ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

msg/EstimatorStatusFlags.msg

@@ -26,12 +26,12 @@ bool cs_mag_fault             # 18 - true when the magnetometer has been declare
 bool cs_fuse_aspd             # 19 - true when airspeed measurements are being fused
 bool cs_gnd_effect            # 20 - true when protection from ground effect induced static pressure rise is active
 bool cs_rng_stuck             # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
-bool cs_gps_yaw               # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
+bool cs_gnss_yaw              # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
 bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
 bool cs_ev_vel                # 24 - true when local frame velocity data fusion from external vision measurements is intended
 bool cs_synthetic_mag_z       # 25 - true when we are using a synthesized measurement for the magnetometer Z component
 bool cs_vehicle_at_rest       # 26 - true when the vehicle is at rest
-bool cs_gps_yaw_fault         # 27 - true when the GNSS heading has been declared faulty and is no longer being used
+bool cs_gnss_yaw_fault        # 27 - true when the GNSS heading has been declared faulty and is no longer being used
 bool cs_rng_fault             # 28 - true when the range finder has been declared faulty and is no longer being used
 bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on wind relative measurements

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -623,7 +623,7 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report &
 			}
 		}
 
-		if (estimator_status_flags.cs_gps_yaw_fault) {
+		if (estimator_status_flags.cs_gnss_yaw_fault) {
 			/* EVENT
 			 * @description
 			 * Land now

src/modules/ekf2/CMakeLists.txt

@@ -175,7 +175,7 @@ if(CONFIG_EKF2_GNSS)
 	)
 
 	if(CONFIG_EKF2_GNSS_YAW)
-		list(APPEND EKF_SRCS EKF/aid_sources/gnss/gps_yaw_fusion.cpp)
+		list(APPEND EKF_SRCS EKF/aid_sources/gnss/gnss_yaw_control.cpp)
 	endif()
 
 	list(APPEND EKF_LIBS yaw_estimator)

src/modules/ekf2/EKF/CMakeLists.txt

@@ -96,7 +96,7 @@ if(CONFIG_EKF2_GNSS)
 	)
 
 	if(CONFIG_EKF2_GNSS_YAW)
-		list(APPEND EKF_SRCS aid_sources/gnss/gps_yaw_fusion.cpp)
+		list(APPEND EKF_SRCS aid_sources/gnss/gnss_yaw_control.cpp)
 	endif()
 
 	add_subdirectory(yaw_estimator)

src/modules/ekf2/EKF/aid_sources/gnss/gnss_yaw_control.cpp

@@ -32,37 +32,122 @@
  ****************************************************************************/
 
 /**
- * @file gps_yaw_fusion.cpp
+ * @file gnss_yaw_control.cpp
- * Definition of functions required to use yaw obtained from GPS dual antenna measurements.
+ * Definition of functions required to use yaw obtained from GNSS dual antenna measurements.
- * Equations generated using EKF/python/ekf_derivation/main.py
+ * Equations generated using src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
- *
- * @author Paul Riseborough <p_riseborough@live.com.au>
  *
  */
 
 #include "ekf.h"
-#include <ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h>
 
 #include <mathlib/mathlib.h>
 #include <cstdlib>
 
-void Ekf::updateGpsYaw(const gnssSample &gps_sample)
+#include <ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h>
+
+void Ekf::controlGnssYawFusion(const gnssSample &gnss_sample)
+{
+	if (!(_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::YAW))
+	    || _control_status.flags.gnss_yaw_fault) {
+
+		stopGnssYawFusion();
+		return;
+	}
+
+	const bool is_new_data_available = PX4_ISFINITE(gnss_sample.yaw);
+
+	if (is_new_data_available) {
+
+		updateGnssYaw(gnss_sample);
+
+		const bool continuing_conditions_passing = _control_status.flags.tilt_align;
+
+		const bool is_gnss_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gnss_yaw_buffer_push,
+				2 * GNSS_YAW_MAX_INTERVAL);
+
+		const bool starting_conditions_passing = continuing_conditions_passing
+				&& _gps_checks_passed
+				&& !is_gnss_yaw_data_intermittent
+				&& !_gps_intermittent;
+
+		if (_control_status.flags.gnss_yaw) {
+			if (continuing_conditions_passing) {
+
+				fuseGnssYaw(gnss_sample.yaw_offset);
+
+				const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max);
+
+				if (is_fusion_failing) {
+					stopGnssYawFusion();
+
+					// Before takeoff, we do not want to continue to rely on the current heading
+					// if we had to stop the fusion
+					if (!_control_status.flags.in_air) {
+						ECL_INFO("clearing yaw alignment");
+						_control_status.flags.yaw_align = false;
+					}
+				}
+
+			} else {
+				// Stop GNSS yaw fusion but do not declare it faulty
+				stopGnssYawFusion();
+			}
+
+		} else {
+			if (starting_conditions_passing) {
+				// Try to activate GNSS yaw fusion
+				const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
+
+				if (!_control_status.flags.in_air
+				    || !_control_status.flags.yaw_align
+				    || not_using_ne_aiding) {
+
+					// Reset before starting the fusion
+					if (resetYawToGnss(gnss_sample.yaw, gnss_sample.yaw_offset)) {
+
+						resetAidSourceStatusZeroInnovation(_aid_src_gnss_yaw);
+
+						_control_status.flags.gnss_yaw = true;
+						_control_status.flags.yaw_align = true;
+					}
+
+				} else if (!_aid_src_gnss_yaw.innovation_rejected) {
+					// Do not force a reset but wait for the consistency check to pass
+					_control_status.flags.gnss_yaw = true;
+					fuseGnssYaw(gnss_sample.yaw_offset);
+				}
+
+				if (_control_status.flags.gnss_yaw) {
+					ECL_INFO("starting GNSS yaw fusion");
+				}
+			}
+		}
+
+	} else if (_control_status.flags.gnss_yaw
+		   && !isNewestSampleRecent(_time_last_gnss_yaw_buffer_push, _params.reset_timeout_max)) {
+
+		// No yaw data in the message anymore. Stop until it comes back.
+		stopGnssYawFusion();
+	}
+}
+
+void Ekf::updateGnssYaw(const gnssSample &gnss_sample)
 {
 	// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement
-	const float measured_hdg = wrap_pi(gps_sample.yaw + gps_sample.yaw_offset);
+	const float measured_hdg = wrap_pi(gnss_sample.yaw + gnss_sample.yaw_offset);
 
-	const float yaw_acc = PX4_ISFINITE(gps_sample.yaw_acc) ? gps_sample.yaw_acc : 0.f;
+	const float yaw_acc = PX4_ISFINITE(gnss_sample.yaw_acc) ? gnss_sample.yaw_acc : 0.f;
-	const float R_YAW = sq(fmaxf(yaw_acc, _params.gps_heading_noise));
+	const float R_YAW = sq(fmaxf(yaw_acc, _params.gnss_heading_noise));
 
 	float heading_pred;
 	float heading_innov_var;
 
 	VectorState H;
-	sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, gps_sample.yaw_offset, R_YAW, FLT_EPSILON,
+	sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, gnss_sample.yaw_offset, R_YAW, FLT_EPSILON,
 					    &heading_pred, &heading_innov_var, &H);
 
 	updateAidSourceStatus(_aid_src_gnss_yaw,
-			      gps_sample.time_us,                          // sample timestamp
+			      gnss_sample.time_us,                          // sample timestamp
 			      measured_hdg,                                // observation
 			      R_YAW,                                       // observation variance
 			      wrap_pi(heading_pred - measured_hdg),        // innovation
@@ -70,7 +155,7 @@ void Ekf::updateGpsYaw(const gnssSample &gps_sample)
 			      math::max(_params.heading_innov_gate, 1.f)); // innovation gate
 }
 
-void Ekf::fuseGpsYaw(float antenna_yaw_offset)
+void Ekf::fuseGnssYaw(float antenna_yaw_offset)
 {
 	auto &aid_src = _aid_src_gnss_yaw;
 
@@ -99,7 +184,8 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
 
 		// we reinitialise the covariance matrix and abort this fusion step
 		initialiseCovariance();
-		ECL_ERR("GPS yaw numerical error - covariance reset");
+		ECL_ERR("GNSS yaw numerical error - covariance reset");
+		stopGnssYawFusion();
 		return;
 	}
 
@@ -129,7 +215,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
 	}
 }
 
-bool Ekf::resetYawToGps(const float gnss_yaw, const float gnss_yaw_offset)
+bool Ekf::resetYawToGnss(const float gnss_yaw, const float gnss_yaw_offset)
 {
 	// define the predicted antenna array vector and rotate into earth frame
 	const Vector3f ant_vec_bf = {cosf(gnss_yaw_offset), sinf(gnss_yaw_offset), 0.0f};
@@ -140,11 +226,21 @@ bool Ekf::resetYawToGps(const float gnss_yaw, const float gnss_yaw_offset)
 		return false;
 	}
 
-	// GPS yaw measurement is alreday compensated for antenna offset in the driver
+	// GNSS yaw measurement is already compensated for antenna offset in the driver
 	const float measured_yaw = gnss_yaw;
 
-	const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f));
+	const float yaw_variance = sq(fmaxf(_params.gnss_heading_noise, 1.e-2f));
 	resetQuatStateYaw(measured_yaw, yaw_variance);
 
 	return true;
 }
+
+void Ekf::stopGnssYawFusion()
+{
+	if (_control_status.flags.gnss_yaw) {
+
+		_control_status.flags.gnss_yaw = false;
+
+		ECL_INFO("stopping GNSS yaw fusion");
+	}
+}

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -98,7 +98,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	if (_gps_data_ready) {
 #if defined(CONFIG_EKF2_GNSS_YAW)
 		const gnssSample &gnss_sample = _gps_sample_delayed;
-		controlGpsYawFusion(gnss_sample);
+		controlGnssYawFusion(gnss_sample);
 #endif // CONFIG_EKF2_GNSS_YAW
 
 		controlGnssYawEstimator(_aid_src_gnss_vel);
@@ -285,8 +285,8 @@ bool Ekf::tryYawEmergencyReset()
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
-		if (_control_status.flags.gps_yaw) {
+		if (_control_status.flags.gnss_yaw) {
-			_control_status.flags.gps_yaw_fault = true;
+			_control_status.flags.gnss_yaw_fault = true;
 		}
 
 #endif // CONFIG_EKF2_GNSS_YAW
@@ -354,104 +354,6 @@ bool Ekf::shouldResetGpsFusion() const
 	return (is_reset_required || is_inflight_nav_failure);
 }
 
-#if defined(CONFIG_EKF2_GNSS_YAW)
-void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
-{
-	if (!(_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::YAW))
-	    || _control_status.flags.gps_yaw_fault) {
-
-		stopGpsYawFusion();
-		return;
-	}
-
-	const bool is_new_data_available = PX4_ISFINITE(gps_sample.yaw);
-
-	if (is_new_data_available) {
-
-		updateGpsYaw(gps_sample);
-
-		const bool continuing_conditions_passing = _control_status.flags.tilt_align;
-
-		const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push,
-				2 * GNSS_YAW_MAX_INTERVAL);
-
-		const bool starting_conditions_passing = continuing_conditions_passing
-				&& _gps_checks_passed
-				&& !is_gps_yaw_data_intermittent
-				&& !_gps_intermittent;
-
-		if (_control_status.flags.gps_yaw) {
-			if (continuing_conditions_passing) {
-
-				fuseGpsYaw(gps_sample.yaw_offset);
-
-				const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max);
-
-				if (is_fusion_failing) {
-					stopGpsYawFusion();
-
-					// Before takeoff, we do not want to continue to rely on the current heading
-					// if we had to stop the fusion
-					if (!_control_status.flags.in_air) {
-						ECL_INFO("clearing yaw alignment");
-						_control_status.flags.yaw_align = false;
-					}
-				}
-
-			} else {
-				// Stop GPS yaw fusion but do not declare it faulty
-				stopGpsYawFusion();
-			}
-
-		} else {
-			if (starting_conditions_passing) {
-				// Try to activate GPS yaw fusion
-				const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
-
-				if (!_control_status.flags.in_air
-				    || !_control_status.flags.yaw_align
-				    || not_using_ne_aiding) {
-
-					// Reset before starting the fusion
-					if (resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset)) {
-
-						resetAidSourceStatusZeroInnovation(_aid_src_gnss_yaw);
-
-						_control_status.flags.gps_yaw = true;
-						_control_status.flags.yaw_align = true;
-					}
-
-				} else if (!_aid_src_gnss_yaw.innovation_rejected) {
-					// Do not force a reset but wait for the consistency check to pass
-					_control_status.flags.gps_yaw = true;
-					fuseGpsYaw(gps_sample.yaw_offset);
-				}
-
-				if (_control_status.flags.gps_yaw) {
-					ECL_INFO("starting GPS yaw fusion");
-				}
-			}
-		}
-
-	} else if (_control_status.flags.gps_yaw
-		   && !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, _params.reset_timeout_max)) {
-
-		// No yaw data in the message anymore. Stop until it comes back.
-		stopGpsYawFusion();
-	}
-}
-
-void Ekf::stopGpsYawFusion()
-{
-	if (_control_status.flags.gps_yaw) {
-
-		_control_status.flags.gps_yaw = false;
-
-		ECL_INFO("stopping GPS yaw fusion");
-	}
-}
-#endif // CONFIG_EKF2_GNSS_YAW
-
 void Ekf::stopGpsFusion()
 {
 	if (_control_status.flags.gps) {
@@ -465,7 +367,7 @@ void Ekf::stopGpsFusion()
 
 	stopGpsHgtFusion();
 #if defined(CONFIG_EKF2_GNSS_YAW)
-	stopGpsYawFusion();
+	stopGnssYawFusion();
 #endif // CONFIG_EKF2_GNSS_YAW
 
 	_yawEstimator.reset();

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -153,7 +153,7 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 							       && !_control_status.flags.mag_fault
 							       && !_control_status.flags.mag_field_disturbed
 							       && !_control_status.flags.ev_yaw
-							       && !_control_status.flags.gps_yaw;
+							       && !_control_status.flags.gnss_yaw;
 
 			_control_status.flags.mag_3D = common_conditions_passing
 						       && (_params.mag_fusion_type == MagFuseType::AUTO)

src/modules/ekf2/EKF/aid_sources/zero_innovation_heading_update.cpp

@@ -41,7 +41,7 @@
 void Ekf::controlZeroInnovationHeadingUpdate()
 {
 	const bool yaw_aiding = _control_status.flags.mag_hdg || _control_status.flags.mag_3D
-				|| _control_status.flags.ev_yaw || _control_status.flags.gps_yaw;
+				|| _control_status.flags.ev_yaw || _control_status.flags.gnss_yaw;
 
 	// fuse zero innovation at a limited rate if the yaw variance is too large
 	if (!yaw_aiding

src/modules/ekf2/EKF/common.h

@@ -338,7 +338,7 @@ struct parameters {
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	// GNSS heading fusion
-	float gps_heading_noise{0.1f};          ///< measurement noise standard deviation used for GNSS heading fusion (rad)
+	float gnss_heading_noise{0.1f};          ///< measurement noise standard deviation used for GNSS heading fusion (rad)
 # endif // CONFIG_EKF2_GNSS_YAW
 
 	// Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value
@@ -580,7 +580,7 @@ uint64_t gnd_effect              :
 		1; ///< 20 - true when protection from ground effect induced static pressure rise is active
 uint64_t rng_stuck               :
 		1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
-uint64_t gps_yaw                 :
+uint64_t gnss_yaw                 :
 		1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
 		uint64_t mag_aligned_in_flight   : 1; ///< 23 - true when the in-flight mag field alignment has been completed
 uint64_t ev_vel                  :
@@ -588,7 +588,7 @@ uint64_t ev_vel                  :
 uint64_t synthetic_mag_z         :
 		1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component
 		uint64_t vehicle_at_rest         : 1; ///< 26 - true when the vehicle is at rest
-uint64_t gps_yaw_fault           :
+uint64_t gnss_yaw_fault           :
 		1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used
 uint64_t rng_fault               :
 		1; ///< 28 - true when the range finder has been declared faulty and is no longer being used

src/modules/ekf2/EKF/ekf.h

@@ -144,7 +144,7 @@ public:
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
-		if (_control_status.flags.gps_yaw) {
+		if (_control_status.flags.gnss_yaw) {
 			return _aid_src_gnss_yaw.innovation;
 		}
 
@@ -173,7 +173,7 @@ public:
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
-		if (_control_status.flags.gps_yaw) {
+		if (_control_status.flags.gnss_yaw) {
 			return _aid_src_gnss_yaw.innovation_variance;
 		}
 
@@ -202,7 +202,7 @@ public:
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
-		if (_control_status.flags.gps_yaw) {
+		if (_control_status.flags.gnss_yaw) {
 			return _aid_src_gnss_yaw.test_ratio;
 		}
 
@@ -995,17 +995,17 @@ private:
 	void resetGpsDriftCheckFilters();
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
-	void controlGpsYawFusion(const gnssSample &gps_sample);
+	void controlGnssYawFusion(const gnssSample &gps_sample);
-	void stopGpsYawFusion();
+	void stopGnssYawFusion();
 
 	// fuse the yaw angle obtained from a dual antenna GPS unit
-	void fuseGpsYaw(float antenna_yaw_offset);
+	void fuseGnssYaw(float antenna_yaw_offset);
 
 	// reset the quaternions states using the yaw angle obtained from a dual antenna GPS unit
 	// return true if the reset was successful
-	bool resetYawToGps(float gnss_yaw, float gnss_yaw_offset);
+	bool resetYawToGnss(float gnss_yaw, float gnss_yaw_offset);
 
-	void updateGpsYaw(const gnssSample &gps_sample);
+	void updateGnssYaw(const gnssSample &gps_sample);
 
 # endif // CONFIG_EKF2_GNSS_YAW
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -333,7 +333,7 @@ float Ekf::getHeadingInnovationTestRatio() const
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
-	if (_control_status.flags.gps_yaw) {
+	if (_control_status.flags.gnss_yaw) {
 		test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_yaw.test_ratio_filtered));
 	}
 

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -193,7 +193,7 @@ void EstimatorInterface::setGpsData(const gnssSample &gnss_sample)
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
 		if (PX4_ISFINITE(gnss_sample.yaw)) {
-			_time_last_gps_yaw_buffer_push = _time_latest_us;
+			_time_last_gnss_yaw_buffer_push = _time_latest_us;
 		}
 
 #endif // CONFIG_EKF2_GNSS_YAW

src/modules/ekf2/EKF/estimator_interface.h

@@ -397,7 +397,7 @@ protected:
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	// innovation consistency check monitoring ratios
-	uint64_t _time_last_gps_yaw_buffer_push{0};
+	uint64_t _time_last_gnss_yaw_buffer_push{0};
 # endif // CONFIG_EKF2_GNSS_YAW
 #endif // CONFIG_EKF2_GNSS
 

src/modules/ekf2/EKF2.cpp

@@ -1912,12 +1912,12 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_fuse_aspd             = _ekf.control_status_flags().fuse_aspd;
 		status_flags.cs_gnd_effect            = _ekf.control_status_flags().gnd_effect;
 		status_flags.cs_rng_stuck             = _ekf.control_status_flags().rng_stuck;
-		status_flags.cs_gps_yaw               = _ekf.control_status_flags().gps_yaw;
+		status_flags.cs_gnss_yaw               = _ekf.control_status_flags().gnss_yaw;
 		status_flags.cs_mag_aligned_in_flight = _ekf.control_status_flags().mag_aligned_in_flight;
 		status_flags.cs_ev_vel                = _ekf.control_status_flags().ev_vel;
 		status_flags.cs_synthetic_mag_z       = _ekf.control_status_flags().synthetic_mag_z;
 		status_flags.cs_vehicle_at_rest       = _ekf.control_status_flags().vehicle_at_rest;
-		status_flags.cs_gps_yaw_fault         = _ekf.control_status_flags().gps_yaw_fault;
+		status_flags.cs_gnss_yaw_fault         = _ekf.control_status_flags().gnss_yaw_fault;
 		status_flags.cs_rng_fault             = _ekf.control_status_flags().rng_fault;
 		status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning;
 		status_flags.cs_wind_dead_reckoning     = _ekf.control_status_flags().wind_dead_reckoning;

src/modules/ekf2/test/CMakeLists.txt

@@ -45,7 +45,7 @@ px4_add_unit_gtest(SRC test_EKF_flow_generated.cpp LINKLIBS ecl_EKF ecl_sensor_s
 px4_add_unit_gtest(SRC test_EKF_gyroscope.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_fusionLogic.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_gps.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
-px4_add_unit_gtest(SRC test_EKF_gps_yaw.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
+px4_add_unit_gtest(SRC test_EKF_gnss_yaw.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_gnss_yaw_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_height_fusion.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_imuSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim)

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -132,7 +132,7 @@ void EkfWrapper::disableGpsHeadingFusion()
 
 bool EkfWrapper::isIntendingGpsHeadingFusion() const
 {
-	return _ekf->control_status_flags().gps_yaw;
+	return _ekf->control_status_flags().gnss_yaw;
 }
 
 void EkfWrapper::enableFlowFusion()

src/modules/ekf2/test/test_EKF_basics.cpp

@@ -123,7 +123,7 @@ TEST_F(EkfBasicsTest, initialControlMode)
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck);
-	EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw);
+	EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_yaw);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z);
@@ -178,7 +178,7 @@ TEST_F(EkfBasicsTest, gpsFusion)
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck);
-	EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw);
+	EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_yaw);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel);
 	EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z);