ekf2: move flow fusion activation from AID_MASK to OF_CTRL

src/modules/ekf2/EKF/common.h

@@ -158,7 +158,7 @@ enum class EvCtrl : uint8_t {
 enum SensorFusionMask : uint16_t {
 	// Bit locations for fusion_mode
 	DEPRECATED_USE_GPS = (1<<0),    ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl)
-	USE_OPT_FLOW     = (1<<1),      ///< set to true to use optical flow data
+	DEPRECATED_USE_OPT_FLOW     = (1<<1), ///< set to true to use optical flow data
 	DEPRECATED_INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias
 	DEPRECATED_USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data
 	DEPRECATED_USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw
@@ -423,6 +423,7 @@ struct parameters {
 	float gravity_noise{1.0f};              ///< accelerometer measurement gaussian noise (m/s**2)
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
+	int32_t flow_ctrl{0};
 	float flow_delay_ms{5.0f};              ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval
 
 	// optical flow fusion

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -569,7 +569,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 	}
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
-	if (_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW) {
+	if (_params.flow_ctrl > 0) {
 		max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
 	}
 #endif // CONFIG_EKF2_OPTICAL_FLOW

src/modules/ekf2/EKF/optical_flow_control.cpp

@@ -158,7 +158,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 
 		// Handle cases where we are using optical flow but we should not use it anymore
 		if (_control_status.flags.opt_flow) {
-			if (!(_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW)
+			if (!(_params.flow_ctrl == 1)
 			    || inhibit_flow_use) {
 
 				stopFlowFusion();
@@ -167,7 +167,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 		}
 
 		// optical flow fusion mode selection logic
-		if ((_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW) // optical flow has been selected by the user
+		if ((_params.flow_ctrl == 1) // optical flow has been selected by the user
 		    && !_control_status.flags.opt_flow // we are not yet using flow data
 		    && !inhibit_flow_use) {
 

src/modules/ekf2/EKF2.cpp

@@ -150,6 +150,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 	_param_ekf2_grav_noise(_params->gravity_noise),
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
+	_param_ekf2_of_ctrl(_params->flow_ctrl),
 	_param_ekf2_of_delay(_params->flow_delay_ms),
 	_param_ekf2_of_n_min(_params->flow_noise),
 	_param_ekf2_of_n_max(_params->flow_noise_qual_min),
@@ -884,6 +885,29 @@ void EKF2::VerifyParams()
 	}
 
 #endif // CONFIG_EKF2_DRAG_FUSION
+
+#if defined(CONFIG_EKF2_OPTICAL_FLOW)
+
+	// IMU EKF2_AID_MASK -> EKF2_OF_CTRL (2023-04-26)
+	if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_OPT_FLOW) {
+		// EKF2_OF_CTRL enable flow fusion
+		_param_ekf2_of_ctrl.set(1);
+
+		// EKF2_AID_MASK clear deprecated bit
+		_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_OPT_FLOW));
+
+		_param_ekf2_of_ctrl.commit();
+		_param_ekf2_aid_mask.commit();
+
+		mavlink_log_critical(&_mavlink_log_pub, "EKF2 optical flow use EKF2_OF_CTRL instead of EKF2_AID_MASK\n");
+		/* EVENT
+		 * @description <param>EKF2_AID_MASK</param> is set to {1:.0}.
+		 */
+		events::send<float>(events::ID("ekf2_aid_mask_opt_flow"), events::Log::Warning,
+				    "Use EKF2_OF_CTRL instead", _param_ekf2_aid_mask.get());
+	}
+
+#endif // CONFIG_EKF2_OPTICAL_FLOW
 }
 
 void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)

src/modules/ekf2/EKF2.hpp

@@ -640,6 +640,8 @@ private:
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 		// optical flow fusion
+		(ParamExtInt<px4::params::EKF2_OF_CTRL>)
+		_param_ekf2_of_ctrl, ///< optical flow fusion selection
 		(ParamExtFloat<px4::params::EKF2_OF_DELAY>)
 		_param_ekf2_of_delay, ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval
 		(ParamExtFloat<px4::params::EKF2_OF_N_MIN>)

src/modules/ekf2/ekf2_params.c

@@ -614,7 +614,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
  *
  * Set bits in the following positions to enable:
  * 0 : Deprecated, use EKF2_GPS_CTRL instead
- * 1 : Set to true to use optical flow data if available
+ * 1 : Deprecated. use EKF2_OF_CTRL instead
  * 2 : Deprecated, use EKF2_IMU_CTRL instead
  * 3 : Deprecated, use EKF2_EV_CTRL instead
  * 4 : Deprecated, use EKF2_EV_CTRL instead
@@ -627,7 +627,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
  * @min 0
  * @max 511
  * @bit 0 unused
- * @bit 1 use optical flow
+ * @bit 1 unused
  * @bit 2 unused
  * @bit 3 unused
  * @bit 4 unused
@@ -867,6 +867,16 @@ PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.1f);
  */
 PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 1.0f);
 
+/**
+ * Optical flow aiding
+ *
+ * Enable optical flow fusion.
+ *
+ * @group EKF2
+ * @boolean
+ */
+PARAM_DEFINE_INT32(EKF2_OF_CTRL, 0);
+
 /**
  * Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
  *

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -132,12 +132,12 @@ bool EkfWrapper::isIntendingGpsHeadingFusion() const
 
 void EkfWrapper::enableFlowFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_OPT_FLOW;
+	_ekf_params->flow_ctrl = 1;
 }
 
 void EkfWrapper::disableFlowFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_OPT_FLOW;
+	_ekf_params->flow_ctrl = 0;
 }
 
 bool EkfWrapper::isIntendingFlowFusion() const