setBias(-Vector2f(getLocalHorizontalPosition()) + measurement);

 			} else {
 				_information_events.flags.reset_pos_to_vision = true;

 				if (_control_status.flags.gps) {
 					resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var + _ev_pos_b_est.getBiasVar());
-					_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
+					_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);

 				} else {
 					resetHorizontalPositionTo(measurement, measurement_var);
@@ -51,7 +51,7 @@ void Ekf::controlFakeHgtFusion()
 		const float obs_var = sq(_params.pos_noaid_noise);
 		const float innov_gate = 3.f;

-		updateVerticalPositionAidStatus(aid_src, _time_delayed_us, _last_known_pos(2), obs_var, innov_gate);
+		updateVerticalPositionAidStatus(aid_src, _time_delayed_us, -_last_known_gpos.altitude(), obs_var, innov_gate);

 		const bool continuing_conditions_passing = !isVerticalAidingActive();
 		const bool starting_conditions_passing = continuing_conditions_passing
@@ -98,7 +98,7 @@ void Ekf::controlFakeHgtFusion()
 void Ekf::resetFakeHgtFusion()
 {
 	ECL_INFO("reset fake height fusion");
-	_last_known_pos(2) = _state.pos(2);
+	_last_known_gpos.setAltitude(_gpos.altitude());

 	resetVerticalVelocityToZero();
 	resetHeightToLastKnown();
@@ -109,8 +109,8 @@ void Ekf::resetFakeHgtFusion()
 void Ekf::resetHeightToLastKnown()
 {
 	_information_events.flags.reset_pos_to_last_known = true;
-	ECL_INFO("reset height to last known (%.3f)", (double)_last_known_pos(2));
-	resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise));
+	ECL_INFO("reset height to last known (%.3f)", (double)_last_known_gpos.altitude());
+	resetAltitudeTo(_last_known_gpos.altitude(), sq(_params.pos_noaid_noise));
 }

 void Ekf::stopFakeHgtFusion()
@@ -63,17 +63,17 @@ void Ekf::controlFakePosFusion()
 			obs_var(0) = obs_var(1) = sq(0.5f);
 		}

-		const Vector2f position(_last_known_pos);
+		const Vector2f innovation = (_gpos - _last_known_gpos).xy();

 		const float innov_gate = 3.f;

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

 		const bool enable_valid_fake_pos = _control_status.flags.constant_pos || _control_status.flags.vehicle_at_rest;
 		const bool enable_fake_pos = !enable_valid_fake_pos
@@ -95,7 +95,7 @@ void Ekf::controlFakePosFusion()
 void Ekf::resetFakePosFusion()
 {
 	ECL_INFO("reset fake position fusion");
-	_last_known_pos.xy() = _state.pos.xy();
+	_last_known_gpos.setLatLon(_gpos);

 	resetHorizontalPositionToLastKnown();
 	resetHorizontalVelocityToZero();
@@ -62,9 +62,9 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)

 		const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
 		const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-		const float gnss_alt = _gps_sample_delayed.alt + pos_offset_earth(2);
+		const float gnss_alt = gps_sample.alt + pos_offset_earth(2);

-		const float measurement = gnss_alt - getEkfGlobalOriginAltitude();
+		const float measurement = gnss_alt;
 		const float measurement_var = sq(noise);

 		const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
@@ -81,13 +81,13 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 		if (measurement_valid) {
 			bias_est.setMaxStateNoise(sqrtf(measurement_var));
 			bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
-			bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+			bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
 		}

 		// determine if we should use height aiding
 		const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
 				&& measurement_valid
-				&& _pos_ref.isInitialized()
+				&& _local_origin_lat_lon.isInitialized()
 				&& _gps_checks_passed;

 		const bool starting_conditions_passing = continuing_conditions_passing
@@ -105,8 +105,8 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);

 					_information_events.flags.reset_hgt_to_gps = true;
-					resetVerticalPositionTo(aid_src.observation, measurement_var);
-					bias_est.setBias(_state.pos(2) + measurement);
+					resetAltitudeTo(measurement, measurement_var);
+					bias_est.setBias(-_gpos.altitude() + measurement);

 					aid_src.time_last_fuse = _time_delayed_us;

@@ -128,13 +128,13 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 					_height_sensor_ref = HeightSensor::GNSS;

 					_information_events.flags.reset_hgt_to_gps = true;
-					resetVerticalPositionTo(-measurement, measurement_var);
-					_gpos_origin_epv = 0.f; // The uncertainty of the global origin is now contained in the local position uncertainty
+
+					initialiseAltitudeTo(measurement, measurement_var);
 					bias_est.reset();

 				} else {
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
-					bias_est.setBias(_state.pos(2) + measurement);
+					bias_est.setBias(-_gpos.altitude() + measurement);
 				}

 				aid_src.time_last_fuse = _time_delayed_us;
@@ -55,32 +55,6 @@
 #define MASK_GPS_VSPD    (1<<8)
 #define MASK_GPS_SPOOFED (1<<9)

-void Ekf::collect_gps(const gnssSample &gps)
-{
-	if (_filter_initialised && !_pos_ref.isInitialized() && _gps_checks_passed) {
-		// If we have good GPS data set the origin's WGS-84 position to the last gps fix
-		setLatLonOriginFromCurrentPos(gps.lat, gps.lon, gps.hacc);
-
-		// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
-		if (!PX4_ISFINITE(_gps_alt_ref)) {
-			setAltOriginFromCurrentPos(gps.alt, gps.vacc);
-		}
-
-		_information_events.flags.gps_checks_passed = true;
-
-		ECL_INFO("GPS origin set to lat=%.6f, lon=%.6f",
-			 _pos_ref.getProjectionReferenceLat(), _pos_ref.getProjectionReferenceLon());
-
-	} else {
-		// a rough 2D fix is sufficient to lookup earth spin rate
-		const bool gps_rough_2d_fix = (gps.fix_type >= 2) && (gps.hacc < 1000);
-
-		if (gps_rough_2d_fix && (_gps_checks_passed || !_pos_ref.isInitialized())) {
-			_earth_rate_NED = calcEarthRateNED((float)math::radians(gps.lat));
-		}
-	}
-}
-
 bool Ekf::runGnssChecks(const gnssSample &gps)
 {
 	_gps_check_fail_status.flags.spoofed = gps.spoofed;
@@ -67,11 +67,13 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 		    && isTimedOut(_last_gps_fail_us, max((uint64_t)1e6, (uint64_t)_min_gps_health_time_us / 10))) {
 			if (isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
 				// First time checks are passing, latching.
+				if (!_gps_checks_passed) {
+					_information_events.flags.gps_checks_passed = true;
+				}
+
 				_gps_checks_passed = true;
 			}

-			collect_gps(gnss_sample);
-
 		} else {
 			// Skip this sample
 			_gps_data_ready = false;
@@ -82,10 +84,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 			}
 		}

-		if (_pos_ref.isInitialized()) {
-			updateGnssPos(gnss_sample, _aid_src_gnss_pos);
-		}
-
+		updateGnssPos(gnss_sample, _aid_src_gnss_pos);
 		updateGnssVel(imu_delayed, gnss_sample, _aid_src_gnss_vel);

 	} else if (_control_status.flags.gps) {
@@ -108,9 +107,9 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)

 		const bool continuing_conditions_passing = (gnss_vel_enabled || gnss_pos_enabled)
 				&& _control_status.flags.tilt_align
-				&& _control_status.flags.yaw_align
-				&& _pos_ref.isInitialized();
+				&& _control_status.flags.yaw_align;
 		const bool starting_conditions_passing = continuing_conditions_passing && _gps_checks_passed;
+		const bool gpos_init_conditions_passing = gnss_pos_enabled && _gps_checks_passed;

 		if (_control_status.flags.gps) {
 			if (continuing_conditions_passing) {
@@ -174,6 +173,9 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 				}

 				_control_status.flags.gps = true;
+
+			} else if (gpos_init_conditions_passing && !_local_origin_lat_lon.isInitialized()) {
+				resetHorizontalPositionToGnss(_aid_src_gnss_pos);
 			}
 		}
 	}
@@ -221,8 +223,10 @@ void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s
 {
 	// correct position and height for offset relative to IMU
 	const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
-	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-	const Vector2f position = _pos_ref.project(gnss_sample.lat, gnss_sample.lon) - pos_offset_earth.xy();
+	const Vector3f pos_offset_earth = Vector3f(_R_to_earth * pos_offset_body);
+	const LatLonAlt measurement(gnss_sample.lat, gnss_sample.lon, gnss_sample.alt);
+	const LatLonAlt measurement_corrected = measurement + (-pos_offset_earth);
+	const Vector2f innovation = (_gpos - measurement_corrected).xy();

 	// relax the upper observation noise limit which prevents bad GPS perturbing the position estimate
 	float pos_noise = math::max(gnss_sample.hacc, _params.gps_pos_noise);
@@ -237,12 +241,13 @@ void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s

 	const float pos_var = math::max(sq(pos_noise), sq(0.01f));
 	const Vector2f pos_obs_var(pos_var, pos_var);
+	const matrix::Vector2d observation(measurement_corrected.latitude_deg(), measurement_corrected.longitude_deg());

 	updateAidSourceStatus(aid_src,
 			      gnss_sample.time_us,                                    // sample timestamp
-			      position,                                               // observation
+			      observation,                                            // observation
 			      pos_obs_var,                                            // observation variance
-			      Vector2f(_state.pos) - position,                        // innovation
+			      innovation,                                             // innovation
 			      Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
 			      math::max(_params.gps_pos_innov_gate, 1.f));            // innovation gate
 }
@@ -322,8 +327,9 @@ void Ekf::resetVelocityToGnss(estimator_aid_source3d_s &aid_src)
 void Ekf::resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src)
 {
 	_information_events.flags.reset_pos_to_gps = true;
-	resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance));
-	_gpos_origin_eph = 0.f; // The uncertainty of the global origin is now contained in the local position uncertainty
+	resetLatLonTo(aid_src.observation[0], aid_src.observation[1],
+		      aid_src.observation_variance[0] +
+		      aid_src.observation_variance[1]);

 	resetAidSourceStatusZeroInnovation(aid_src);
 }
@@ -90,12 +90,7 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 			if (global_origin_valid()
 			    && (origin_newer_than_last_mag || (isLocalHorizontalPositionValid() && isTimedOut(_wmm_mag_time_last_checked, 10e6)))
 			   ) {
-				// position of local NED origin in GPS / WGS84 frame
-				double latitude_deg;
-				double longitude_deg;
-				global_origin().reproject(_state.pos(0), _state.pos(1), latitude_deg, longitude_deg);
-
-				if (updateWorldMagneticModel(latitude_deg, longitude_deg)) {
+				if (updateWorldMagneticModel(_gpos.latitude_deg(), _gpos.longitude_deg())) {
 					wmm_updated = true;
 				}

@@ -368,7 +363,7 @@ bool Ekf::checkHaglYawResetReq() const
 		// Check if height has increased sufficiently to be away from ground magnetic anomalies
 		// and request a yaw reset if not already requested.
 		static constexpr float mag_anomalies_max_hagl = 1.5f;
-		const bool above_mag_anomalies = (getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl;
+		const bool above_mag_anomalies = (getTerrainVPos() + _gpos.altitude()) > mag_anomalies_max_hagl;
 		return above_mag_anomalies;
 	}

@@ -230,12 +230,6 @@ void Ekf::resetFlowFusion(const flowSample &flow_sample)
 	const float flow_vel_var = sq(predictFlowRange()) * calcOptFlowMeasVar(flow_sample);
 	resetHorizontalVelocityTo(getFilteredFlowVelNE(), flow_vel_var);

-	// reset position, estimate is relative to initial position in this mode, so we start with zero error
-	if (!_control_status.flags.in_air) {
-		ECL_INFO("reset position to zero");
-		resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f);
-	}
-
 	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);

 	_innov_check_fail_status.flags.reject_optflow_X = false;
@@ -247,7 +241,7 @@ void Ekf::resetTerrainToFlow()
 	ECL_INFO("reset hagl to flow");

 	// TODO: use the flow data
-	const float new_terrain = fmaxf(0.0f, _state.pos(2));
+	const float new_terrain = -_gpos.altitude() + _params.rng_gnd_clearance;
 	const float delta_terrain = new_terrain - _state.terrain;
 	_state.terrain = new_terrain;
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f);
@@ -67,7 +67,8 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)

 			// recalculate the innovation using the updated state
 			const Vector3f flow_gyro_corrected = _flow_sample_delayed.gyro_rate - _flow_gyro_bias;
-			_aid_src_optical_flow.innovation[1] = predictFlow(flow_gyro_corrected)(1) - _aid_src_optical_flow.observation[1];
+			_aid_src_optical_flow.innovation[1] = predictFlow(flow_gyro_corrected)(1) - static_cast<float>
+							      (_aid_src_optical_flow.observation[1]);
 		}

 		if (_aid_src_optical_flow.innovation_variance[index] < _aid_src_optical_flow.observation_variance[index]) {
@@ -148,7 +148,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_height_sensor_ref = HeightSensor::RANGE;

 					_information_events.flags.reset_hgt_to_rng = true;
-					resetVerticalPositionTo(-aid_src.observation, aid_src.observation_variance);
+					resetAltitudeTo(aid_src.observation, aid_src.observation_variance);
 					_state.terrain = 0.f;
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();
@@ -180,7 +180,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);

 					_information_events.flags.reset_hgt_to_rng = true;
-					resetVerticalPositionTo(-(aid_src.observation - _state.terrain));
+					resetAltitudeTo(aid_src.observation - _state.terrain);

 					// reset vertical velocity if no valid sources available
 					if (!isVerticalVelocityAidingActive()) {
@@ -74,7 +74,7 @@ void Ekf::reset()
 	//
 #if defined(CONFIG_EKF2_TERRAIN)
 	// assume a ground clearance
-	_state.terrain = _state.pos(2) + _params.rng_gnd_clearance;
+	_state.terrain = -_gpos.altitude() + _params.rng_gnd_clearance;
 #endif // CONFIG_EKF2_TERRAIN

 #if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -97,7 +97,7 @@ void Ekf::reset()
 	resetGpsDriftCheckFilters();
 	_gps_checks_passed = false;
 #endif // CONFIG_EKF2_GNSS
-	_gps_alt_ref = NAN;
+	_local_origin_alt = NAN;

 	_output_predictor.reset();

@@ -113,7 +113,7 @@ void Ekf::reset()
 	_time_last_heading_fuse = 0;
 	_time_last_terrain_fuse = 0;

-	_last_known_pos.setZero();
+	_last_known_gpos.setZero();

 #if defined(CONFIG_EKF2_BAROMETER)
 	_baro_counter = 0;
@@ -168,7 +168,7 @@ bool Ekf::update()
 		// control fusion of observation data
 		controlFusionModes(imu_sample_delayed);

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

 		return true;
@@ -205,7 +205,7 @@ bool Ekf::initialiseFilter()
 	initialiseCovariance();

 	// reset the output predictor state history to match the EKF initial values
-	_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos);
+	_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _gpos);

 	return true;
 }
@@ -230,6 +230,11 @@ bool Ekf::initialiseTilt()

 void Ekf::predictState(const imuSample &imu_delayed)
 {
+	if (std::fabs(_gpos.latitude_rad() - _earth_rate_lat_ref_rad) > math::radians(1.0)) {
+		_earth_rate_lat_ref_rad = _gpos.latitude_rad();
+		_earth_rate_NED = calcEarthRateNED((float)_earth_rate_lat_ref_rad);
+	}
+
 	// apply imu bias corrections
 	const Vector3f delta_ang_bias_scaled = getGyroBias() * imu_delayed.delta_ang_dt;
 	Vector3f corrected_delta_ang = imu_delayed.delta_ang - delta_ang_bias_scaled;
@@ -254,15 +259,18 @@ void Ekf::predictState(const imuSample &imu_delayed)
 	// calculate the increment in velocity using the current orientation
 	_state.vel += corrected_delta_vel_ef;

-	// compensate for acceleration due to gravity
-	_state.vel(2) += CONSTANTS_ONE_G * imu_delayed.delta_vel_dt;
+	// compensate for acceleration due to gravity, Coriolis and transport rate
+	const Vector3f gravity_acceleration(0.f, 0.f, CONSTANTS_ONE_G); // simplistic model
+	const Vector3f coriolis_acceleration = -2.f * _earth_rate_NED.cross(vel_last);
+	const Vector3f transport_rate = -_gpos.computeAngularRateNavFrame(vel_last).cross(vel_last);
+	_state.vel += (gravity_acceleration + coriolis_acceleration + transport_rate) * imu_delayed.delta_vel_dt;

 	// predict position states via trapezoidal integration of velocity
-	_state.pos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f;
+	_gpos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f;
+	_state.pos(2) = -_gpos.altitude();

 	// constrain states
 	_state.vel = matrix::constrain(_state.vel, -_params.velocity_limit, _params.velocity_limit);
-	_state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f);


 	// calculate a filtered horizontal acceleration with a 1 sec time constant
@@ -283,14 +291,12 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 		return false;
 	}

-	if (!_pos_ref.isInitialized()) {
-		if (!setLatLonOriginFromCurrentPos(latitude, longitude, eph)) {
+	if (!_local_origin_lat_lon.isInitialized()) {
+		if (!resetLatLonTo(latitude, longitude, sq(eph))) {
 			return false;
 		}

-		if (!PX4_ISFINITE(_gps_alt_ref)) {
-			setAltOriginFromCurrentPos(altitude, epv);
-		}
+		initialiseAltitudeTo(altitude, sq(epv));

 		return true;
 	}
@@ -315,12 +321,20 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 		pos_correction = _state.vel * dt_s;
 	}

-	{
-		const Vector2f hpos = _pos_ref.project(latitude, longitude) + pos_correction.xy();
+	LatLonAlt gpos(latitude, longitude, altitude);
+	bool alt_valid = true;

+	if (!checkAltitudeValidity(gpos.altitude())) {
+		gpos.setAltitude(_gpos.altitude());
+		alt_valid = false;
+	}
+
+	const LatLonAlt gpos_corrected = gpos + pos_correction;
+
+	{
 		const float obs_var = math::max(sq(eph), sq(0.01f));

-		const Vector2f innov = Vector2f(_state.pos.xy()) - hpos;
+		const Vector2f innov = (_gpos - gpos_corrected).xy();
 		const Vector2f innov_var = Vector2f(getStateVariance<State::pos>()) + obs_var;

 		const float sq_gate = sq(5.f); // magic hardcoded gate
@@ -334,8 +348,8 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 			ECL_INFO("reset position to external observation");
 			_information_events.flags.reset_pos_to_ext_obs = true;

-			resetHorizontalPositionTo(hpos, obs_var);
-			_last_known_pos.xy() = _state.pos.xy();
+			resetHorizontalPositionTo(gpos_corrected.latitude_deg(), gpos_corrected.longitude_deg(), obs_var);
+			_last_known_gpos.setLatLon(gpos_corrected);

 		} else {
 			ECL_INFO("fuse external observation as position measurement");
@@ -348,24 +362,16 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 			_state_reset_status.posNE_change.zero();

 			_time_last_hor_pos_fuse = _time_delayed_us;
-			_last_known_pos.xy() = _state.pos.xy();
+			_last_known_gpos.setLatLon(gpos_corrected);
 		}
 	}

-	if (checkAltitudeValidity(altitude)) {
-		const float altitude_corrected = altitude - pos_correction(2);
+	if (alt_valid) {
+		const float obs_var = math::max(sq(epv), sq(0.01f));

-		if (!PX4_ISFINITE(_gps_alt_ref)) {
-			setAltOriginFromCurrentPos(altitude_corrected, epv);
-
-		} else {
-			const float vpos = -(altitude_corrected - _gps_alt_ref);
-			const float obs_var = math::max(sq(epv), sq(0.01f));
-
-			ECL_INFO("reset height to external observation");
-			resetVerticalPositionTo(vpos, obs_var);
-			_last_known_pos(2) = _state.pos(2);
-		}
+		ECL_INFO("reset height to external observation");
+		initialiseAltitudeTo(gpos_corrected.altitude(), obs_var);
+		_last_known_gpos.setAltitude(gpos_corrected.altitude());
 	}

 	return true;
@@ -425,9 +431,10 @@ void Ekf::print_status()
 	       (double)getStateVariance<State::vel>()(2)
 	      );

+	const Vector3f position = getPosition();
 	printf("Position (%d-%d): [%.3f, %.3f, %.3f] var: [%.1e, %.1e, %.1e]\n",
 	       State::pos.idx, State::pos.idx + State::pos.dof - 1,
-	       (double)_state.pos(0), (double)_state.pos(1), (double)_state.pos(2),
+	       (double)position(0), (double)position(1), (double) position(2),
 	       (double)getStateVariance<State::pos>()(0), (double)getStateVariance<State::pos>()(1),
 	       (double)getStateVariance<State::pos>()(2)
 	      );
@@ -66,6 +66,8 @@
 # include "aid_sources/aux_global_position/aux_global_position.hpp"
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION

+#include "lat_lon_alt/lat_lon_alt.hpp"
+
 enum class Likelihood { LOW, MEDIUM, HIGH };
 class ExternalVisionVel;

@@ -102,8 +104,8 @@ public:
 	bool isTerrainEstimateValid() const { return _terrain_valid; }

 	// get the estimated terrain vertical position relative to the NED origin
-	float getTerrainVertPos() const { return _state.terrain; };
-	float getHagl() const { return _state.terrain - _state.pos(2); }
+	float getTerrainVertPos() const { return _state.terrain + getEkfGlobalOriginAltitude(); };
+	float getHagl() const { return _state.terrain + _gpos.altitude(); }

 	// get the terrain variance
 	float getTerrainVariance() const { return P(State::terrain.idx, State::terrain.idx); }
@@ -192,8 +194,8 @@ public:
 	bool checkLatLonValidity(double latitude, double longitude);
 	bool checkAltitudeValidity(float altitude);
 	bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float eph = NAN, float epv = NAN);
-	bool setEkfGlobalOriginFromCurrentPos(double latitude, double longitude, float altitude, float eph = NAN,
-					      float epv = NAN);
+	bool resetGlobalPositionTo(double latitude, double longitude, float altitude, float eph = NAN,
+				   float epv = NAN);

 	// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
 	void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const;
@@ -217,17 +219,14 @@ public:
 	void resetAccelBias();
 	void resetAccelBiasCov();

-	// return true if the global position estimate is valid
-	// return true if the origin is set we are not doing unconstrained free inertial navigation
-	// and have not started using synthetic position observations to constrain drift
 	bool isGlobalHorizontalPositionValid() const
 	{
-		return _pos_ref.isInitialized() && isLocalHorizontalPositionValid();
+		return _local_origin_lat_lon.isInitialized() && isLocalHorizontalPositionValid();
 	}

 	bool isGlobalVerticalPositionValid() const
 	{
-		return _pos_ref.isInitialized() && isLocalVerticalPositionValid();
+		return PX4_ISFINITE(_local_origin_alt) && isLocalVerticalPositionValid();
 	}

 	bool isLocalHorizontalPositionValid() const
@@ -375,8 +374,6 @@ public:
 #endif // CONFIG_EKF2_EXTERNAL_VISION

 #if defined(CONFIG_EKF2_GNSS)
-	void collect_gps(const gnssSample &gps);
-
 	// set minimum continuous period without GPS fail required to mark a healthy GPS status
 	void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; }

@@ -473,6 +470,8 @@ private:

 	StateSample _state{};		///< state struct of the ekf running at the delayed time horizon

+	LatLonAlt _gpos{0.0, 0.0, 0.f};
+
 	bool _filter_initialised{false};	///< true when the EKF sttes and covariances been initialised

 	uint64_t _time_last_horizontal_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
@@ -486,9 +485,10 @@ private:
 	uint64_t _time_last_heading_fuse{0};
 	uint64_t _time_last_terrain_fuse{0};

-	Vector3f _last_known_pos{};		///< last known local position vector (m)
+	LatLonAlt _last_known_gpos{};

-	Vector3f _earth_rate_NED{};	///< earth rotation vector (NED) in rad/s
+	Vector3f _earth_rate_NED{}; ///< earth rotation vector (NED) in rad/s
+	double _earth_rate_lat_ref_rad{0.0}; ///< latitude at which the earth rate was evaluated (radians)

 	Dcmf _R_to_earth{};	///< transformation matrix from body frame to earth frame from last EKF prediction

@@ -645,11 +645,11 @@ private:
 		P.slice<S.dof, S.dof>(S.idx, S.idx) = cov;
 	}

-	bool setLatLonOrigin(double latitude, double longitude, float eph = NAN);
-	bool setAltOrigin(float altitude, float epv = NAN);
+	bool setLatLonOrigin(double latitude, double longitude, float hpos_var = NAN);
+	bool setAltOrigin(float altitude, float vpos_var = NAN);

-	bool setLatLonOriginFromCurrentPos(double latitude, double longitude, float eph = NAN);
-	bool setAltOriginFromCurrentPos(float altitude, float epv = NAN);
+	bool resetLatLonTo(double latitude, double longitude, float hpos_var = NAN);
+	bool initialiseAltitudeTo(float altitude, float vpos_var = NAN);

 	// update quaternion states and covariances using an innovation, observation variance and Jacobian vector
 	bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW);
@@ -711,14 +711,22 @@ private:

 	void resetHorizontalPositionToLastKnown();

-	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var);
-	void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); }
+	void resetHorizontalPositionTo(const double &new_latitude, const double &new_longitude,
+				       const Vector2f &new_horz_pos_var);
+	void resetHorizontalPositionTo(const double &new_latitude, const double &new_longitude, const float pos_var = NAN) { resetHorizontalPositionTo(new_latitude, new_longitude, Vector2f(pos_var, pos_var)); }
+	void resetHorizontalPositionTo(const Vector2f &new_pos, const Vector2f &new_horz_pos_var);
+
+	Vector2f getLocalHorizontalPosition() const;
+
+	Vector2f computeDeltaHorizontalPosition(const double &new_latitude, const double &new_longitude) const;
+	void updateHorizontalPositionResetStatus(const Vector2f &delta);

 	void resetWindTo(const Vector2f &wind, const Vector2f &wind_var);

 	bool isHeightResetRequired() const;

-	void resetVerticalPositionTo(float new_vert_pos, float new_vert_pos_var = NAN);
+	void resetAltitudeTo(float new_altitude, float new_vert_pos_var = NAN);
+	void updateVerticalPositionResetStatus(const float delta_z);

 	void resetVerticalVelocityToZero();

@@ -740,6 +748,7 @@ private:
 	void controlTerrainFakeFusion();

 	void updateTerrainValidity();
+	void updateTerrainResetStatus(const float delta_z);

 # if defined(CONFIG_EKF2_RANGE_FINDER)
 	// update the terrain vertical position estimate using a height above ground measurement from the range finder
@@ -832,6 +841,7 @@ private:
 	void startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src);
 	void updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient,
 			       bool reset, estimator_aid_source2d_s &aid_src);
+
 	void stopEvPosFusion();
 	void stopEvHgtFusion();
 	void stopEvVelFusion();
@@ -1049,9 +1059,9 @@ private:
 	}

 	// helper used for populating and filtering estimator aid source struct for logging
-	template <typename T, typename S>
+	template <typename T, typename S, typename D>
 	void updateAidSourceStatus(T &status, const uint64_t &timestamp_sample,
-				   const S &observation, const S &observation_variance,
+				   const D &observation, const S &observation_variance,
 				   const S &innovation, const S &innovation_variance,
 				   float innovation_gate = 1.f) const
 	{
@@ -1106,7 +1116,7 @@ private:

 			status.test_ratio[i] = test_ratio;

-			status.observation[i] = observation(i);
+			status.observation[i] = static_cast<double>(observation(i));
 			status.observation_variance[i] = observation_variance(i);

 			status.innovation[i] = innovation(i);
@@ -65,9 +65,9 @@ Vector3f Ekf::calcEarthRateNED(float lat_rad) const

 void Ekf::getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const
 {
-	origin_time = _pos_ref.getProjectionReferenceTimestamp();
-	latitude = _pos_ref.getProjectionReferenceLat();
-	longitude = _pos_ref.getProjectionReferenceLon();
+	origin_time = _local_origin_lat_lon.getProjectionReferenceTimestamp();
+	latitude = _local_origin_lat_lon.getProjectionReferenceLat();
+	longitude = _local_origin_lat_lon.getProjectionReferenceLon();
 	origin_alt  = getEkfGlobalOriginAltitude();
 }

@@ -85,156 +85,170 @@ bool Ekf::checkAltitudeValidity(const float altitude)
 	return (PX4_ISFINITE(altitude) && ((altitude > -12'000.f) && (altitude < 100'000.f)));
 }

-bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float eph,
-			     const float epv)
+bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude, const float hpos_var,
+			     const float vpos_var)
 {
-	if (!setLatLonOrigin(latitude, longitude, eph)) {
+	if (!setLatLonOrigin(latitude, longitude, hpos_var)) {
 		return false;
 	}

 	// altitude is optional
-	setAltOrigin(altitude, epv);
+	setAltOrigin(altitude, vpos_var);

 	return true;
 }

-bool Ekf::setLatLonOrigin(const double latitude, const double longitude, const float eph)
+bool Ekf::setLatLonOrigin(const double latitude, const double longitude, const float hpos_var)
 {
 	if (!checkLatLonValidity(latitude, longitude)) {
 		return false;
 	}

-	bool current_pos_available = false;
-	double current_lat = static_cast<double>(NAN);
-	double current_lon = static_cast<double>(NAN);
+	if (!_local_origin_lat_lon.isInitialized() && isLocalHorizontalPositionValid()) {
+		// Already navigating in a local frame, use the origin to initialize global position
+		const Vector2f pos_prev = getLocalHorizontalPosition();
+		_local_origin_lat_lon.initReference(latitude, longitude, _time_delayed_us);
+		double new_latitude;
+		double new_longitude;
+		_local_origin_lat_lon.reproject(pos_prev(0), pos_prev(1), new_latitude, new_longitude);
+		resetHorizontalPositionTo(new_latitude, new_longitude, hpos_var);

-	// if we are already doing aiding, correct for the change in position since the EKF started navigating
-	if (_pos_ref.isInitialized() && isLocalHorizontalPositionValid()) {
-		_pos_ref.reproject(_state.pos(0), _state.pos(1), current_lat, current_lon);
-		current_pos_available = true;
-	}
-
-	// reinitialize map projection to latitude, longitude, altitude, and reset position
-	_pos_ref.initReference(latitude, longitude, _time_delayed_us);
-
-	if (PX4_ISFINITE(eph) && (eph >= 0.f)) {
-		_gpos_origin_eph = eph;
-	}
-
-	if (current_pos_available) {
-		// reset horizontal position if we already have a global origin
-		Vector2f position = _pos_ref.project(current_lat, current_lon);
-		resetHorizontalPositionTo(position);
+	} else {
+		// Simply move the origin and compute the change in local position
+		const Vector2f pos_prev = getLocalHorizontalPosition();
+		_local_origin_lat_lon.initReference(latitude, longitude, _time_delayed_us);
+		const Vector2f pos_new = getLocalHorizontalPosition();
+		const Vector2f delta_pos = pos_new - pos_prev;
+		updateHorizontalPositionResetStatus(delta_pos);
 	}

 	return true;
 }

-bool Ekf::setAltOrigin(const float altitude, const float epv)
+bool Ekf::setAltOrigin(const float altitude, const float vpos_var)
 {
 	if (!checkAltitudeValidity(altitude)) {
 		return false;
 	}

-	const float gps_alt_ref_prev = _gps_alt_ref;
-	_gps_alt_ref = altitude;
+	ECL_INFO("EKF origin altitude %.1fm -> %.1fm", (double)_local_origin_alt,
+		 (double)altitude);

-	if (PX4_ISFINITE(epv) && (epv >= 0.f)) {
-		_gpos_origin_epv = epv;
-	}
+	if (!PX4_ISFINITE(_local_origin_alt) && isLocalVerticalPositionValid()) {
+		const float local_alt_prev = _gpos.altitude();
+		_local_origin_alt = altitude;
+		resetAltitudeTo(local_alt_prev + _local_origin_alt);

-	if (PX4_ISFINITE(gps_alt_ref_prev) && isLocalVerticalPositionValid()) {
-		// determine current z
-		const float z_prev = _state.pos(2);
-		const float current_alt = -z_prev + gps_alt_ref_prev;
-#if defined(CONFIG_EKF2_GNSS)
-		const float gps_hgt_bias = _gps_hgt_b_est.getBias();
-#endif // CONFIG_EKF2_GNSS
-		resetVerticalPositionTo(_gps_alt_ref - current_alt);
-		ECL_DEBUG("EKF global origin updated, resetting vertical position %.1fm -> %.1fm", (double)z_prev,
-			  (double)_state.pos(2));
-#if defined(CONFIG_EKF2_GNSS)
-		// adjust existing GPS height bias
-		_gps_hgt_b_est.setBias(gps_hgt_bias);
-#endif // CONFIG_EKF2_GNSS
+	} else {
+		const float delta_origin_alt = altitude - _local_origin_alt;
+		_local_origin_alt = altitude;
+		updateVerticalPositionResetStatus(-delta_origin_alt);
+
+#if defined(CONFIG_EKF2_TERRAIN)
+		updateTerrainResetStatus(-delta_origin_alt);
+#endif // CONFIG_EKF2_TERRAIN
 	}

 	return true;
 }

-bool Ekf::setEkfGlobalOriginFromCurrentPos(const double latitude, const double longitude, const float altitude,
-		const float eph, const float epv)
+bool Ekf::resetGlobalPositionTo(const double latitude, const double longitude, const float altitude,
+				const float hpos_var, const float vpos_var)
 {
-	if (!setLatLonOriginFromCurrentPos(latitude, longitude, eph)) {
+	if (!resetLatLonTo(latitude, longitude, hpos_var)) {
 		return false;
 	}

 	// altitude is optional
-	setAltOriginFromCurrentPos(altitude, epv);
+	initialiseAltitudeTo(altitude, vpos_var);

 	return true;
 }

-bool Ekf::setLatLonOriginFromCurrentPos(const double latitude, const double longitude, const float eph)
+bool Ekf::resetLatLonTo(const double latitude, const double longitude, const float hpos_var)
 {
 	if (!checkLatLonValidity(latitude, longitude)) {
 		return false;
 	}

-	_pos_ref.initReference(latitude, longitude, _time_delayed_us);
+	Vector2f pos_prev;

-	// if we are already doing aiding, correct for the change in position since the EKF started navigating
-	if (isLocalHorizontalPositionValid()) {
-		double est_lat;
-		double est_lon;
-		_pos_ref.reproject(-_state.pos(0), -_state.pos(1), est_lat, est_lon);
-		_pos_ref.initReference(est_lat, est_lon, _time_delayed_us);
+	if (!_local_origin_lat_lon.isInitialized()) {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		pos_prev = zero_ref.project(_gpos.latitude_deg(), _gpos.longitude_deg());
+
+		_local_origin_lat_lon.initReference(latitude, longitude, _time_delayed_us);
+
+		// if we are already doing aiding, correct for the change in position since the EKF started navigating
+		if (isLocalHorizontalPositionValid()) {
+			double est_lat;
+			double est_lon;
+			_local_origin_lat_lon.reproject(-pos_prev(0), -pos_prev(1), est_lat, est_lon);
+			_local_origin_lat_lon.initReference(est_lat, est_lon, _time_delayed_us);
+		}
+
+		ECL_INFO("Origin set to lat=%.6f, lon=%.6f",
+			 _local_origin_lat_lon.getProjectionReferenceLat(), _local_origin_lat_lon.getProjectionReferenceLon());
+
+	} else {
+		pos_prev = _local_origin_lat_lon.project(_gpos.latitude_deg(), _gpos.longitude_deg());
 	}

-	if (PX4_ISFINITE(eph) && (eph >= 0.f)) {
-		_gpos_origin_eph = eph;
+	_gpos.setLatLonDeg(latitude, longitude);
+	_output_predictor.resetLatLonTo(latitude, longitude);
+
+	const Vector2f delta_horz_pos = getLocalHorizontalPosition() - pos_prev;
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - delta_horz_pos);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+
+	updateHorizontalPositionResetStatus(delta_horz_pos);
+
+	if (PX4_ISFINITE(hpos_var)) {
+		P.uncorrelateCovarianceSetVariance<2>(State::pos.idx, math::max(sq(0.01f), hpos_var));
 	}

+	// Reset the timout timer
+	_time_last_hor_pos_fuse = _time_delayed_us;
+
 	return true;
 }

-bool Ekf::setAltOriginFromCurrentPos(const float altitude, const float epv)
+bool Ekf::initialiseAltitudeTo(const float altitude, const float vpos_var)
 {
 	if (!checkAltitudeValidity(altitude)) {
 		return false;
 	}

-	_gps_alt_ref = altitude + _state.pos(2);
+	if (!PX4_ISFINITE(_local_origin_alt)) {
+		const float local_alt_prev = _gpos.altitude();

-	if (PX4_ISFINITE(epv) && (epv >= 0.f)) {
-		_gpos_origin_epv = epv;
+		if (isLocalVerticalPositionValid()) {
+			_local_origin_alt = altitude - local_alt_prev;
+
+		} else {
+			_local_origin_alt = altitude;
+		}
+
+		ECL_INFO("Origin alt=%.3f", (double)_local_origin_alt);
 	}

+	resetAltitudeTo(altitude, vpos_var);
+
 	return true;
 }

 void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
 {
-	float eph = INFINITY;
-	float epv = INFINITY;
-
 	if (global_origin_valid()) {
-		// report absolute accuracy taking into account the uncertainty in location of the origin
-		eph = sqrtf(P.trace<2>(State::pos.idx + 0) + sq(_gpos_origin_eph));
-		epv = sqrtf(P.trace<1>(State::pos.idx + 2) + sq(_gpos_origin_epv));
+		get_ekf_lpos_accuracy(ekf_eph, ekf_epv);

-		if (_horizontal_deadreckon_time_exceeded) {
-			float lpos_eph = 0.f;
-			float lpos_epv = 0.f;
-			get_ekf_lpos_accuracy(&lpos_eph, &lpos_epv);
-
-			eph = math::max(eph, lpos_eph);
-			epv = math::max(epv, lpos_epv);
-		}
+	} else {
+		*ekf_eph = INFINITY;
+		*ekf_epv = INFINITY;
 	}
-
-	*ekf_eph = eph;
-	*ekf_epv = epv;
 }

 void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
@@ -726,7 +740,13 @@ void Ekf::fuse(const VectorState &K, float innovation)
 	_state.vel = matrix::constrain(_state.vel - K.slice<State::vel.dof, 1>(State::vel.idx, 0) * innovation, -1.e3f, 1.e3f);

 	// pos
-	_state.pos = matrix::constrain(_state.pos - K.slice<State::pos.dof, 1>(State::pos.idx, 0) * innovation, -1.e6f, 1.e6f);
+	const Vector3f pos_correction = K.slice<State::pos.dof, 1>(State::pos.idx, 0) * (-innovation);
+
+	// Accumulate position in global coordinates
+	_gpos += pos_correction;
+	_state.pos.zero();
+	// Also store altitude in the state vector as this is used for optical flow fusion
+	_state.pos(2) = -_gpos.altitude();

 	// gyro_bias
 	_state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice<State::gyro_bias.dof, 1>(State::gyro_bias.idx,
@@ -568,6 +568,26 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 	return true;
 }

+Vector3f EstimatorInterface::getPosition() const
+{
+	LatLonAlt lla = _output_predictor.getLatLonAlt();
+	float x;
+	float y;
+
+	if (_local_origin_lat_lon.isInitialized()) {
+		_local_origin_lat_lon.project(lla.latitude_deg(), lla.longitude_deg(), x, y);
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		zero_ref.project(lla.latitude_deg(), lla.longitude_deg(), x, y);
+	}
+
+	const float z = -(lla.altitude() - getEkfGlobalOriginAltitude());
+
+	return Vector3f(x, y, z);
+}
+
 bool EstimatorInterface::isOnlyActiveSourceOfHorizontalAiding(const bool aiding_flag) const
 {
 	return aiding_flag && !isOtherSourceOfHorizontalAidingThan(aiding_flag);
@@ -42,6 +42,7 @@
 #ifndef EKF_ESTIMATOR_INTERFACE_H
 #define EKF_ESTIMATOR_INTERFACE_H

+#include "lat_lon_alt/lat_lon_alt.hpp"
 #if defined(MODULE_NAME)
 #include <px4_platform_common/log.h>
 # define ECL_INFO PX4_DEBUG
@@ -241,7 +242,8 @@ public:
 	Vector3f getVelocity() const { return _output_predictor.getVelocity(); }
 	const Vector3f &getVelocityDerivative() const { return _output_predictor.getVelocityDerivative(); }
 	float getVerticalPositionDerivative() const { return _output_predictor.getVerticalPositionDerivative(); }
-	Vector3f getPosition() const { return _output_predictor.getPosition(); }
+	Vector3f getPosition() const;
+	LatLonAlt getLatLonAlt() const { return _output_predictor.getLatLonAlt(); }
 	const Vector3f &getOutputTrackingError() const { return _output_predictor.getOutputTrackingError(); }

 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -307,9 +309,9 @@ public:
 	const imuSample &get_imu_sample_delayed() const { return _imu_buffer.get_oldest(); }
 	const uint64_t &time_delayed_us() const { return _time_delayed_us; }

-	bool global_origin_valid() const { return _pos_ref.isInitialized(); }
-	const MapProjection &global_origin() const { return _pos_ref; }
-	float getEkfGlobalOriginAltitude() const { return PX4_ISFINITE(_gps_alt_ref) ? _gps_alt_ref : 0.f; }
+	bool global_origin_valid() const { return _local_origin_lat_lon.isInitialized(); }
+	const MapProjection &global_origin() const { return _local_origin_lat_lon; }
+	float getEkfGlobalOriginAltitude() const { return PX4_ISFINITE(_local_origin_alt) ? _local_origin_alt : 0.f; }

 	OutputPredictor &output_predictor() { return _output_predictor; };

@@ -379,10 +381,8 @@ protected:
 	bool _initialised{false};      // true if the ekf interface instance (data buffering) is initialized

 	// Variables used to publish the WGS-84 location of the EKF local NED origin
-	MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin
-	float _gps_alt_ref{NAN};		///< WGS-84 height (m)
-	float _gpos_origin_eph{0.0f}; // horizontal position uncertainty of the global origin
-	float _gpos_origin_epv{0.0f}; // vertical position uncertainty of the global origin
+	MapProjection _local_origin_lat_lon{};
+	float _local_origin_alt{NAN};

 #if defined(CONFIG_EKF2_GNSS)
 	RingBuffer<gnssSample> *_gps_buffer {nullptr};
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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(lat_lon_alt
+	lat_lon_alt.cpp
+	lat_lon_alt.hpp
+)
+
+add_dependencies(lat_lon_alt prebuild_targets)
+target_include_directories(lat_lon_alt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_compile_options(lat_lon_alt PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+
+px4_add_unit_gtest(SRC test_lat_lon_alt.cpp LINKLIBS lat_lon_alt geo)
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   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 "lat_lon_alt.hpp"
+
+using matrix::Vector3f;
+using matrix::Vector2d;
+
+Vector3f LatLonAlt::computeAngularRateNavFrame(const Vector3f &v_ned) const
+{
+	double r_n;
+	double r_e;
+	computeRadiiOfCurvature(_latitude_rad, r_n, r_e);
+	return Vector3f(
+		       v_ned(1) / (static_cast<float>(r_e) + _altitude),
+		       -v_ned(0) / (static_cast<float>(r_n) + _altitude),
+		       -v_ned(1) * tanf(_latitude_rad) / (static_cast<float>(r_e) + _altitude));
+}
+
+Vector2d LatLonAlt::deltaLatLonToDeltaXY(const double latitude, const float altitude)
+{
+	double r_n;
+	double r_e;
+	computeRadiiOfCurvature(latitude, r_n, r_e);
+	const double dn_dlat = r_n + static_cast<double>(altitude);
+	const double de_dlon = (r_e + static_cast<double>(altitude)) * cos(latitude);
+
+	return Vector2d(dn_dlat, de_dlon);
+}
+
+void LatLonAlt::computeRadiiOfCurvature(const double latitude, double &meridian_radius_of_curvature,
+					double &transverse_radius_of_curvature)
+{
+	const double tmp = 1.0 - pow(Wgs84::eccentricity * sin(latitude), 2);
+	const double sqrt_tmp = std::sqrt(tmp);
+	meridian_radius_of_curvature = Wgs84::meridian_radius_of_curvature_numerator / (tmp * tmp * sqrt_tmp);
+	transverse_radius_of_curvature = Wgs84::equatorial_radius / sqrt_tmp;
+}
+
+LatLonAlt LatLonAlt::operator+(const matrix::Vector3f &delta_pos) const
+{
+	const matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(latitude_rad(), altitude());
+	const double latitude_rad = matrix::wrap_pi(_latitude_rad + static_cast<double>(delta_pos(0)) / d_lat_lon_to_d_xy(0));
+	const double longitude_rad = matrix::wrap_pi(_longitude_rad + static_cast<double>(delta_pos(1)) / d_lat_lon_to_d_xy(1));
+	const float altitude = _altitude - delta_pos(2);
+
+	LatLonAlt lla_new;
+	lla_new.setLatLonRad(latitude_rad, longitude_rad);
+	lla_new.setAltitude(altitude);
+	return lla_new;
+}
+
+void LatLonAlt::operator+=(const matrix::Vector3f &delta_pos)
+{
+	matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(_latitude_rad, _altitude);
+	_latitude_rad = matrix::wrap_pi(_latitude_rad + static_cast<double>(delta_pos(0)) / d_lat_lon_to_d_xy(0));
+	_longitude_rad = matrix::wrap_pi(_longitude_rad + static_cast<double>(delta_pos(1)) / d_lat_lon_to_d_xy(1));
+	_altitude -= delta_pos(2);
+}
+
+void LatLonAlt::operator+=(const matrix::Vector2f &delta_pos)
+{
+	matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(_latitude_rad, _altitude);
+	_latitude_rad = matrix::wrap_pi(_latitude_rad + static_cast<double>(delta_pos(0)) / d_lat_lon_to_d_xy(0));
+	_longitude_rad = matrix::wrap_pi(_longitude_rad + static_cast<double>(delta_pos(1)) / d_lat_lon_to_d_xy(1));
+}
+
+matrix::Vector3f LatLonAlt::operator-(const LatLonAlt &lla) const
+{
+	const double delta_lat = matrix::wrap_pi(_latitude_rad - lla.latitude_rad());
+	const double delta_lon = matrix::wrap_pi(_longitude_rad - lla.longitude_rad());
+	const float delta_alt = _altitude - lla.altitude();
+
+	const matrix::Vector2d d_lat_lon_to_d_xy = deltaLatLonToDeltaXY(_latitude_rad, _altitude);
+	return matrix::Vector3f(static_cast<float>(delta_lat * d_lat_lon_to_d_xy(0)),
+				static_cast<float>(delta_lon * d_lat_lon_to_d_xy(1)),
+				-delta_alt);
+}
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   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 "mathlib/math/Limits.hpp"
+#include <matrix/math.hpp>
+
+class LatLonAlt
+{
+public:
+	LatLonAlt() = default;
+	LatLonAlt(const LatLonAlt &lla)
+	{
+		_latitude_rad = lla.latitude_rad();
+		_longitude_rad = lla.longitude_rad();
+		_altitude = lla.altitude();
+	}
+
+	LatLonAlt(const double latitude_deg, const double longitude_deg, const float altitude_m)
+	{
+		_latitude_rad = math::radians(latitude_deg);
+		_longitude_rad = math::radians(longitude_deg);
+		_altitude = altitude_m;
+	}
+
+	void setZero() { _latitude_rad = 0.0; _longitude_rad = 0.0; _altitude = 0.f; }
+
+	double latitude_deg() const { return math::degrees(latitude_rad()); }
+	double longitude_deg() const { return math::degrees(longitude_rad()); }
+
+	const double &latitude_rad() const { return _latitude_rad; }
+	const double &longitude_rad() const { return _longitude_rad; }
+	float altitude() const { return _altitude; }
+
+	void setLatitudeDeg(const double &latitude_deg) { _latitude_rad = math::radians(latitude_deg); }
+	void setLongitudeDeg(const double &longitude_deg) { _longitude_rad = math::radians(longitude_deg); }
+	void setAltitude(const float altitude) { _altitude = altitude; }
+
+	void setLatLon(const LatLonAlt &lla) { _latitude_rad = lla.latitude_rad(); _longitude_rad = lla.longitude_rad(); }
+	void setLatLonDeg(const double latitude, const double longitude) { _latitude_rad = math::radians(latitude); _longitude_rad = math::radians(longitude); }
+	void setLatLonRad(const double latitude, const double longitude) { _latitude_rad = latitude; _longitude_rad = longitude; }
+
+	void print() const { printf("latitude = %f (deg), longitude = %f (deg), altitude = %f (m)\n", _latitude_rad, _longitude_rad, (double)_altitude); }
+
+	/*
+	 * The plus and minus operators below use approximations and should only be used when the Cartesian component is small
+	 */
+	LatLonAlt operator+(const matrix::Vector3f &delta_pos) const;
+	void operator+=(const matrix::Vector3f &delta_pos);
+	void operator+=(const matrix::Vector2f &delta_pos);
+	matrix::Vector3f operator-(const LatLonAlt &lla) const;
+
+	void operator=(const LatLonAlt &lla)
+	{
+		_latitude_rad = lla.latitude_rad();
+		_longitude_rad = lla.longitude_rad();
+		_altitude = lla.altitude();
+	}
+
+	/*
+	 * Compute the angular rate of the local navigation frame at the current latitude and height
+	 * with respect to an inertial frame and resolved in the navigation frame
+	 */
+	matrix::Vector3f computeAngularRateNavFrame(const matrix::Vector3f &v_ned) const;
+
+private:
+	// Convert between curvilinear and cartesian errors
+	static matrix::Vector2d deltaLatLonToDeltaXY(const double latitude, const float altitude);
+
+	static void computeRadiiOfCurvature(const double latitude, double &meridian_radius_of_curvature,
+					    double &transverse_radius_of_curvature);
+
+	struct Wgs84 {
+		static constexpr double equatorial_radius = 6378137.0;
+		static constexpr double eccentricity = 0.0818191908425;
+		static constexpr double meridian_radius_of_curvature_numerator = equatorial_radius * (1.0 - eccentricity *eccentricity);
+	};
+
+	double _latitude_rad{0.0};
+	double _longitude_rad{0.0};
+	float _altitude{0.0};
+};
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <matrix/math.hpp>
+#include <lib/geo/geo.h>
+
+#include "lat_lon_alt.hpp"
+
+using namespace matrix;
+using math::radians;
+using math::degrees;
+
+TEST(TestLatLonAlt, init)
+{
+	LatLonAlt lla(5.7, -2.3, 420);
+	ASSERT_FLOAT_EQ(lla.latitude_deg(), 5.7);
+	ASSERT_FLOAT_EQ(lla.longitude_deg(), -2.3);
+	ASSERT_EQ(lla.altitude(), 420);
+}
+
+TEST(TestLatLonAlt, set)
+{
+	LatLonAlt lla(0.0, 0.0, 0);
+	ASSERT_EQ(lla.latitude_rad(), 0.0);
+	ASSERT_EQ(lla.longitude_rad(), 0.0);
+	ASSERT_EQ(lla.altitude(), 0);
+
+	lla.setLatLonRad(0.1, -0.5);
+	lla.setAltitude(420);
+	ASSERT_EQ(lla.latitude_rad(), 0.1);
+	ASSERT_EQ(lla.longitude_rad(), -0.5);
+	ASSERT_EQ(lla.altitude(), 420);
+}
+
+TEST(TestLatLonAlt, copy)
+{
+	LatLonAlt lla(-0.8, -0.1, 500);
+
+	LatLonAlt lla_copy = lla;
+	ASSERT_EQ(lla_copy.latitude_deg(), -0.8);
+	ASSERT_EQ(lla_copy.longitude_deg(), -0.1);
+	ASSERT_EQ(lla_copy.altitude(), 500);
+}
+
+TEST(TestLatLonAlt, addDeltaPos)
+{
+	MapProjection pos_ref(60.0, 5.0);
+	LatLonAlt lla(pos_ref.getProjectionReferenceLat(), pos_ref.getProjectionReferenceLon(), 400.f);
+
+	Vector3f delta_pos(5.f, -2.f, 3.f);
+	lla += delta_pos;
+
+	double lat_new, lon_new;
+	pos_ref.reproject(delta_pos(0), delta_pos(1), lat_new, lon_new);
+
+	EXPECT_NEAR(lla.latitude_deg(), lat_new, 1e-6);
+	EXPECT_NEAR(lla.longitude_deg(), lon_new, 1e-6);
+	EXPECT_EQ(lla.altitude(), 397.f);
+}
+
+TEST(TestLatLonAlt, subLatLonAlt)
+{
+	MapProjection pos_ref(60.0, 5.0);
+	LatLonAlt lla(pos_ref.getProjectionReferenceLat(), pos_ref.getProjectionReferenceLon(), 0.f);
+
+	const Vector3f delta_pos_true(1.f, -2.f, 3.f);
+
+	double lat_new, lon_new;
+	pos_ref.reproject(delta_pos_true(0), delta_pos_true(1), lat_new, lon_new);
+	LatLonAlt lla_new(lat_new, lon_new, -3.f);
+	Vector3f delta_pos = lla_new - lla;
+
+	EXPECT_NEAR(delta_pos(0), delta_pos_true(0), 1e-2);
+	EXPECT_NEAR(delta_pos(1), delta_pos_true(1), 1e-2);
+	EXPECT_EQ(delta_pos(2), delta_pos_true(2));
+}
@@ -36,4 +36,4 @@ add_library(output_predictor
 	output_predictor.h
 )

-add_dependencies(output_predictor prebuild_targets)
+add_dependencies(output_predictor prebuild_targets lat_lon_alt)
@@ -69,7 +69,7 @@ void OutputPredictor::print_status()
 	       _output_vert_buffer.entries(), _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size());
 }

-void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state)
+void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const LatLonAlt &gpos_state)
 {
 	const outputSample &output_delayed = _output_buffer.get_oldest();

@@ -77,9 +77,12 @@ void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f
 	Quatf q_delta{quat_state * output_delayed.quat_nominal.inversed()};
 	q_delta.normalize();

-	// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
+	// calculate the velocity delta between the output and EKF at the EKF fusion time horizon
 	const Vector3f vel_delta = vel_state - output_delayed.vel;
-	const Vector3f pos_delta = pos_state - output_delayed.pos;
+
+	// zero the position error at delayed time and reset the global reference
+	const Vector3f pos_delta = -output_delayed.pos;
+	_global_ref = gpos_state;

 	// loop through the output filter state history and add the deltas
 	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
@@ -156,29 +159,15 @@ void OutputPredictor::resetVerticalVelocityTo(float delta_vert_vel)
 	_output_vert_new.vert_vel += delta_vert_vel;
 }

-void OutputPredictor::resetHorizontalPositionTo(const Vector2f &delta_horz_pos)
+void OutputPredictor::resetLatLonTo(const double &new_latitude, const double &new_longitude)
 {
-	for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		_output_buffer[index].pos.xy() += delta_horz_pos;
-	}
-
-	_output_new.pos.xy() += delta_horz_pos;
+	_global_ref.setLatitudeDeg(new_latitude);
+	_global_ref.setLongitudeDeg(new_longitude);
 }

-void OutputPredictor::resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change)
+void OutputPredictor::resetAltitudeTo(const float new_altitude, const float vert_pos_change)
 {
-	// apply the change in height / height rate to our newest height / height rate estimate
-	// which have already been taken out from the output buffer
-	_output_new.pos(2) += vert_pos_change;
-
-	// add the reset amount to the output observer buffered data
-	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-		_output_buffer[i].pos(2) += vert_pos_change;
-		_output_vert_buffer[i].vert_vel_integ += vert_pos_change;
-	}
-
-	// add the reset amount to the output observer vertical position state
-	_output_vert_new.vert_vel_integ = new_vert_pos;
+	_global_ref.setAltitude(new_altitude);
 }

 void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle,
@@ -261,7 +250,7 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 }

 void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
-		const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias,
+		const Quatf &quat_state, const Vector3f &vel_state, const LatLonAlt &gpos_state, const matrix::Vector3f &gyro_bias,
 		const matrix::Vector3f &accel_bias)
 {
 	// calculate an average filter update time
@@ -317,6 +306,8 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 	const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg, 10.f);
 	const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg, 10.f);

+	const Vector3f pos_state = gpos_state - _global_ref;
+
 	// calculate down velocity and position tracking errors
 	const float vert_vel_err = (vel_state(2) - output_vert_delayed.vert_vel);
 	const float vert_vel_integ_err = (pos_state(2) - output_vert_delayed.vert_vel_integ);
@@ -325,7 +316,7 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 	// using a PD feedback tuned to a 5% overshoot
 	const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f;

-	applyCorrectionToVerticalOutputBuffer(vert_vel_correction);
+	applyCorrectionToVerticalOutputBuffer(vert_vel_correction, pos_state(2));

 	// calculate velocity and position tracking errors
 	const Vector3f vel_err(vel_state - output_delayed.vel);
@@ -342,10 +333,14 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 	_pos_err_integ += pos_err;
 	const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f;

-	applyCorrectionToOutputBuffer(vel_correction, pos_correction);
+	// as the reference changes, adjust the position correction to keep a constant global position
+	const Vector3f pos_correction_with_ref_change = pos_correction - pos_state;
+	applyCorrectionToOutputBuffer(vel_correction, pos_correction_with_ref_change);
+
+	_global_ref = gpos_state;
 }

-void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_correction)
+void OutputPredictor::applyCorrectionToVerticalOutputBuffer(const float vert_vel_correction, const float pos_ref_change)
 {
 	// loop through the vertical output filter state history starting at the oldest and apply the corrections to the
 	// vert_vel states and propagate vert_vel_integ forward using the corrected vert_vel
@@ -367,7 +362,7 @@ void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_corre

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

 		// advance the index
 		index = (index + 1) % size;
@@ -37,6 +37,7 @@
 #include <matrix/math.hpp>

 #include "../RingBuffer.h"
+#include "../lat_lon_alt/lat_lon_alt.hpp"

 #include <lib/geo/geo.h>

@@ -52,7 +53,7 @@ public:

 	// modify output filter to match the the EKF state at the fusion time horizon
 	void alignOutputFilter(const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state,
-			       const matrix::Vector3f &pos_state);
+			       const LatLonAlt &gpos_state);
 	/*
 	* Implement a strapdown INS algorithm using the latest IMU data at the current time horizon.
 	* Buffer the INS states and calculate the difference with the EKF states at the delayed fusion time horizon.
@@ -67,7 +68,7 @@ public:
 				   const matrix::Vector3f &delta_velocity, const float delta_velocity_dt);

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

 	void resetQuaternion(const matrix::Quatf &quat_change);
@@ -75,8 +76,8 @@ public:
 	void resetHorizontalVelocityTo(const matrix::Vector2f &delta_horz_vel);
 	void resetVerticalVelocityTo(float delta_vert_vel);

-	void resetHorizontalPositionTo(const matrix::Vector2f &delta_horz_pos);
-	void resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change);
+	void resetLatLonTo(const double &new_latitude, const double &new_longitude);
+	void resetAltitudeTo(float new_altitude, float vert_pos_change);

 	void print_status();

@@ -106,13 +107,12 @@ public:
 	// get the derivative of the vertical position of the body frame origin in local NED earth frame
 	float getVerticalPositionDerivative() const { return _output_vert_new.vert_vel - _vel_imu_rel_body_ned(2); }

-	// get the position of the body frame origin in local earth frame
-	matrix::Vector3f getPosition() const
+	LatLonAlt getLatLonAlt() const
 	{
 		// rotate the position of the IMU relative to the boy origin into earth frame
 		const matrix::Vector3f pos_offset_earth{_R_to_earth_now * _imu_pos_body};
 		// subtract from the EKF position (which is at the IMU) to get position at the body origin
-		return _output_new.pos - pos_offset_earth;
+		return _global_ref + (_output_new.pos - pos_offset_earth);
 	}

 	// return an array containing the output predictor angular, velocity and position tracking
@@ -133,7 +133,7 @@ private:
 	* This provides an alternative vertical velocity output that is closer to the first derivative
 	* of the position but does degrade tracking relative to the EKF state.
 	*/
-	void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction);
+	void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction, const float pos_ref_change);

 	/*
 	* Calculate corrections to be applied to vel and pos output state history.
@@ -159,6 +159,8 @@ private:
 		float    dt{0.f};             ///< delta time (sec)
 	};

+	LatLonAlt _global_ref{0.0, 0.0, 0.f};
+
 	RingBuffer<outputSample> _output_buffer{12};
 	RingBuffer<outputVert> _output_vert_buffer{12};

@@ -36,7 +36,7 @@
 void Ekf::updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us,
 		const float observation, const float observation_variance, const float innovation_gate) const
 {
-	float innovation = _state.pos(2) - observation;
+	float innovation = -_gpos.altitude() - observation;
 	float innovation_variance = getStateVariance<State::pos>()(2) + observation_variance;

 	updateAidSourceStatus(aid_src, time_us,
@@ -93,10 +93,20 @@ bool Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src)
 	return aid_src.fused;
 }

-void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var)
+void Ekf::resetHorizontalPositionTo(const double &new_latitude, const double &new_longitude,
+				    const Vector2f &new_horz_pos_var)
 {
-	const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}};
-	_state.pos.xy() = new_horz_pos;
+	const Vector2f delta_horz_pos = computeDeltaHorizontalPosition(new_latitude, new_longitude);
+
+	updateHorizontalPositionResetStatus(delta_horz_pos);
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - delta_horz_pos);
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
+
+	_gpos.setLatLonDeg(new_latitude, new_longitude);
+	_output_predictor.resetLatLonTo(new_latitude, new_longitude);

 	if (PX4_ISFINITE(new_horz_pos_var(0))) {
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx, math::max(sq(0.01f), new_horz_pos_var(0)));
@@ -106,54 +116,89 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, math::max(sq(0.01f), new_horz_pos_var(1)));
 	}

-	_output_predictor.resetHorizontalPositionTo(delta_horz_pos);
-
-	// record the state change
-	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
-		_state_reset_status.posNE_change = delta_horz_pos;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.posNE_change += delta_horz_pos;
-	}
-
-	_state_reset_status.reset_count.posNE++;
-
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change);
-#endif // CONFIG_EKF2_EXTERNAL_VISION
-	//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
-
 	// Reset the timout timer
 	_time_last_hor_pos_fuse = _time_delayed_us;
 }

-void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
+Vector2f Ekf::computeDeltaHorizontalPosition(const double &new_latitude, const double &new_longitude) const
 {
-	const float old_vert_pos = _state.pos(2);
-	_state.pos(2) = new_vert_pos;
+	Vector2f pos;
+	Vector2f pos_new;
+
+	if (_local_origin_lat_lon.isInitialized()) {
+		_local_origin_lat_lon.project(_gpos.latitude_deg(), _gpos.longitude_deg(), pos(0), pos(1));
+		_local_origin_lat_lon.project(new_latitude, new_longitude, pos_new(0), pos_new(1));
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		zero_ref.project(_gpos.latitude_deg(), _gpos.longitude_deg(), pos(0), pos(1));
+		zero_ref.project(new_latitude, new_longitude, pos_new(0), pos_new(1));
+	}
+
+	return pos_new - pos;
+}
+
+Vector2f Ekf::getLocalHorizontalPosition() const
+{
+	if (_local_origin_lat_lon.isInitialized()) {
+		return _local_origin_lat_lon.project(_gpos.latitude_deg(), _gpos.longitude_deg());
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		return zero_ref.project(_gpos.latitude_deg(), _gpos.longitude_deg());
+	}
+}
+
+void Ekf::updateHorizontalPositionResetStatus(const Vector2f &delta)
+{
+	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
+		_state_reset_status.posNE_change = delta;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.posNE_change += delta;
+	}
+
+	_state_reset_status.reset_count.posNE++;
+}
+
+void Ekf::resetHorizontalPositionTo(const Vector2f &new_pos,
+				    const Vector2f &new_horz_pos_var)
+{
+	double new_latitude;
+	double new_longitude;
+
+	if (_local_origin_lat_lon.isInitialized()) {
+		_local_origin_lat_lon.reproject(new_pos(0), new_pos(1), new_latitude, new_longitude);
+
+	} else {
+		MapProjection zero_ref;
+		zero_ref.initReference(0.0, 0.0);
+		zero_ref.reproject(new_pos(0), new_pos(1), new_latitude, new_longitude);
+	}
+
+	resetHorizontalPositionTo(new_latitude, new_longitude, new_horz_pos_var);
+}
+
+void Ekf::resetAltitudeTo(const float new_altitude, float new_vert_pos_var)
+{
+	const float old_altitude = _gpos.altitude();
+	_gpos.setAltitude(new_altitude);

 	if (PX4_ISFINITE(new_vert_pos_var)) {
 		// the state variance is the same as the observation
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, math::max(sq(0.01f), new_vert_pos_var));
 	}

-	const float delta_z = new_vert_pos - old_vert_pos;
+	const float delta_z = -(new_altitude - old_altitude);

 	// apply the change in height / height rate to our newest height / height rate estimate
 	// which have already been taken out from the output buffer
-	_output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z);
+	_output_predictor.resetAltitudeTo(new_altitude, delta_z);

-	// record the state change
-	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
-		_state_reset_status.posD_change = delta_z;
-
-	} else {
-		// there's already a reset this update, accumulate total delta
-		_state_reset_status.posD_change += delta_z;
-	}
-
-	_state_reset_status.reset_count.posD++;
+	updateVerticalPositionResetStatus(delta_z);

 #if defined(CONFIG_EKF2_BAROMETER)
 	_baro_b_est.setBias(_baro_b_est.getBias() + delta_z);
@@ -166,9 +211,29 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
 #endif // CONFIG_EKF2_GNSS

 #if defined(CONFIG_EKF2_TERRAIN)
+	updateTerrainResetStatus(delta_z);
 	_state.terrain += delta_z;
+#endif // CONFIG_EKF2_TERRAIN

-	// record the state change
+	// Reset the timout timer
+	_time_last_hgt_fuse = _time_delayed_us;
+}
+
+void Ekf::updateVerticalPositionResetStatus(const float delta_z)
+{
+	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
+		_state_reset_status.posD_change = delta_z;
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.posD_change += delta_z;
+	}
+
+	_state_reset_status.reset_count.posD++;
+}
+
+void Ekf::updateTerrainResetStatus(const float delta_z)
+{
 	if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) {
 		_state_reset_status.hagl_change = delta_z;

@@ -178,17 +243,15 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
 	}

 	_state_reset_status.reset_count.hagl++;
-#endif // CONFIG_EKF2_TERRAIN
-
-	// Reset the timout timer
-	_time_last_hgt_fuse = _time_delayed_us;
 }

 void Ekf::resetHorizontalPositionToLastKnown()
 {
-	ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1));
+	ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_gpos.latitude_deg(),
+		 (double)_last_known_gpos.longitude_deg());
 	_information_events.flags.reset_pos_to_last_known = true;

 	// Used when falling back to non-aiding mode of operation
-	resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise));
+	resetHorizontalPositionTo(_last_known_gpos.latitude_deg(), _last_known_gpos.longitude_deg(),
+				  sq(_params.pos_noaid_noise));
 }
@@ -91,20 +91,21 @@ def generate_python_function(function_name, output_names):
 def build_state_struct(state, T="float"):
    out = "struct StateSample {\n"

-    def TypeFromLength(len):
-        if len == 1:
+    def get_px4_type(obj):
+        if isinstance(obj, sf.M11):
            return f"{T}"
-        elif len == 2:
+        elif isinstance(obj, sf.M21):
            return f"matrix::Vector2<{T}>"
-        elif len == 3:
+        elif isinstance(obj, sf.M31):
            return f"matrix::Vector3<{T}>"
-        elif len == 4:
+        elif isinstance(obj, sf.Rot3):
            return f"matrix::Quaternion<{T}>"
        else:
+            print(f"unknown type {type(obj)}")
            raise NotImplementedError

    for key, val in state.items():
-        out += f"\t{TypeFromLength(val.storage_dim())} {key}{{}};\n"
+        out += f"\t{get_px4_type(val)} {key}{{}};\n"

    state_size = state.storage_dim()
    out += f"\n\tmatrix::Vector<{T}, {state_size}> Data() const {{\n" \
@@ -43,7 +43,7 @@
 void Ekf::initTerrain()
 {
 	// assume a ground clearance
-	_state.terrain = _state.pos(2) + _params.rng_gnd_clearance;
+	_state.terrain = -_gpos.altitude() + _params.rng_gnd_clearance;

 	// use the ground clearance value as our uncertainty
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.rng_gnd_clearance));
@@ -53,7 +53,7 @@ void Ekf::controlTerrainFakeFusion()
 {
 	// If we are on ground, store the local position and time to use as a reference
 	if (!_control_status.flags.in_air) {
-		_last_on_ground_posD = _state.pos(2);
+		_last_on_ground_posD = -_gpos.altitude();
 		_control_status.flags.rng_fault = false;

 	} else if (!_control_status_prev.flags.in_air) {
@@ -1166,17 +1166,17 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
 {
 	if (_ekf.global_origin_valid() && _ekf.control_status().flags.yaw_align) {
-		const Vector3f position{_ekf.getPosition()};
-
 		// generate and publish global position data
 		vehicle_global_position_s global_pos{};
 		global_pos.timestamp_sample = timestamp;

-		// Position of local NED origin in GPS / WGS84 frame
-		_ekf.global_origin().reproject(position(0), position(1), global_pos.lat, global_pos.lon);
+		// Position GPS / WGS84 frame
+		const LatLonAlt lla = _ekf.getLatLonAlt();
+		global_pos.lat = lla.latitude_deg();
+		global_pos.lon = lla.longitude_deg();
 		global_pos.lat_lon_valid = _ekf.isGlobalHorizontalPositionValid();

-		global_pos.alt = -position(2) + _ekf.getEkfGlobalOriginAltitude(); // Altitude AMSL in meters
+		global_pos.alt = lla.altitude();
 		global_pos.alt_valid = _ekf.isGlobalVerticalPositionValid();

 #if defined(CONFIG_EKF2_GNSS)
@@ -1,391 +1,391 @@
 Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
-10000,1,-0.0094,-0.01,-3.2e-06,0.00023,7.3e-05,-0.011,7.2e-06,2.2e-06,-0.00045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.1,0.01,0.01,8.1e-05,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.032
-90000,1,-0.0094,-0.011,6.9e-05,-0.00047,0.0026,-0.026,-1.6e-05,0.00011,-0.0023,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.1,0.01,0.01,0.00036,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.058
-190000,1,-0.0094,-0.011,2.8e-05,6.9e-05,0.004,-0.041,-5.9e-06,0.00043,-0.0044,-3e-11,-2.7e-12,5.6e-13,0,0,-5e-08,0,0,0,0,0,0,0,0,0.1,0.011,0.011,0.00084,25,25,10,1e+02,1e+02,1,0.01,0.01,0.01,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.082
-290000,1,-0.0094,-0.011,6.3e-05,0.001,0.0064,-0.053,3.8e-05,0.00036,-0.007,9.1e-10,1e-10,-1.7e-11,0,0,-2.5e-06,0,0,0,0,0,0,0,0,0.1,0.012,0.012,0.00075,25,25,9.6,0.37,0.37,0.41,0.01,0.01,0.0049,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.11
-390000,1,-0.0094,-0.011,7e-05,0.0024,0.0083,-0.059,0.00021,0.0011,-0.0094,-1.1e-08,2.8e-09,2.9e-10,0,0,-1.5e-05,0,0,0,0,0,0,0,0,0.1,0.012,0.012,0.0012,25,25,8.1,0.97,0.97,0.32,0.01,0.01,0.0049,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.13
-490000,1,-0.0095,-0.012,2e-05,0.0039,0.0048,-0.06,0.00024,0.00049,-0.011,1.6e-06,-3.7e-07,-4.2e-08,0,0,-4.1e-05,0,0,0,0,0,0,0,0,0.1,0.013,0.013,0.00072,7.8,7.8,5.9,0.34,0.34,0.31,0.01,0.01,0.0021,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.16
-590000,1,-0.0095,-0.012,2.6e-05,0.006,0.0073,-0.059,0.00074,0.0011,-0.012,1.6e-06,-3.4e-07,-4e-08,0,0,-7.3e-05,0,0,0,0,0,0,0,0,0.1,0.015,0.015,0.00099,7.9,7.9,4.2,0.67,0.67,0.32,0.01,0.01,0.0021,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.18
-690000,1,-0.0096,-0.012,8.6e-05,0.0063,0.0052,-0.059,0.0005,0.00055,-0.013,5.5e-06,-3.2e-06,-1.8e-07,0,0,-0.00012,0,0,0,0,0,0,0,0,0.1,0.016,0.016,0.00061,2.7,2.7,2.8,0.26,0.26,0.29,0.01,0.01,0.00098,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.21
-790000,1,-0.0097,-0.013,9.9e-05,0.0086,0.0073,-0.063,0.0012,0.0012,-0.014,5.4e-06,-3.1e-06,-1.8e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.018,0.018,0.00077,2.8,2.8,2,0.42,0.42,0.28,0.01,0.01,0.00098,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.23
-890000,1,-0.0098,-0.013,0.00012,0.01,0.006,-0.077,0.00096,0.00072,-0.021,1.6e-05,-1.5e-05,-6.5e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.019,0.019,0.00051,1.3,1.3,2,0.2,0.2,0.43,0.0099,0.01,0.00053,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.26
-990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,-6.5e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.021,0.021,0.00062,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00053,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.28
-1090000,1,-0.01,-0.014,0.00013,0.016,0.0051,-0.11,0.0018,0.00086,-0.039,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.023,0.023,0.00043,0.93,0.93,2,0.17,0.17,0.84,0.0098,0.0098,0.00032,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.31
-1190000,1,-0.01,-0.014,0.0001,0.02,0.0053,-0.12,0.0035,0.0014,-0.051,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.025,0.025,0.00051,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00032,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.33
-1290000,1,-0.01,-0.014,0.00016,0.02,0.0044,-0.14,0.0027,0.00089,-0.064,8.5e-05,-0.00019,-5.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.026,0.026,0.00038,0.89,0.89,2,0.15,0.15,1.4,0.0095,0.0095,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.36
-1390000,1,-0.01,-0.014,0.00017,0.026,0.0042,-0.15,0.0051,0.0013,-0.078,8.5e-05,-0.00019,-5.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.028,0.028,0.00043,1.2,1.2,2,0.21,0.21,1.7,0.0095,0.0095,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.38
-1490000,1,-0.01,-0.014,0.00016,0.024,0.0029,-0.16,0.0038,0.00083,-0.093,0.00015,-0.00045,-1.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.027,0.027,0.00033,0.96,0.96,2,0.14,0.14,2.1,0.0088,0.0088,0.00014,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.41
-1590000,1,-0.01,-0.014,0.00015,0.03,0.0035,-0.18,0.0065,0.0012,-0.11,0.00015,-0.00045,-1.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.03,0.03,0.00037,1.3,1.3,2,0.2,0.2,2.6,0.0088,0.0088,0.00014,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.43
-1690000,1,-0.011,-0.014,0.00013,0.028,-0.00014,-0.19,0.0045,0.00062,-0.13,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.026,0.026,0.0003,1,1,2,0.14,0.14,3,0.0078,0.0078,0.0001,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.46
-1790000,1,-0.011,-0.014,9.8e-05,0.035,-0.002,-0.2,0.0076,0.00053,-0.15,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.028,0.028,0.00033,1.3,1.3,2,0.2,0.2,3.5,0.0078,0.0078,0.0001,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.48
-1890000,1,-0.011,-0.015,7.8e-05,0.043,-0.0033,-0.22,0.011,0.00027,-0.17,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.031,0.031,0.00037,1.7,1.7,2,0.31,0.31,4.1,0.0078,0.0078,0.0001,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.51
-1990000,1,-0.011,-0.014,8.9e-05,0.036,-0.0048,-0.23,0.0082,-0.00029,-0.19,0.00021,-0.0014,-3.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.025,0.025,0.00029,1.3,1.3,2.1,0.2,0.2,4.7,0.0067,0.0067,7.5e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.53
-2090000,1,-0.011,-0.014,5.1e-05,0.041,-0.0073,-0.24,0.012,-0.00089,-0.22,0.00021,-0.0014,-3.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.027,0.027,0.00032,1.7,1.7,2.1,0.31,0.31,5.3,0.0067,0.0067,7.5e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.56
-2190000,1,-0.011,-0.014,6.4e-05,0.033,-0.007,-0.26,0.0079,-0.00099,-0.24,0.00017,-0.002,-4.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.02,0.02,0.00027,1.2,1.2,2.1,0.2,0.2,6,0.0055,0.0055,5.7e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.58
-2290000,1,-0.011,-0.014,5.1e-05,0.039,-0.0095,-0.27,0.011,-0.0018,-0.27,0.00017,-0.002,-4.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.022,0.022,0.00029,1.5,1.5,2.1,0.3,0.3,6.7,0.0055,0.0055,5.7e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.61
-2390000,1,-0.011,-0.013,6.9e-05,0.03,-0.0089,-0.29,0.0074,-0.0015,-0.3,8.5e-05,-0.0025,-5e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.017,0.017,0.00024,1,1,2.1,0.19,0.19,7.4,0.0046,0.0046,4.5e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.63
-2490000,1,-0.011,-0.013,5.1e-05,0.035,-0.011,-0.3,0.011,-0.0025,-0.32,8.5e-05,-0.0025,-5e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.018,0.018,0.00026,1.3,1.3,2.1,0.28,0.28,8.2,0.0046,0.0046,4.5e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.66
-2590000,1,-0.011,-0.013,6.6e-05,0.026,-0.0093,-0.31,0.0068,-0.0018,-0.36,-2.2e-05,-0.0029,-5.6e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.014,0.014,0.00022,0.89,0.89,2.1,0.18,0.18,9.1,0.0038,0.0038,3.6e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.68
-2690000,1,-0.011,-0.013,6.3e-05,0.03,-0.011,-0.33,0.0097,-0.0028,-0.39,-2.2e-05,-0.0029,-5.6e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.015,0.015,0.00024,1.1,1.1,2.2,0.25,0.25,10,0.0038,0.0038,3.6e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.71
-2790000,1,-0.011,-0.013,5.8e-05,0.023,-0.0096,-0.34,0.0062,-0.002,-0.42,-0.00013,-0.0033,-6.1e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.011,0.011,0.00021,0.77,0.77,2.2,0.16,0.16,11,0.0032,0.0032,2.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.73
-2890000,1,-0.011,-0.013,8.3e-06,0.027,-0.012,-0.35,0.0087,-0.003,-0.46,-0.00013,-0.0033,-6.1e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.013,0.013,0.00022,0.95,0.95,2.2,0.23,0.23,12,0.0032,0.0032,2.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.76
-2990000,1,-0.011,-0.013,5.6e-05,0.022,-0.0098,-0.36,0.0057,-0.0021,-0.49,-0.00025,-0.0036,-6.4e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.0099,0.0099,0.00019,0.67,0.67,2.2,0.15,0.15,13,0.0027,0.0027,2.4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.78
-3090000,1,-0.011,-0.013,6e-05,0.025,-0.011,-0.38,0.008,-0.0032,-0.53,-0.00025,-0.0036,-6.4e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.1,0.011,0.011,0.00021,0.83,0.83,2.2,0.22,0.22,14,0.0027,0.0027,2.4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.81
-3190000,1,-0.011,-0.013,2.9e-06,0.02,-0.009,-0.39,0.0053,-0.0022,-0.57,-0.00036,-0.0039,-6.7e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.0087,0.0087,0.00018,0.59,0.59,2.3,0.14,0.14,15,0.0023,0.0023,2e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.83
-3290000,1,-0.011,-0.013,4.4e-05,0.023,-0.011,-0.4,0.0074,-0.0032,-0.61,-0.00036,-0.0039,-6.7e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.0096,0.0096,0.00019,0.73,0.73,2.3,0.2,0.2,16,0.0023,0.0023,2e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.86
-3390000,1,-0.011,-0.012,1.5e-05,0.018,-0.0095,-0.42,0.0049,-0.0022,-0.65,-0.00047,-0.0041,-6.9e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.0078,0.0078,0.00017,0.53,0.53,2.3,0.14,0.14,18,0.002,0.002,1.7e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.88
-3490000,1,-0.011,-0.013,8.2e-06,0.022,-0.012,-0.43,0.0069,-0.0033,-0.69,-0.00047,-0.0041,-6.9e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.0086,0.0086,0.00018,0.66,0.66,2.3,0.19,0.19,19,0.002,0.002,1.7e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.91
-3590000,1,-0.011,-0.012,3.2e-05,0.017,-0.011,-0.44,0.0047,-0.0023,-0.73,-0.00058,-0.0044,-7.1e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.007,0.007,0.00016,0.49,0.49,2.4,0.13,0.13,20,0.0017,0.0017,1.4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.93
-3690000,1,-0.011,-0.012,0.00015,0.019,-0.014,-0.46,0.0065,-0.0036,-0.78,-0.00058,-0.0044,-7.1e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.1,0.0077,0.0077,0.00017,0.6,0.6,2.4,0.18,0.18,22,0.0017,0.0017,1.4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.96
-3790000,1,-0.011,-0.012,0.0002,0.016,-0.014,-0.47,0.0044,-0.0027,-0.82,-0.0007,-0.0046,-7.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.1,0.0064,0.0064,0.00015,0.45,0.45,2.4,0.12,0.12,23,0.0014,0.0014,1.2e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,0.98
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@@ -180,15 +180,31 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
 	_ekf->set_vehicle_at_rest(false);
 	_ekf->set_is_fixed_wing(true);

+	const Vector3f pos_prev = _ekf->getPosition();
+
 	const double latitude_new  = -15.0000005;
 	const double longitude_new = -115.0000005;
 	const float altitude_new  = 1500.0;
 	const float eph = 50.f;
 	const float epv = 10.f;

-	_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new);
 	_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, altitude_new, eph, epv, 0);

+	const Vector3f pos = _ekf->getPosition();
+
+	// lat/lon is initialized so the local horizontal position remains constant
+	EXPECT_NEAR(pos(0), pos_prev(0), 1e-3f);
+	EXPECT_NEAR(pos(1), pos_prev(1), 1e-3f);
+
+	// alt is updated as the local altitude origin was already set
+	EXPECT_NEAR(pos(2), pos_prev(2) - (altitude_new - _ekf->getEkfGlobalOriginAltitude()), 1e-3f);
+
+	const LatLonAlt lla = _ekf->getLatLonAlt();
+	EXPECT_NEAR(lla.latitude_deg(), latitude_new, 1e-6f);
+	EXPECT_NEAR(lla.longitude_deg(), longitude_new, 1e-6f);
+	EXPECT_NEAR(lla.altitude(), altitude_new, 1e-3f);
+
+
 	// Simulate the fact that the sideslip can start immediately, without
 	// waiting for a measurement sample.
 	_ekf_wrapper.enableBetaFusion();
@@ -227,7 +243,6 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoningLatLonAltReset)
 	const float eph = 50.f;
 	const float epv = 1.f;

-	_ekf->setEkfGlobalOrigin(latitude, longitude, altitude);
 	_ekf->resetGlobalPosToExternalObservation(latitude, longitude, altitude, eph, epv, 0);

 	_ekf_wrapper.enableBetaFusion();
@@ -219,19 +219,22 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 	_altitude_new  = 100.0;

 	_sensor_simulator.startGps();
-	_ekf->set_min_required_gps_health_time(1e6);
-	_sensor_simulator.runSeconds(1);
+	_ekf_wrapper.enableGpsHeightFusion();

 	_sensor_simulator.setGpsLatitude(_latitude_new);
 	_sensor_simulator.setGpsLongitude(_longitude_new);
 	_sensor_simulator.setGpsAltitude(_altitude_new);
+	_ekf->set_min_required_gps_health_time(1e6);
+	_sensor_simulator.runSeconds(1);
 	_sensor_simulator.runSeconds(5);

 	_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);

 	EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
-	EXPECT_NEAR(_altitude, _altitude_new, 0.01f);
+
+	// In baro height ref the origin is set using baro data and not GNSS altitude
+	EXPECT_NEAR(_altitude, _sensor_simulator._baro.getData(), 0.01f);

 	// Note: we cannot reset too far since the local position is limited to 1e6m
 	_latitude_new  = 14.0000005;
@@ -261,11 +264,13 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)

 TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized)
 {
-	_ekf->getEkfGlobalOrigin(_origin_time, _latitude_new, _longitude_new, _altitude_new);
+	_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);

 	EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
-	EXPECT_FLOAT_EQ(_altitude, _altitude_new);
+
+	// In baro height ref the origin is set using baro data and not GNSS altitude
+	EXPECT_NEAR(_altitude, _sensor_simulator._baro.getData(), 0.01f);

 	EXPECT_FALSE(_ekf->global_origin_valid());

@@ -345,3 +345,49 @@ TEST_F(EkfFlowTest, yawMotionNoMagFusion)
 	_ekf->state().vector().print();
 	_ekf->covariances().print();
 }
+
+TEST_F(EkfFlowTest, deadReckoning)
+{
+	ResetLoggingChecker reset_logging_checker(_ekf);
+
+	// WHEN: simulate being 5m above ground
+	const float simulated_distance_to_ground = 5.f;
+	_sensor_simulator._trajectory[2].setCurrentPosition(-simulated_distance_to_ground);
+	startRangeFinderFusion(simulated_distance_to_ground);
+
+	_ekf->set_in_air_status(true);
+	_ekf->set_vehicle_at_rest(false);
+
+	// WHEN: moving a couple of meters while doing flow dead_reckoning
+	Vector3f simulated_velocity(0.5f, -0.2f, 0.f);
+	_sensor_simulator._trajectory[0].setCurrentVelocity(simulated_velocity(0));
+	_sensor_simulator._trajectory[1].setCurrentVelocity(simulated_velocity(1));
+	_sensor_simulator.setTrajectoryTargetVelocity(simulated_velocity);
+	_ekf_wrapper.enableFlowFusion();
+	_sensor_simulator.startFlow();
+
+	_sensor_simulator.runTrajectorySeconds(5.f);
+
+	simulated_velocity = Vector3f(0.f, 0.f, 0.f);
+	_sensor_simulator.setTrajectoryTargetVelocity(simulated_velocity);
+
+	_sensor_simulator.runTrajectorySeconds(_sensor_simulator._trajectory[0].getTotalTime());
+
+	EXPECT_FALSE(_ekf->isGlobalHorizontalPositionValid());
+	EXPECT_TRUE(_ekf->isLocalHorizontalPositionValid());
+	const Vector3f lpos_before_reset = _ekf->getPosition();
+	const float altitude_ref_prev = _ekf->getEkfGlobalOriginAltitude();
+
+	const double latitude_new  = -15.0000005;
+	const double longitude_new = -115.0000005;
+	const float altitude_new  = 1500.0;
+	const float eph = 50.f;
+	const float epv = 10.f;
+	_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new, eph, epv);
+
+	const Vector3f lpos_after_reset = _ekf->getPosition();
+
+	EXPECT_NEAR(lpos_after_reset(0), lpos_before_reset(0), 1e-3);
+	EXPECT_NEAR(lpos_after_reset(1), lpos_before_reset(1), 1e-3);
+	EXPECT_NEAR(lpos_after_reset(2), lpos_before_reset(2) + (altitude_new - altitude_ref_prev), 1e-3);
+}
@@ -164,7 +164,7 @@ TEST_F(EkfGpsTest, resetToGpsPosition)

 	// AND: simulate jump in position
 	_sensor_simulator.startGps();
-	const Vector3f simulated_position_change(2.0f, -1.0f, 0.f);
+	const Vector3f simulated_position_change(20.0f, -1.0f, 0.f);
 	_sensor_simulator._gps.stepHorizontalPositionByMeters(
 		Vector2f(simulated_position_change));
 	_sensor_simulator.runSeconds(6);
@@ -123,7 +123,7 @@ TEST_F(EkfHeightFusionTest, baroRef)
 	/* EXPECT_EQ(status.bias, _sensor_simulator._baro.getData()); */ // This is the real bias, but the estimator isn't running so the status isn't updated
 	EXPECT_EQ(baro_status.bias, 0.f);
 	const BiasEstimator::status &gps_status = _ekf->getGpsHgtBiasEstimatorStatus();
-	EXPECT_NEAR(gps_status.bias, -baro_increment, 0.2f);
+	EXPECT_NEAR(gps_status.bias, _sensor_simulator._gps.getData().alt - _sensor_simulator._baro.getData(), 0.2f);

 	const float terrain = _ekf->getTerrainVertPos();
 	EXPECT_NEAR(terrain, -baro_increment, 1.2f);
@@ -170,8 +170,13 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
 	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeightFusion());

-	// AND WHEN: the baro data increases
 	const float baro_initial = _sensor_simulator._baro.getData();
+
+	const BiasEstimator::status &baro_status_initial = _ekf->getBaroBiasEstimatorStatus();
+	const float baro_rel_initial = baro_initial - _sensor_simulator._gps.getData().alt;
+	EXPECT_NEAR(baro_status_initial.bias, baro_rel_initial, 0.6f);
+
+	// AND WHEN: the baro data increases
 	const float baro_increment = 5.f;
 	_sensor_simulator._baro.setData(baro_initial + baro_increment);
 	_sensor_simulator.runSeconds(100);
@@ -180,7 +185,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	// the GPS height value and the baro gets its bias estimated
 	EXPECT_NEAR(_ekf->getPosition()(2), 0.f, 1.f);
 	const BiasEstimator::status &baro_status = _ekf->getBaroBiasEstimatorStatus();
-	EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f);
+	EXPECT_NEAR(baro_status.bias, baro_rel_initial + baro_increment, 1.3f);

 	const float terrain = _ekf->getTerrainVertPos();
 	EXPECT_NEAR(terrain, 0.f, 1.1f); // TODO: why?
@@ -196,7 +201,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
-	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_initial + baro_increment - gps_step, 0.2f);
+	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_rel_initial + baro_increment - gps_step, 0.2f);

 	// and the innovations are close to zero
 	EXPECT_NEAR(_ekf->aid_src_baro_hgt().innovation, 0.f, 0.2f);
@@ -367,6 +372,7 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)

 	ResetLoggingChecker reset_logging_checker(_ekf);
 	reset_logging_checker.capturePreResetState();
+	const float baro_bias_prev = _ekf->getBaroBiasEstimatorStatus().bias;

 	const float alt_increment = 4478.f;
 	_ekf->setEkfGlobalOrigin(lat, lon, alt + alt_increment);
@@ -376,9 +382,12 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)
 	EXPECT_NEAR(_ekf->getPosition()(2), alt_increment, 1.f);

 	reset_logging_checker.capturePostResetState();
-	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, _sensor_simulator._baro.getData() + alt_increment, 0.2f);
+
+	// An origin reset doesn't change the baro bias as it is relative to the height reference (GNSS)
+	EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_bias_prev, 0.3f);

 	EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f);
+
 	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 }
@@ -40,7 +40,6 @@
 #include "EKF/ekf.h"
 #include "sensor_simulator/sensor_simulator.h"
 #include "sensor_simulator/ekf_wrapper.h"
-#include "test_helper/reset_logging_checker.h"

 class EKFYawEstimatorTest : public ::testing::Test
 {
@@ -91,8 +90,6 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
 	// WHEN: the vehicle starts accelerating in the horizontal plane
 	_sensor_simulator.setTrajectoryTargetVelocity(Vector3f(2.f, -2.f, -1.f));
 	_ekf->set_in_air_status(true);
-	ResetLoggingChecker reset_logging_checker(_ekf);
-	reset_logging_checker.capturePreResetState();

 	_sensor_simulator.runTrajectorySeconds(3.f);

@@ -106,10 +103,12 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
 	EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
 	EXPECT_LT(yaw_est_var, tolerance_rad);

-	// 1 reset when starting GNSS aiding
-	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
-	EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
+	EXPECT_LT(_ekf->aid_src_gnss_pos().test_ratio[0], 0.5f);
+	EXPECT_LT(_ekf->aid_src_gnss_pos().test_ratio[1], 0.5f);
+
+	EXPECT_LT(_ekf->aid_src_gnss_vel().test_ratio[0], 0.1f);
+	EXPECT_LT(_ekf->aid_src_gnss_vel().test_ratio[1], 0.1f);
+	EXPECT_LT(_ekf->aid_src_gnss_vel().test_ratio[2], 0.1f);

 	EXPECT_TRUE(_ekf->isLocalHorizontalPositionValid());
 	EXPECT_TRUE(_ekf->isGlobalHorizontalPositionValid());
@@ -76,7 +76,7 @@ add_custom_command(
 	OUTPUT
 		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp
 		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp
-	COMMAND ${PYTHON_EXECUTABLE} generate_flight_tasks.py ${python_args}
+	COMMAND ${Python_EXECUTABLE} generate_flight_tasks.py ${python_args}
 	COMMENT "Generating Flight Tasks"
 	DEPENDS
 		Templates/FlightTasks_generated.cpp.em
@@ -42,7 +42,7 @@ set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
 	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 			--lang C --wire-protocol 2.0
 			--output ${MAVLINK_LIBRARY_DIR}
 			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${MAVLINK_DIALECT_UAVIONIX}.log
@@ -60,7 +60,7 @@ set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/$
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
 	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 			--lang C --wire-protocol 2.0
 			--output ${MAVLINK_LIBRARY_DIR}
 			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log
@@ -116,7 +116,7 @@ else()


 	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
+		COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
 			--topic-msg-dir ${PX4_SOURCE_DIR}/msg
 			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
 			--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
Author	SHA1	Message	Date
Daniel Agar	64a3f0545f	cmake: move FindPythonInterp->FindPython - cmake CMP0148 FindPythonInterp deprecated	2024-11-22 21:57:53 -05:00
Ramon Roche	7462e98e16	ci: publish pr images to registry	2024-11-22 16:08:12 -05:00
Ramon Roche	3240cf4dc7	ci: push px4-dev container to docker hub registry	2024-11-22 16:08:12 -05:00
Ramon Roche	f2bd3105ad	ci: tag container main & main-date Make sure we always have a { branch name } container tag in addition to a { branch name + date } tag. This way we have a rolling { branch name } of the main and release branches	2024-11-22 16:08:12 -05:00
Ramon Roche	fb42770131	Tools: instal ccache on ubuntu	2024-11-22 16:05:58 -05:00
Ramon Roche	14468d49c1	ci: flash analysis updates * updates comment instead of posting a new one each time * runs on dronecode infra	2024-11-22 08:49:27 -08:00
bresch	14fe6c2167	ekf2: resetHeightTo -> resetAltitudeTo The vertical position state is now an altitude, not just a local height	2024-11-22 15:13:47 +01:00
bresch	93c690f133	ekf2: do not inline getPosition	2024-11-22 15:13:47 +01:00
bresch	a224d38e52	lla: move implementation to cpp file This reduces flash usage	2024-11-22 15:13:47 +01:00
bresch	aeb182a8ed	ekf2: rename resetAltitudeTo to initialiseAltitudeTo This is to better show that the altitude is also used to set the origin.	2024-11-22 15:13:47 +01:00
bresch	30d98885b7	update change indicator	2024-11-22 15:13:47 +01:00
bresch	814a2706f5	ekf2: compensate for coriolis and transport rate accelerations	2024-11-22 15:13:47 +01:00
bresch	842212df6c	ekf2: update earth rate also without GNSS	2024-11-22 15:13:47 +01:00
bresch	6becccb217	update change indicator	2024-11-22 15:13:47 +01:00
bresch	a492457322	ekf2-derivation: build state struct based on type	2024-11-22 15:13:47 +01:00
bresch	13c5bd4412	ekf-flow: do not reset position when resetting to flow Flow only provides velocity information	2024-11-22 15:13:47 +01:00
bresch	b19a6ee3b5	ekf2: store position state as lat/lon/alt The position error state is still defined in a body-fixed NED frame but the position state itself is latitude-longitude-altitude.	2024-11-22 15:13:47 +01:00