ekf2: move gnss_checks to their own class

src/modules/ekf2/CMakeLists.txt

@@ -173,8 +173,8 @@ endif()
 
 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
+		EKF/aid_sources/gnss/gnss_checks.cpp
 		EKF/aid_sources/gnss/gnss_height_control.cpp
-		EKF/aid_sources/gnss/gps_checks.cpp
 		EKF/aid_sources/gnss/gps_control.cpp
 	)
 

src/modules/ekf2/EKF/CMakeLists.txt

@@ -90,8 +90,8 @@ endif()
 
 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
+		aid_sources/gnss/gnss_checks.cpp
 		aid_sources/gnss/gnss_height_control.cpp
-		aid_sources/gnss/gps_checks.cpp
 		aid_sources/gnss/gps_control.cpp
 	)
 

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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015-2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,26 +32,56 @@
  ****************************************************************************/
 
 /**
- * @file gps_checks.cpp
+ * @file gnss_checks.cpp
- * Perform pre-flight and in-flight GPS quality checks
+ * Perform pre-flight and in-flight GNSS quality checks
- *
- * @author Paul Riseborough <p_riseborough@live.com.au>
- *
  */
 
-#include "ekf.h"
+#include "aid_sources/gnss/gnss_checks.hpp"
 
-#include <mathlib/mathlib.h>
+namespace estimator
-
-bool Ekf::isGnssCheckEnabled(GnssChecksMask check)
 {
-	return (_params.gps_check_mask & static_cast<int32_t>(check));
+bool GnssChecks::runGnssChecks(const gnssSample &gnss, uint64_t time_us)
+{
+	// assume failed first time through
+	if (_last_gps_fail_us == 0) {
+		_last_gps_fail_us = time_us;
 	}
 
-bool Ekf::runGnssChecks(const gnssSample &gnss)
+	bool passed = false;
-{
-	_gps_check_fail_status.flags.spoofed = gnss.spoofed;
 
+	if (_initial_checks_passed) {
+		if (runInitialFixChecks(gnss)) {
+			_last_gps_pass_us = time_us;
+			passed = isTimedOut(_last_gps_fail_us, time_us, math::max((uint64_t)1e6, (uint64_t)_min_gps_health_time_us / 10));
+
+		} else {
+			_last_gps_fail_us = time_us;
+		}
+
+	} else {
+		if (runInitialFixChecks(gnss)) {
+			_last_gps_pass_us = time_us;
+
+			if (isTimedOut(_last_gps_fail_us, time_us, (uint64_t)_min_gps_health_time_us)) {
+				_initial_checks_passed = true;
+				passed = true;
+			}
+
+		} else {
+			_last_gps_fail_us = time_us;
+		}
+	}
+
+	// save GPS fix for next time
+	_gnss_pos_prev.initReference(gnss.lat, gnss.lon, gnss.time_us);
+	_gnss_alt_prev = gnss.alt;
+
+	_checks_passed = passed;
+	return passed;
+}
+
+bool GnssChecks::runInitialFixChecks(const gnssSample &gnss)
+{
 	// Check the fix type
 	_gps_check_fail_status.flags.fix = (gnss.fix_type < 3);
 
@@ -68,6 +98,8 @@ bool Ekf::runGnssChecks(const gnssSample &gnss)
 	// Check the reported speed accuracy
 	_gps_check_fail_status.flags.sacc = (gnss.sacc > _params.req_sacc);
 
+	_gps_check_fail_status.flags.spoofed = gnss.spoofed;
+
 	runOnGroundGnssChecks(gnss);
 
 	// force horizontal speed failure if above the limit
@@ -80,14 +112,7 @@ bool Ekf::runGnssChecks(const gnssSample &gnss)
 		_gps_check_fail_status.flags.vspeed = true;
 	}
 
-	// save GPS fix for next time
+	bool passed = true;
-	_gnss_pos_prev.initReference(gnss.lat, gnss.lon, gnss.time_us);
-	_gnss_alt_prev = gnss.alt;
-
-	// assume failed first time through
-	if (_last_gps_fail_us == 0) {
-		_last_gps_fail_us = _time_delayed_us;
-	}
 
 	// if any user selected checks have failed, record the fail time
 	if (
@@ -103,16 +128,13 @@ bool Ekf::runGnssChecks(const gnssSample &gnss)
 		(_gps_check_fail_status.flags.vspeed  && isGnssCheckEnabled(GnssChecksMask::kVspd)) ||
 		(_gps_check_fail_status.flags.spoofed && isGnssCheckEnabled(GnssChecksMask::kSpoofed))
 	) {
-		_last_gps_fail_us = _time_delayed_us;
+		passed = false;
-		return false;
-
-	} else {
-		_last_gps_pass_us = _time_delayed_us;
-		return true;
-	}
 	}
 
-void Ekf::runOnGroundGnssChecks(const gnssSample &gnss)
+	return passed;
+}
+
+void GnssChecks::runOnGroundGnssChecks(const gnssSample &gnss)
 {
 	if (_control_status.flags.in_air) {
 		// These checks are always declared as passed when flying
@@ -187,7 +209,7 @@ void Ekf::runOnGroundGnssChecks(const gnssSample &gnss)
 	}
 }
 
-void Ekf::resetGpsDriftCheckFilters()
+void GnssChecks::resetGpsDriftCheckFilters()
 {
 	_gps_velNE_filt.setZero();
 	_gps_vel_d_filt = 0.f;
@@ -198,3 +220,4 @@ void Ekf::resetGpsDriftCheckFilters()
 	_gps_vertical_position_drift_rate_m_s = NAN;
 	_gps_filtered_horizontal_velocity_m_s = NAN;
 }
+}; // namespace estimator

src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.hpp

@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef EKF_GNSS_CHECKS_H
+#define EKF_GNSS_CHECKS_H
+
+#include <lib/geo/geo.h>
+
+#include "../../common.h"
+
+namespace estimator
+{
+class GnssChecks final
+{
+public:
+	GnssChecks(int32_t &check_mask, int32_t &req_nsats, float &req_pdop, float &req_hacc, float &req_vacc, float &req_sacc,
+		   float &req_hdrift, float &req_vdrift, float &velocity_limit, uint32_t &min_health_time_us,
+		   filter_control_status_u &control_status):
+		_params{check_mask, req_nsats, req_pdop, req_hacc, req_vacc, req_sacc, req_hdrift, req_vdrift, velocity_limit},
+		_min_gps_health_time_us(min_health_time_us),
+		_control_status(control_status)
+	{};
+
+	union gps_check_fail_status_u {
+		struct {
+			uint16_t fix    : 1; ///< 0 - true if the fix type is insufficient (no 3D solution)
+			uint16_t nsats  : 1; ///< 1 - true if number of satellites used is insufficient
+			uint16_t pdop   : 1; ///< 2 - true if position dilution of precision is insufficient
+			uint16_t hacc   : 1; ///< 3 - true if reported horizontal accuracy is insufficient
+			uint16_t vacc   : 1; ///< 4 - true if reported vertical accuracy is insufficient
+			uint16_t sacc   : 1; ///< 5 - true if reported speed accuracy is insufficient
+			uint16_t hdrift : 1; ///< 6 - true if horizontal drift is excessive (can only be used when stationary on ground)
+			uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground)
+			uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground)
+			uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive
+			uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed
+		} flags;
+		uint16_t value;
+	};
+
+	void resetHard()
+	{
+		_initial_checks_passed = false;
+		reset();
+	}
+
+	void reset()
+	{
+		_checks_passed = false;
+		_last_gps_pass_us = 0;
+		_last_gps_fail_us = 0;
+		resetGpsDriftCheckFilters();
+	}
+
+	/*
+	 * Return true if the GPS solution quality is adequate.
+	 * Checks are activated using the EKF2_GPS_CHECK bitmask parameter
+	 * Checks are adjusted using the EKF2_REQ_* parameters
+	*/
+	bool runGnssChecks(const gnssSample &gps, uint64_t time_us);
+	bool passed() const { return _checks_passed; }
+	bool initialChecksPassed() const { return _initial_checks_passed; }
+	uint64_t getLastPassUs() const { return _last_gps_pass_us; }
+	uint64_t getLastFailUs() const { return _last_gps_fail_us; }
+
+	const gps_check_fail_status_u &getFailStatus() const { return _gps_check_fail_status; }
+
+	float horizontal_position_drift_rate_m_s() const { return _gps_horizontal_position_drift_rate_m_s; }
+	float vertical_position_drift_rate_m_s() const { return _gps_vertical_position_drift_rate_m_s; }
+	float filtered_horizontal_velocity_m_s() const { return _gps_filtered_horizontal_velocity_m_s; }
+
+private:
+	enum class GnssChecksMask : int32_t {
+		kNsats   = (1 << 0),
+		kPdop    = (1 << 1),
+		kHacc    = (1 << 2),
+		kVacc    = (1 << 3),
+		kSacc    = (1 << 4),
+		kHdrift  = (1 << 5),
+		kVdrift  = (1 << 6),
+		kHspd    = (1 << 7),
+		kVspd    = (1 << 8),
+		kSpoofed = (1 << 9)
+	};
+
+	bool isGnssCheckEnabled(GnssChecksMask check) { return (_params.check_mask & static_cast<int32_t>(check)); }
+
+	bool runInitialFixChecks(const gnssSample &gnss);
+	void runOnGroundGnssChecks(const gnssSample &gnss);
+
+	void resetGpsDriftCheckFilters();
+
+	bool isTimedOut(uint64_t timestamp_to_check_us, uint64_t now_us, uint64_t timeout_period) const
+	{
+		return (timestamp_to_check_us == 0) || (timestamp_to_check_us + timeout_period < now_us);
+	}
+
+	gps_check_fail_status_u _gps_check_fail_status{};
+
+	float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s)
+	float _gps_vertical_position_drift_rate_m_s{NAN};   // Vertical position drift rate (m/s)
+	float _gps_filtered_horizontal_velocity_m_s{NAN};   // Filtered horizontal velocity (m/s)
+
+	MapProjection _gnss_pos_prev{}; // Contains WGS-84 position latitude and longitude of the previous GPS message
+	float _gnss_alt_prev{0.0f};	// height from the previous GPS message (m)
+
+	// variables used for the GPS quality checks
+	Vector3f _gps_pos_deriv_filt{};
+	Vector2f _gps_velNE_filt{};	///< filtered GPS North and East velocity (m/sec)
+
+	float _gps_vel_d_filt{0.0f};		///< GNSS filtered Down velocity (m/sec)
+	uint64_t _last_gps_fail_us{0};
+	uint64_t _last_gps_pass_us{0};
+	bool _initial_checks_passed{false};
+	bool _checks_passed{false};
+
+	struct Params {
+		const int32_t &check_mask;
+		const int32_t &req_nsats;
+		const float &req_pdop;
+		const float &req_hacc;
+		const float &req_vacc;
+		const float &req_sacc;
+		const float &req_hdrift;
+		const float &req_vdrift;
+		const float &velocity_limit;
+	};
+
+	const Params _params;
+	const uint32_t &_min_gps_health_time_us; ///< GPS is marked as healthy only after this amount of time
+	const filter_control_status_u &_control_status;
+};
+}; // namespace estimator
+
+#endif // !EKF_GNSS_CHECKS_H

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

@@ -87,7 +87,7 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 		// determine if we should use height aiding
 		const bool common_conditions_passing = measurement_valid
 						       && _local_origin_lat_lon.isInitialized()
-						       && _gps_checks_passed;
+						       && _gnss_checks.passed();
 
 		const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
 				&& common_conditions_passing;

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

@@ -66,7 +66,7 @@ void Ekf::controlGnssYawFusion(const gnssSample &gnss_sample)
 				2 * GNSS_YAW_MAX_INTERVAL);
 
 		const bool starting_conditions_passing = continuing_conditions_passing
-				&& _gps_checks_passed
+				&& _gnss_checks.passed()
 				&& !is_gnss_yaw_data_intermittent
 				&& !_gps_intermittent;
 

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

@@ -63,23 +63,22 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	if (_gps_data_ready) {
 		const gnssSample &gnss_sample = _gps_sample_delayed;
 
-		if (runGnssChecks(gnss_sample)
+		const bool initial_checks_passed_prev = _gnss_checks.initialChecksPassed();
-		    && isTimedOut(_last_gps_fail_us, max((uint64_t)1e6, (uint64_t)_min_gps_health_time_us / 10))) {
-			if (isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
-				// First time checks are passing, latching.
-				if (!_gps_checks_passed) {
-					_information_events.flags.gps_checks_passed = true;
-				}
 
-				_gps_checks_passed = true;
+		if (_gnss_checks.runGnssChecks(gnss_sample, _time_delayed_us)) {
+			if (_gnss_checks.initialChecksPassed() && !initial_checks_passed_prev) {
+				// First time checks are passing, latching.
+				_information_events.flags.gps_checks_passed = true;
 			}
 
 		} else {
 			// Skip this sample
 			_gps_data_ready = false;
 
-			if ((_control_status.flags.gnss_vel || _control_status.flags.gnss_pos)
+			const bool using_gnss = _control_status.flags.gnss_vel || _control_status.flags.gnss_pos;
-			    && isTimedOut(_last_gps_pass_us, _params.reset_timeout_max)) {
+			const bool gnss_checks_pass_timeout = isTimedOut(_gnss_checks.getLastPassUs(), _params.reset_timeout_max);
+
+			if (using_gnss && gnss_checks_pass_timeout) {
 				stopGnssFusion();
 				ECL_WARN("GNSS quality poor - stopping use");
 			}
@@ -128,7 +127,7 @@ void Ekf::controlGnssVelFusion(estimator_aid_source3d_s &aid_src, const bool for
 	const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VEL))
 			&& _control_status.flags.tilt_align
 			&& _control_status.flags.yaw_align;
-	const bool starting_conditions_passing = continuing_conditions_passing && _gps_checks_passed;
+	const bool starting_conditions_passing = continuing_conditions_passing && _gnss_checks.passed();
 
 	if (_control_status.flags.gnss_vel) {
 		if (continuing_conditions_passing) {
@@ -175,8 +174,8 @@ void Ekf::controlGnssPosFusion(estimator_aid_source2d_s &aid_src, const bool for
 	const bool continuing_conditions_passing = gnss_pos_enabled
 			&& _control_status.flags.tilt_align
 			&& _control_status.flags.yaw_align;
-	const bool starting_conditions_passing = continuing_conditions_passing && _gps_checks_passed;
+	const bool starting_conditions_passing = continuing_conditions_passing && _gnss_checks.passed();
-	const bool gpos_init_conditions_passing = gnss_pos_enabled && _gps_checks_passed;
+	const bool gpos_init_conditions_passing = gnss_pos_enabled && _gnss_checks.passed();
 
 	if (_control_status.flags.gnss_pos) {
 		if (continuing_conditions_passing) {
@@ -394,8 +393,7 @@ bool Ekf::shouldResetGpsFusion() const
 void Ekf::stopGnssFusion()
 {
 	if (_control_status.flags.gnss_vel || _control_status.flags.gnss_pos) {
-		_last_gps_fail_us = 0;
+		_gnss_checks.reset();
-		_last_gps_pass_us = 0;
 	}
 
 	stopGnssVelFusion();
@@ -416,8 +414,7 @@ void Ekf::stopGnssVelFusion()
 
 		//TODO: what if gnss yaw or height is used?
 		if (!_control_status.flags.gnss_pos) {
-			_last_gps_fail_us = 0;
+			_gnss_checks.reset();
-			_last_gps_pass_us = 0;
 		}
 	}
 }
@@ -430,8 +427,7 @@ void Ekf::stopGnssPosFusion()
 
 		//TODO: what if gnss yaw or height is used?
 		if (!_control_status.flags.gnss_vel) {
-			_last_gps_fail_us = 0;
+			_gnss_checks.reset();
-			_last_gps_pass_us = 0;
 		}
 	}
 }

src/modules/ekf2/EKF/common.h

@@ -543,24 +543,6 @@ union innovation_fault_status_u {
 	uint16_t value;
 };
 
-// publish the status of various GPS quality checks
-union gps_check_fail_status_u {
-	struct {
-		uint16_t fix    : 1; ///< 0 - true if the fix type is insufficient (no 3D solution)
-		uint16_t nsats  : 1; ///< 1 - true if number of satellites used is insufficient
-		uint16_t pdop   : 1; ///< 2 - true if position dilution of precision is insufficient
-		uint16_t hacc   : 1; ///< 3 - true if reported horizontal accuracy is insufficient
-		uint16_t vacc   : 1; ///< 4 - true if reported vertical accuracy is insufficient
-		uint16_t sacc   : 1; ///< 5 - true if reported speed accuracy is insufficient
-		uint16_t hdrift : 1; ///< 6 - true if horizontal drift is excessive (can only be used when stationary on ground)
-		uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground)
-		uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground)
-		uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive
-		uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed
-	} flags;
-	uint16_t value;
-};
-
 // bitmask containing filter control status
 union filter_control_status_u {
 	struct {

src/modules/ekf2/EKF/ekf.cpp

@@ -94,8 +94,7 @@ void Ekf::reset()
 	_innov_check_fail_status.value = 0;
 
 #if defined(CONFIG_EKF2_GNSS)
-	resetGpsDriftCheckFilters();
+	_gnss_checks.resetHard();
-	_gps_checks_passed = false;
 #endif // CONFIG_EKF2_GNSS
 	_local_origin_alt = NAN;
 

src/modules/ekf2/EKF/ekf.h

@@ -46,6 +46,7 @@
 #include "estimator_interface.h"
 
 #if defined(CONFIG_EKF2_GNSS)
+# include "aid_sources/gnss/gnss_checks.hpp"
 # include "yaw_estimator/EKFGSF_yaw.h"
 #endif // CONFIG_EKF2_GNSS
 
@@ -376,10 +377,10 @@ public:
 	// set minimum continuous period without GPS fail required to mark a healthy GPS status
 	void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; }
 
-	const gps_check_fail_status_u &gps_check_fail_status() const { return _gps_check_fail_status; }
+	const GnssChecks::gps_check_fail_status_u &gps_check_fail_status() const { return _gnss_checks.getFailStatus(); }
-	const decltype(gps_check_fail_status_u::flags) &gps_check_fail_status_flags() const { return _gps_check_fail_status.flags; }
+	const decltype(GnssChecks::gps_check_fail_status_u::flags) &gps_check_fail_status_flags() const { return _gnss_checks.getFailStatus().flags; }
 
-	bool gps_checks_passed() const { return _gps_checks_passed; };
+	bool gps_checks_passed() const { return _gnss_checks.passed(); };
 
 	const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
 
@@ -554,17 +555,6 @@ private:
 #if defined(CONFIG_EKF2_GNSS)
 	bool _gps_data_ready {false};	///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
 
-	// variables used for the GPS quality checks
-	Vector3f _gps_pos_deriv_filt{};	///< GPS NED position derivative (m/sec)
-	Vector2f _gps_velNE_filt{};	///< filtered GPS North and East velocity (m/sec)
-
-	float _gps_vel_d_filt{0.0f};		///< GNSS filtered Down velocity (m/sec)
-	uint64_t _last_gps_fail_us{0};		///< last system time in usec that the GPS failed it's checks
-	uint64_t _last_gps_pass_us{0};		///< last system time in usec that the GPS passed it's checks
-	uint32_t _min_gps_health_time_us{10000000}; ///< GPS is marked as healthy only after this amount of time
-	bool _gps_checks_passed{false};		///> true when all active GPS checks have passed
-
-	gps_check_fail_status_u _gps_check_fail_status{};
 	// height sensor status
 	bool _gps_intermittent{true};           ///< true if data into the buffer is intermittent
 
@@ -877,34 +867,9 @@ private:
 	void resetHorizontalPositionToGnss(estimator_aid_source2d_s &aid_src);
 	bool shouldResetGpsFusion() const;
 
-	/*
-	 * Return true if the GPS solution quality is adequate.
-	 * Checks are activated using the EKF2_GPS_CHECK bitmask parameter
-	 * Checks are adjusted using the EKF2_REQ_* parameters
-	*/
-	bool runGnssChecks(const gnssSample &gps);
-
-	enum class GnssChecksMask : int32_t {
-		kNsats   = (1 << 0),
-		kPdop    = (1 << 1),
-		kHacc    = (1 << 2),
-		kVacc    = (1 << 3),
-		kSacc    = (1 << 4),
-		kHdrift  = (1 << 5),
-		kVdrift  = (1 << 6),
-		kHspd    = (1 << 7),
-		kVspd    = (1 << 8),
-		kSpoofed = (1 << 9)
-	};
-
-	bool isGnssCheckEnabled(GnssChecksMask check);
-	void runOnGroundGnssChecks(const gnssSample &gnss);
-
 	void controlGnssHeightFusion(const gnssSample &gps_sample);
 	void stopGpsHgtFusion();
 
-	void resetGpsDriftCheckFilters();
-
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	void controlGnssYawFusion(const gnssSample &gps_sample);
 	void stopGnssYawFusion();

src/modules/ekf2/EKF/estimator_interface.h

@@ -71,6 +71,10 @@
 # include "aid_sources/range_finder/sensor_range_finder.hpp"
 #endif // CONFIG_EKF2_RANGE_FINDER
 
+#if defined(CONFIG_EKF2_GNSS)
+# include "aid_sources/gnss/gnss_checks.hpp"
+#endif // CONFIG_EKF2_GNSS
+
 #include <lib/atmosphere/atmosphere.h>
 #include <lib/lat_lon_alt/lat_lon_alt.hpp>
 #include <matrix/math.hpp>
@@ -89,9 +93,9 @@ public:
 
 	const gnssSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
 
-	float gps_horizontal_position_drift_rate_m_s() const { return _gps_horizontal_position_drift_rate_m_s; }
+	float gps_horizontal_position_drift_rate_m_s() const { return _gnss_checks.horizontal_position_drift_rate_m_s(); }
-	float gps_vertical_position_drift_rate_m_s() const { return _gps_vertical_position_drift_rate_m_s; }
+	float gps_vertical_position_drift_rate_m_s() const { return _gnss_checks.vertical_position_drift_rate_m_s(); }
-	float gps_filtered_horizontal_velocity_m_s() const { return _gps_filtered_horizontal_velocity_m_s; }
+	float gps_filtered_horizontal_velocity_m_s() const { return _gnss_checks.filtered_horizontal_velocity_m_s(); }
 
 #endif // CONFIG_EKF2_GNSS
 
@@ -398,12 +402,18 @@ protected:
 
 	gnssSample _gps_sample_delayed{};
 
-	float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s)
+	uint32_t _min_gps_health_time_us{10000000}; ///< GPS is marked as healthy only after this amount of time
-	float _gps_vertical_position_drift_rate_m_s{NAN};   // Vertical position drift rate (m/s)
+	GnssChecks _gnss_checks{_params.gps_check_mask,
-	float _gps_filtered_horizontal_velocity_m_s{NAN};   // Filtered horizontal velocity (m/s)
+			   _params.req_nsats,
-
+			   _params.req_pdop,
-	MapProjection _gnss_pos_prev{}; // Contains WGS-84 position latitude and longitude of the previous GPS message
+			   _params.req_hacc,
-	float _gnss_alt_prev{0.0f};	// height from the previous GPS message (m)
+			   _params.req_vacc,
+			   _params.req_sacc,
+			   _params.req_hdrift,
+			   _params.req_vdrift,
+			   _params.velocity_limit,
+			   _min_gps_health_time_us,
+			   _control_status};
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	// innovation consistency check monitoring ratios