PX4-Autopilot/src/modules/ekf2/params_gnss.yaml

module_name: ekf2
parameters:
- group: EKF2
  definitions:
    EKF2_GPS_CTRL:
      description:
        short: GNSS sensor aiding
        long: 'Set bits in the following positions to enable: 0 : Longitude and latitude
          fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading
          fusion'
      type: bitmask
      bit:
        0: Lon/lat
        1: Altitude
        2: 3D velocity
        3: Dual antenna heading
      default: 7
      min: 0
      max: 15
    EKF2_GPS_DELAY:
      description:
        short: GPS measurement delay relative to IMU measurements
      type: float
      default: 110
      min: 0
      max: 300
      unit: ms
      reboot_required: true
      decimal: 1
    EKF2_GPS_P_NOISE:
      description:
        short: Measurement noise for GNSS position
      type: float
      default: 0.5
      min: 0.01
      max: 10.0
      unit: m
      decimal: 2
    EKF2_GPS_P_GATE:
      description:
        short: Gate size for GNSS position fusion
        long: Sets the number of standard deviations used by the innovation consistency
          test.
      type: float
      default: 5.0
      min: 1.0
      unit: SD
      decimal: 1
    EKF2_GPS_YAW_OFF:
      description:
        short: Heading/Yaw offset for dual antenna GPS
      type: float
      default: 0.0
      min: 0.0
      max: 360.0
      unit: deg
      decimal: 1
    EKF2_GPS_V_GATE:
      description:
        short: Gate size for GNSS velocity fusion
        long: Sets the number of standard deviations used by the innovation consistency
          test.
      type: float
      default: 5.0
      min: 1.0
      unit: SD
      decimal: 1
    EKF2_GPS_V_NOISE:
      description:
        short: Measurement noise for GNSS velocity
      type: float
      default: 0.3
      min: 0.01
      max: 5.0
      unit: m/s
      decimal: 2
    EKF2_GPS_POS_X:
      description:
        short: X position of GPS antenna in body frame
        long: Forward (roll) axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_GPS_POS_Y:
      description:
        short: Y position of GPS antenna in body frame
        long: Right (pitch) axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_GPS_POS_Z:
      description:
        short: Z position of GPS antenna in body frame
        long: Down (yaw) axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_GPS_CHECK:
      description:
        short: Integer bitmask controlling GPS checks
        long: 'Each threshold value is defined by the parameter indicated next to the check.
          Drift and offset checks only run when the vehicle is on ground and stationary.'
      type: bitmask
      bit:
        0: Sat count (EKF2_REQ_NSATS)
        1: PDOP (EKF2_REQ_PDOP)
        2: EPH (EKF2_REQ_EPH)
        3: EPV (EKF2_REQ_EPV)
        4: Speed accuracy (EKF2_REQ_SACC)
        5: Horizontal position drift (EKF2_REQ_HDRIFT)
        6: Vertical position drift (EKF2_REQ_VDRIFT)
        7: Horizontal speed offset (EKF2_REQ_HDRIFT)
        8: Vertical speed offset (EKF2_REQ_VDRIFT)
        9: Spoofing
        10: GPS fix type (EKF2_REQ_FIX)
      default: 2047
      min: 0
      max: 2047
    EKF2_REQ_EPH:
      description:
        short: Required EPH to use GPS
      type: float
      default: 3.0
      min: 2
      max: 100
      unit: m
      decimal: 1
    EKF2_REQ_EPV:
      description:
        short: Required EPV to use GPS
      type: float
      default: 5.0
      min: 2
      max: 100
      unit: m
      decimal: 1
    EKF2_REQ_SACC:
      description:
        short: Required speed accuracy to use GPS
      type: float
      default: 0.5
      min: 0.5
      max: 5.0
      unit: m/s
      decimal: 2
    EKF2_REQ_NSATS:
      description:
        short: Required satellite count to use GPS
      type: int32
      default: 6
      min: 4
      max: 12
    EKF2_REQ_PDOP:
      description:
        short: Maximum PDOP to use GPS
      type: float
      default: 2.5
      min: 1.5
      max: 5.0
      decimal: 1
    EKF2_REQ_HDRIFT:
      description:
        short: Maximum horizontal drift speed to use GPS
      type: float
      default: 0.1
      min: 0.1
      max: 1.0
      unit: m/s
      decimal: 2
    EKF2_REQ_VDRIFT:
      description:
        short: Maximum vertical drift speed to use GPS
      type: float
      default: 0.2
      min: 0.1
      max: 1.5
      decimal: 2
      unit: m/s
    EKF2_REQ_FIX:
      description:
        short: Required minimum GPS fix type to use GPS
        long: Minimum GPS fix type required for GPS usage. 0-1 - no fix, 2 - 2D fix, 3 - 3D fix, 4 - RTCM code differential, 5 - Real-Time Kinematic, float, 6 - Real-Time Kinematic, fixed, 8 - Extrapolated.
      type: int32
      default: 3
      min: 0
      max: 8
    EKF2_REQ_GPS_H:
      description:
        short: Required GPS health time on startup
        long: Minimum continuous period without GPS failure required to mark a healthy
          GPS status. It can be reduced to speed up initialization, but it's recommended
          to keep this unchanged for a vehicle.
      type: float
      default: 10.0
      min: 0.1
      decimal: 1
      unit: s
      reboot_required: true
    EKF2_GSF_TAS:
      description:
        short: Default value of true airspeed used in EKF-GSF AHRS calculation
        long: If no airspeed measurements are available, the EKF-GSF AHRS calculation
          will assume this value of true airspeed when compensating for centripetal
          acceleration during turns. Set to zero to disable centripetal acceleration
          compensation during fixed wing flight modes.
      type: float
      default: 15.0
      min: 0.0
      unit: m/s
      max: 100.0
      decimal: 1