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feat(ekf2): generalize engine warmup mode

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This is not only needed for engine warmup but in general, when the
vehicle is static on the ground, relying on fixed position to maintain a
valid global position estimate before takeoff, even when bumping it or
starting the engine.
This commit is contained in:
bresch
2026-03-17 16:25:24 +01:00
committed by Mathieu Bresciani
parent 24bbf5efd9
commit f90b159401
4 changed files with 17 additions and 9 deletions
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10
src/lib/parameters/param_translation.cpp
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@@ -223,5 +223,15 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
}
}
// 2026-03-19: translate EKF2_ENGINE_WRM to EKF2_POS_LOCK
{
if (strcmp("EKF2_ENGINE_WRM", node->name) == 0) {
int32_t delay_ms = static_cast<int32_t>(node->d);
param_set(param_find("EKF2_POS_LOCK"), &delay_ms);
PX4_INFO("migrating %s -> %s", "EKF2_ENGINE_WRM", "EKF2_POS_LOCK");
return param_modify_on_import_ret::PARAM_MODIFIED;
}
}
return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
}

7
src/modules/ekf2/EKF2.cpp
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@@ -2638,8 +2638,7 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
flags.in_air = !vehicle_land_detected.landed;
flags.gnd_effect = vehicle_land_detected.in_ground_effect;
// Enable constant position fusion for engine warmup when landed and armed
flags.constant_pos = _param_ekf2_engine_wrm.get() && !flags.in_air && armed;
flags.constant_pos = _param_ekf2_pos_lock.get() && !flags.in_air && _ekf.isGlobalHorizontalPositionValid();
}
launch_detection_status_s launch_detection_status;
@@ -2647,8 +2646,8 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
if (_launch_detection_status_sub.copy(&launch_detection_status)
&& (ekf2_timestamps.timestamp < launch_detection_status.timestamp + 3_s)) {
flags.constant_pos = (launch_detection_status.launch_detection_state ==
launch_detection_status_s::STATE_WAITING_FOR_LAUNCH);
flags.constant_pos |= (launch_detection_status.launch_detection_state ==
launch_detection_status_s::STATE_WAITING_FOR_LAUNCH);
}
_ekf.setSystemFlagData(flags);

2
src/modules/ekf2/EKF2.hpp
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@@ -487,7 +487,7 @@ private:
(ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max,
(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
(ParamExtFloat<px4::params::EKF2_VEL_LIM>) _param_ekf2_vel_lim,
(ParamBool<px4::params::EKF2_ENGINE_WRM>) _param_ekf2_engine_wrm,
(ParamBool<px4::params::EKF2_POS_LOCK>) _param_ekf2_pos_lock,
#if defined(CONFIG_EKF2_AUXVEL)
(ParamExtFloat<px4::params::EKF2_AVEL_DELAY>)

7
src/modules/ekf2/module.yaml
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@@ -186,10 +186,9 @@ parameters:
unit: m/s
decimal: 1
EKF2_ENGINE_WRM:
EKF2_POS_LOCK:
description:
short: Enable constant position fusion during engine warmup
long: When enabled, constant position fusion is enabled when the vehicle is landed and armed.
This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.
short: Enable constant position fusion while on ground
long: When enabled, constant position fusion is enabled when the vehicle is landeded if position has been initialized but has currently no vel/pos aiding.
type: boolean
default: 0