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fix(commander): require GNSS altitude fusion for raw home position (#27604)

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* HomePosition: require GPS altitude fusion for raw GNSS home

* Commander: name GNSS position fusion mask
This commit is contained in:
Eurus
2026-07-04 05:29:14 +08:00
committed by GitHub
parent 671f60e6da
commit c51aabcfec
2 changed files with 6 additions and 5 deletions
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8
src/modules/commander/HomePosition.cpp
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@@ -301,17 +301,17 @@ void HomePosition::setHomePosValid()
_valid = true;
}
bool HomePosition::isGpsHorizontalFusionEnabled()
bool HomePosition::isGpsPositionFusionEnabled()
{
// If parameter doesn't exist, allow GPS usage
if (_param_ekf2_gps_ctrl_handle == PARAM_INVALID) {
return true;
}
// Check if bit 0 (horizontal position fusion) is set
// Raw GNSS home position uses both horizontal position and altitude.
int32_t ekf2_gps_ctrl = 0;
param_get(_param_ekf2_gps_ctrl_handle, &ekf2_gps_ctrl);
return (ekf2_gps_ctrl & 1);
return (ekf2_gps_ctrl & kGpsCtrlHorizontalAndAltitude) == kGpsCtrlHorizontalAndAltitude;
}
void HomePosition::updateHomePositionYaw(float yaw)
@@ -364,7 +364,7 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
const bool evh_valid = vehicle_gps_position.s_variance_m_s < kHomePositionGPSRequiredEVH;
_gps_position_for_home_valid = time_valid && fix_valid && eph_valid && epv_valid && evh_valid
&& isGpsHorizontalFusionEnabled();
&& isGpsPositionFusionEnabled();
if (_param_com_home_en.get() && _gps_position_for_home_valid && _last_gps_timestamp != 0 && _last_baro_timestamp != 0
&& _takeoff_time != 0 && now < _takeoff_time + kHomePositionCorrectionTimeWindow) {

3
src/modules/commander/HomePosition.hpp
View File

@@ -51,6 +51,7 @@ static constexpr int kHomePositionGPSRequiredFixType = 2;
static constexpr float kHomePositionGPSRequiredEPH = 5.f;
static constexpr float kHomePositionGPSRequiredEPV = 10.f;
static constexpr float kHomePositionGPSRequiredEVH = 1.f;
static constexpr int32_t kGpsCtrlHorizontalAndAltitude = (1 << 0) | (1 << 1);
static constexpr float kMinHomePositionChangeEPH = 1.f;
static constexpr float kMinHomePositionChangeEPV = 1.5f;
static constexpr float kLpfBaroTimeConst = 5.f;
@@ -74,7 +75,7 @@ public:
private:
bool hasMovedFromCurrentHomeLocation();
bool isGpsHorizontalFusionEnabled();
bool isGpsPositionFusionEnabled();
void setHomePosValid();
void updateHomePositionYaw(float yaw);