feat(sensors/vehicle_gps_position): per-receiver baseline rotation SENS_GPSn_ROT - #28653
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feat(sensors/vehicle_gps_position): per-receiver baseline rotation SENS_GPSn_ROT#28653dakejahl wants to merge 3 commits into
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…opic Dual-antenna heading was only reachable through the blended vehicle_gps_position, so it carried the position timestamp, followed the position blending weights and was published at the position rate. vehicle_gnss_heading carries one selected source at a time, preferring sensor_gnss_relative (callback driven) and falling back to sensor_gps.heading for receivers that do not publish it. Per-receiver delay and the driver heading offset are resolved by device_id; a sample timestamp within 10 ms of the publish timestamp is treated as unset so the configured delay applies.
Heading rode on gnssSample and was only fused when a position sample was popped: faster heading was dropped by the observation rate limit, its timestamp was the position timestamp and a position outage blocked the start. gnssYawSample has its own TimestampedRingBuffer and pop. Non-finite yaw is rejected at the interface and a NaN heading_offset is treated as zero instead of reaching the fusion Jacobian. The test simulator feeds heading as an independent sensor.
…NS_GPSn_ROT The antenna baseline orientation lived in three places depending on the transport: the serial driver (GPS_YAW_OFFSET), the Septentrio receiver (SEP_YAW_OFFS, SEP_PITCH_OFFS) and EKF2 for anything arriving with a NaN offset, in practice CAN receivers (EKF2_GPS_YAW_OFF). A second receiver with a different baseline had no parameter at all. Drivers now publish the raw baseline heading and vehicle_gps_position rotates it into the body frame from the receiver's SENS_GPSn_* slot, the same Rotation enum the other sensors use, before blending and before publishing vehicle_gnss_heading. Bumps PX4-GPSDrivers so sensor_gnss_relative carries a real UTC time and no parse-time sample timestamp, which lets the relative-position heading be delay-compensated and PPS-aligned.
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September 10, 2026 04:37
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 2440 byte (0.12 %)]px4_fmu-v6x [Total VM Diff: 2064 byte (0.11 %)]Updated: 2026-09-10T04:39:48 |
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Folded into #27102. |
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Summary
Replaces
GPS_YAW_OFFSET,SEP_YAW_OFFS,SEP_PITCH_OFFSandEKF2_GPS_YAW_OFFwith a per-receiver baseline rotationSENS_GPSn_ROT(the standard sensorRotationenum, custom Euler viaSENS_GPSn_ROLL/PITCH/YAW) next to the existingSENS_GPSn_ID,SENS_GPSn_OFFX/Y/ZandSENS_GPSn_DELAY. Stacked on #27102; the first two commits are that PR. Bumps PX4-GPSDrivers to PX4/PX4-GPSDrivers#240.Problem
The antenna baseline orientation lived in three places depending on the transport: in the serial driver (
GPS_YAW_OFFSET, subtracted before publish), inside the Septentrio receiver (SEP_YAW_OFFS,SEP_PITCH_OFFS), and in EKF2 for everything that arrived with a NaN offset, in practice CAN receivers (EKF2_GPS_YAW_OFF). A CAN receiver needed the node'sGPS_YAW_OFFSETand the autopilot'sEKF2_GPS_YAW_OFFto agree, and a second receiver with a different baseline had no parameter at all. u-blox stampedsensor_gnss_relativewith a parse-timetimestamp_sampleand an iTOWtime_utc_usec, so the relative position could not be delay-compensated or PPS-aligned.Solution
Drivers publish the raw baseline heading with
heading_offset = NaN; a driver that already reports a body-frame heading keeps a finiteheading_offsetand is left alone.vehicle_gps_positionresolves the receiver's slot by device_id, rotates the baseline into the body frame before blending and before publishingvehicle_gnss_heading, and hands the offset to EKF2 through the message. The baseline yaw is the yaw of the rotated x-axis; a vertical baseline yields no heading. Septentrio receivers get their attitude offsets zeroed. With a realtime_utc_useconsensor_gnss_relative, PPS correction now applies on the relative-position path as well.Behavior change for CAN nodes running older firmware: they still apply their own
GPS_YAW_OFFSET, which must be 0 whenSENS_GPSn_ROTis set.