ekf2: add new EKF2_EV_QMIN parameter

src/modules/ekf2/EKF/common.h

@@ -231,6 +231,7 @@ struct extVisionSample {
 	float       angVar{};      ///< angular heading variance (rad**2)
 	VelocityFrame vel_frame = VelocityFrame::BODY_FRAME_FRD;
 	uint8_t     reset_counter{};
+	int8_t     quality{};     ///< quality indicator between 0 and 100
 };
 
 struct dragSample {
@@ -357,6 +358,7 @@ struct parameters {
 	float range_kin_consistency_gate{1.0f}; ///< gate size used by the range finder kinematic consistency check
 
 	// vision position fusion
+	int32_t ev_quality_minimum{0};          ///< vision minimum acceptable quality integer
 	float ev_vel_innov_gate{3.0f};          ///< vision velocity fusion innovation consistency gate size (STD)
 	float ev_pos_innov_gate{5.0f};          ///< vision position fusion innovation consistency gate size (STD)
 	float ev_hgt_bias_nsd{0.13f};           ///< process noise for vision height bias estimation (m/s/sqrt(Hz))

src/modules/ekf2/EKF2.cpp

@@ -123,6 +123,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
 	_param_ekf2_rng_qlty_t(_params->range_valid_quality_s),
 	_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
+	_param_ekf2_ev_qmin(_params->ev_quality_minimum),
 	_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
 	_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
 	_param_ekf2_of_n_min(_params->flow_noise),
@@ -1846,7 +1847,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
 		// use timestamp from external computer, clocks are synchronized when using MAVROS
 		ev_data.time_us = ev_odom.timestamp_sample;
 		ev_data.reset_counter = ev_odom.reset_counter;
-		//ev_data.quality = ev_odom.quality;
+		ev_data.quality = ev_odom.quality;
 
 		if (new_ev_odom)  {
 			_ekf.setExtVisionData(ev_data);

src/modules/ekf2/EKF2.hpp

@@ -522,6 +522,7 @@ private:
 		// vision estimate fusion
 		(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
 		_param_ekf2_ev_noise_md,	///< determine source of vision observation noise
+		(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
 		(ParamFloat<px4::params::EKF2_EVP_NOISE>)
 		_param_ekf2_evp_noise,	///< default position observation noise for exernal vision measurements (m)
 		(ParamFloat<px4::params::EKF2_EVV_NOISE>)

src/modules/ekf2/ekf2_params.c

@@ -779,6 +779,19 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
  */
 PARAM_DEFINE_INT32(EKF2_EV_NOISE_MD, 0);
 
+/**
+ * External vision (EV) minimum quality (optional)
+ *
+ * External vision will only be started and fused if the quality metric is above this threshold.
+ * The quality metric is a completely optional field provided by some VIO systems.
+ *
+ * @group EKF2
+ * @min 0
+ * @max 100
+ * @decimal 1
+ */
+PARAM_DEFINE_INT32(EKF2_EV_QMIN, 0);
+
 /**
  * Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message
  *