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Add GPS fix type check bit to EKF2 GPS checks by ischollETH · Pull Request #25215 · PX4/PX4-Autopilot · GitHub

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Add GPS fix type check bit to EKF2 GPS checks - #25215

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dagar merged 9 commits into
PX4:mainfrom
ischollETH:gps-fix-type-check
Aug 8, 2025
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Add GPS fix type check bit to EKF2 GPS checks#25215
dagar merged 9 commits into
PX4:mainfrom
ischollETH:gps-fix-type-check

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ischollETH commented Jul 14, 2025 •
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Solved Problem

When using a RTK GPS setup for precise start & landing scenarios I found that if the pilot takes off before there is a proper RTK fix, on return the home position was potentially imprecise and therefore an exact landing at the same spot can fail:
--> there is currently no way to enable a pre-flight check of the GPS fix type required before takeoff

Solution

  • Add an extra bit in the EKF2_GPS_CHECK for adding a GPS fix type check
  • Add EKF2_REQ_FIX to define what minimum fix type has to be given for allowing arming

Changelog Entry

Added GPS fix type requirement to pre-flight GPS checks

Test coverage

  • Tested in hardware that the pre-flight warning pops up when requiring a 3D GPS fix (type 3) while the GPS is inside and has no fix, which disappeared when reducing the required fix to e.g. 0 or 1

dakejahl previously approved these changes Jul 14, 2025
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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

Makes sense thanks!

bresch requested changes Jul 15, 2025
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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

Nice, just a comment about the simplified checks

Comment thread src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp Outdated
Keep simplified checks with relaxed condition
dc535b7 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
ischollETH requested a review from bresch July 15, 2025 11:44
bresch previously approved these changes Jul 15, 2025
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bresch commented Jul 15, 2025

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@ischollETH please run ./Tools/astyle/fix_code_style.sh src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.hpp to fix formatting

ischollETH commented Jul 16, 2025

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@bresch done

ischollETH requested a review from bresch July 16, 2025 01:47
MaEtUgR force-pushed the gps-fix-type-check branch from 0d47096 to 2b0102e Compare July 21, 2025 15:36
MaEtUgR previously approved these changes Jul 21, 2025
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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

I checked why the unit tests were failing and it was because the GPS fix type check was not enabled anymore for them because the default value for the bitmask in the constructor when it's not overridden by the parameter (like in the unit tests) was not updated.

I'm not sure why by default it was 21 but adding the 11th bit makes it 21 + 1024 = 1045 without changing anything else and that works. See 2b0102e

@bresch Can you give it a last check?

dakejahl mentioned this pull request Jul 23, 2025
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bresch approved these changes Jul 23, 2025
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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

All good, thanks!

bresch requested changes Jul 23, 2025
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Comment thread src/modules/ekf2/params_gnss.yaml

ischollETH commented Jul 30, 2025

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@bresch I changed the parameter into an enum

ischollETH requested a review from bresch July 30, 2025 17:41
ischollETH requested a review from MaEtUgR July 30, 2025 17:41
dagar merged commit 4812311 into PX4:main Aug 8, 2025
Beatriz-Diniz pushed a commit to Beatriz-Diniz/PX4-Autopilot that referenced this pull request Aug 21, 2026
ekf2: Add GPS fix type check bit (PX4#25215)
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dagar dagar approved these changes
dakejahl dakejahl left review comments
haumarco Awaiting requested review from haumarco
bresch Awaiting requested review from bresch
MaEtUgR Awaiting requested review from MaEtUgR

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