Update PX4 Firmware metadata Wed Jul 10 07:43:05 UTC 2024

edurdag · Jul 10, 2024 · ddbbf0d · ddbbf0d
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Showing 12 changed files with 15 additions and 9 deletions.
diff --git a/en/advanced_config/parameter_reference.md b/en/advanced_config/parameter_reference.md
@@ -11173,7 +11173,7 @@ table {
 </tr>
 <tr>
  <td><strong id="EKF2_GPS_CHECK">EKF2_GPS_CHECK</strong> (INT32)</td>
- <td>Integer bitmask controlling GPS checks <p><strong>Comment:</strong> Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</p>  <strong>Bitmask:</strong><ul>  <li><strong>0:</strong> Min sat count (EKF2_REQ_NSATS)</li>
+ <td>Integer bitmask controlling GPS checks <p><strong>Comment:</strong> Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT. 9: Fails if GPS driver detects consistent spoofing</p>  <strong>Bitmask:</strong><ul>  <li><strong>0:</strong> Min sat count (EKF2_REQ_NSATS)</li>
   <li><strong>1:</strong> Max PDOP (EKF2_REQ_PDOP)</li>
   <li><strong>2:</strong> Max horizontal position error (EKF2_REQ_EPH)</li>
   <li><strong>3:</strong> Max vertical position error (EKF2_REQ_EPV)</li>
@@ -11182,9 +11182,10 @@ table {
   <li><strong>6:</strong> Max vertical position rate (EKF2_REQ_VDRIFT)</li>
   <li><strong>7:</strong> Max horizontal speed (EKF2_REQ_HDRIFT)</li>
   <li><strong>8:</strong> Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)</li>
+  <li><strong>9:</strong> Spoofing check</li>
 </ul>
  </td>
- <td>[0, 511] </td>
+ <td>[0, 1023] </td>
  <td>245</td>
  <td></td>
 </tr>

diff --git a/en/msg_docs/EstimatorGpsStatus.md b/en/msg_docs/EstimatorGpsStatus.md
@@ -20,6 +20,7 @@ bool check_fail_max_horz_drift   # 6 : maximum allowed horizontal position drift
 bool check_fail_max_vert_drift   # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
 bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
+bool check_fail_spoofed_gps      # 10 : GPS signal is spoofed
 
 float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
 float32 position_drift_rate_vertical_m_s   # Vertical position rate magnitude (m/s)

diff --git a/en/msg_docs/EstimatorStatus.md b/en/msg_docs/EstimatorStatus.md
@@ -22,6 +22,7 @@ uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6		# 6 : maximum allowed horizontal positi
 uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position drift fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail
+uint8 GPS_CHECK_FAIL_SPOOFED = 10		# 10 : GPS signal is spoofed
 
 uint64 control_mode_flags	# Bitmask to indicate EKF logic state
 uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete

diff --git a/en/msg_docs/EstimatorStatusFlags.md b/en/msg_docs/EstimatorStatusFlags.md
@@ -50,6 +50,8 @@ bool cs_mag                     # 35 - true if 3-axis magnetometer measurement f
 bool cs_ev_yaw_fault            # 36 - true when the EV heading has been declared faulty and is no longer being used
 bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag data is declared consistent with the filter
 bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended
+bool cs_rng_terrain             # 39 - true if we are fusing range finder data for terrain
+bool cs_opt_flow_terrain        # 40 - true if we are fusing flow data for terrain
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes

diff --git a/en/msg_docs/VehicleLocalPosition.md b/en/msg_docs/VehicleLocalPosition.md
@@ -64,6 +64,7 @@ float32 ref_alt				# Reference altitude AMSL, (metres)
 
 # Distance to surface
 float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
+float32 dist_bottom_var                 # terrain estimate variance (m^2)
 bool dist_bottom_valid			# true if distance to bottom surface is valid
 uint8 dist_bottom_sensor_bitfield	# bitfield indicating what type of sensor is used to estimate dist_bottom
 uint8 DIST_BOTTOM_SENSOR_NONE = 0

diff --git a/public/config/failsafe/parameters.json b/public/config/failsafe/parameters.json
diff --git a/public/middleware/graph_full.json b/public/middleware/graph_full.json
diff --git a/public/middleware/graph_full_no_mavlink.json b/public/middleware/graph_full_no_mavlink.json
diff --git a/public/middleware/graph_px4_fmu-v2.json b/public/middleware/graph_px4_fmu-v2.json
diff --git a/public/middleware/graph_px4_fmu-v4.json b/public/middleware/graph_px4_fmu-v4.json
diff --git a/public/middleware/graph_px4_fmu-v5.json b/public/middleware/graph_px4_fmu-v5.json
diff --git a/public/middleware/graph_px4_sitl.json b/public/middleware/graph_px4_sitl.json