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feat(sensors/gps): move GPS antenna offsets to per-receiver parameters (#26634)

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* sensors: move GPS antenna offsets to per-receiver parameters

Move antenna position configuration from the single EKF2_GPS_POS_X/Y/Z
parameter set into per-receiver SENS_GPS{0,1}_OFF{X,Y,Z} parameters in
the sensors module. Each offset slot is matched to a physical receiver
by device ID (SENS_GPS{0,1}_ID), falling back to uORB instance index
when no IDs are configured.

The antenna offset is now carried through the SensorGps uORB message
and blended alongside other GPS states when multi-receiver blending is
active, so EKF2 receives the correct lever arm for whichever receiver
(or weighted combination) is selected.

- Add antenna_offset_{x,y,z} fields to SensorGps.msg
- Remove EKF2_GPS_POS_X/Y/Z params; EKF2 reads offset from gnssSample
- Add SENS_GPS{0,1}_ID and SENS_GPS{0,1}_OFF{X,Y,Z} params (module.yaml)
- Blend antenna offsets in GpsBlending (weighted average)
- Add unit tests for single, blended, and failover antenna offset cases
- Migrate params.c to module.yaml for the vehicle_gps_position module

* sensors: gps_blending: add asymmetric weight and fallthrough offset tests

Add two additional antenna offset test cases:

- dualReceiverAsymmetricWeightAntennaOffset: verify that unequal eph
  values produce correctly skewed blend weights (0.8/0.2) and that the
  output antenna offset reflects the weighted average
- blendingFallthroughAntennaOffset: verify that when blending is enabled
  but can_do_blending evaluates false (eph=0), the non-blending path
  correctly assigns the selected receiver's antenna offset

* feat(param_translation): translate EKF2_GPS_POS_ to SENS_GPS0_OFF_

* fix(msgs): proper formatting

* chore(msg): 0 if invalid/unknown

* fix(ROMFS): migrate EKF2_GPS_POS_ params

* fix(docs): migrate EKF2_GPS_POS_ params

* fix(blending): unsigned param

* Update msg/SensorGps.msg

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* fix(sensors/gps): remove 'values:' tag in  module.yaml

* fix(sensors/gps): unsigned instance index

* fix(blending): restore const on gps_blend_states()

Move antenna offset blending into blend_gps_data() where the
weights are computed, keeping gps_blend_states() const.

* fix(sensors/gps): fix msg annotation and restore SENS_GPS_PRIME values

Remove incorrect @invalid NaN annotation from antenna offset fields
(0.0 default is correct, not a sentinel). Restore values tag for
SENS_GPS_PRIME so QGC shows a dropdown.

* fix(gps_blending): fix pre-existing bug to clear _gps_updated flags

The loop iterates over i but always clears gps_select_index. The intent is to clear
all updated flags, but only the selected one gets cleared (N times)

* test(gps_blending): add stale update flag regression test
This commit is contained in:
Jacob Dahl
2026-03-17 17:33:41 -08:00
committed by GitHub
parent b597227da6
commit 89855926ef
29 changed files with 424 additions and 144 deletions
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docs/en/dronecan/ark_rtk_gps.md
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@@ -86,7 +86,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
### ARK RTK GPS Configuration