vehicle_global_position remove redundant evh and evv

- vehicle_status_flags condition_global_velocity_valid is also unnecessary

msg/vehicle_global_position.msg

@@ -21,8 +21,6 @@ float32 yaw 			# Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (r
 
 float32 eph			# Standard deviation of horizontal position error, (metres)
 float32 epv			# Standard deviation of vertical position error, (metres)
-float32 evh			# Standard deviation of horizontal velocity error, (metres/sec)
-float32 evv			# Standard deviation of horizontal velocity error, (metres/sec)
 
 float32 terrain_alt		# Terrain altitude WGS84, (metres)
 bool terrain_alt_valid		# Terrain altitude estimate is valid

msg/vehicle_status_flags.msg

@@ -7,7 +7,6 @@ bool condition_system_hotplug_timeout		# true if the hotplug sensor search is ov
 bool condition_system_returned_to_home
 bool condition_auto_mission_available
 bool condition_global_position_valid		# set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
-bool condition_global_velocity_valid		# set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation
 bool condition_home_position_valid			# indicates a valid home position (a valid home position is not always a valid launch)
 bool condition_local_position_valid		# set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
 bool condition_local_velocity_valid		# set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation

src/modules/commander/commander.cpp

@@ -165,7 +165,6 @@ static int32_t posctl_nav_loss_gain = 10; /**< the rate at which the probation d
 
 // Probation times for position and velocity validity checks to pass if failed
 static uint64_t gpos_probation_time_us = POSVEL_PROBATION_MIN;
-static uint64_t gvel_probation_time_us = POSVEL_PROBATION_MIN;
 static uint64_t lpos_probation_time_us = POSVEL_PROBATION_MIN;
 static uint64_t lvel_probation_time_us = POSVEL_PROBATION_MIN;
 
@@ -193,7 +192,6 @@ static float evh_threshold = 1.0f;	// Horizontal velocity error threshold (m)
 static hrt_abstime last_lpos_fail_time_us = 0;	// Last time that the local position validity recovery check failed (usec)
 static hrt_abstime last_gpos_fail_time_us = 0;	// Last time that the global position validity recovery check failed (usec)
 static hrt_abstime last_lvel_fail_time_us = 0;	// Last time that the local velocity validity recovery check failed (usec)
-static hrt_abstime last_gvel_fail_time_us = 0;	// Last time that the global velocity validity recovery check failed (usec)
 
 static hrt_abstime gpos_last_update_time_us = 0; // last time a global position update was received (usec)
 
@@ -1332,7 +1330,6 @@ Commander::run()
 
 	/* Set position and velocity validty to false */
 	status_flags.condition_global_position_valid = false;
-	status_flags.condition_global_velocity_valid = false;
 	status_flags.condition_local_position_valid = false;
 	status_flags.condition_local_velocity_valid = false;
 	status_flags.condition_local_altitude_valid = false;
@@ -1510,7 +1507,6 @@ Commander::run()
 	last_lpos_fail_time_us = commander_boot_timestamp;
 	last_gpos_fail_time_us = commander_boot_timestamp;
 	last_lvel_fail_time_us = commander_boot_timestamp;
-	last_gvel_fail_time_us = commander_boot_timestamp;
 
 	// Run preflight check
 	int32_t rc_in_off = 0;
@@ -1967,7 +1963,6 @@ Commander::run()
 		// This is necessary because the global position message is by definition valid if published.
 		if ((hrt_absolute_time() - gpos_last_update_time_us) > 1000000) {
 			status_flags.condition_global_position_valid = false;
-			status_flags.condition_global_velocity_valid = false;
 		}
 
 		/* Check estimator status for signs of bad yaw induced post takeoff navigation failure
@@ -2021,11 +2016,9 @@ Commander::run()
 				// If nav is failed, then declare local position and velocity as invalid
 				if (nav_test_failed) {
 					status_flags.condition_global_position_valid = false;
-					status_flags.condition_global_velocity_valid = false;
 				} else {
 					// use global position message to determine validity
 					check_posvel_validity(true, global_position.eph, eph_threshold, global_position.timestamp, &last_gpos_fail_time_us, &gpos_probation_time_us, &status_flags.condition_global_position_valid, &status_changed);
-					check_posvel_validity(true, global_position.evh, evh_threshold, global_position.timestamp, &last_gvel_fail_time_us, &gvel_probation_time_us, &status_flags.condition_global_velocity_valid, &status_changed);
 				}
 			}
 		}
@@ -2072,7 +2065,6 @@ Commander::run()
 						// This is a larger value to give the vehicle time to complete a failsafe landing
 						// if faulty sensors cause loss of navigation shortly after takeoff.
 						gpos_probation_time_us = posctl_nav_loss_prob;
-						gvel_probation_time_us = posctl_nav_loss_prob;
 						lpos_probation_time_us = posctl_nav_loss_prob;
 						lvel_probation_time_us = posctl_nav_loss_prob;
 					}
@@ -3614,13 +3606,11 @@ reset_posvel_validity(vehicle_global_position_s *global_position, vehicle_local_
 {
 	// reset all the check probation times back to the minimum value
 	gpos_probation_time_us = POSVEL_PROBATION_MIN;
-	gvel_probation_time_us = POSVEL_PROBATION_MIN;
 	lpos_probation_time_us = POSVEL_PROBATION_MIN;
 	lvel_probation_time_us = POSVEL_PROBATION_MIN;
 
 	// recheck validity
 	check_posvel_validity(true, global_position->eph, eph_threshold, global_position->timestamp, &last_gpos_fail_time_us, &gpos_probation_time_us, &status_flags.condition_global_position_valid, changed);
-	check_posvel_validity(true, global_position->evh, evh_threshold, global_position->timestamp, &last_gvel_fail_time_us, &gvel_probation_time_us, &status_flags.condition_global_velocity_valid, changed);
 	check_posvel_validity(local_position->xy_valid, local_position->eph, eph_threshold, local_position->timestamp, &last_lpos_fail_time_us, &lpos_probation_time_us, &status_flags.condition_local_position_valid, changed);
 	check_posvel_validity(local_position->v_xy_valid, local_position->evh, evh_threshold, local_position->timestamp, &last_lvel_fail_time_us, &lvel_probation_time_us, &status_flags.condition_local_velocity_valid, changed);
 }

src/modules/commander/state_machine_helper.cpp

@@ -966,7 +966,7 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
 {
 	bool fallback_required = false;
 
-	if (using_global_pos && (!status_flags->condition_global_position_valid || !status_flags->condition_global_velocity_valid)) {
+	if (using_global_pos && !status_flags->condition_global_position_valid) {
 		fallback_required = true;
 	} else if (!using_global_pos && (!status_flags->condition_local_position_valid || !status_flags->condition_local_velocity_valid)) {
 		fallback_required = true;

src/modules/ekf2/ekf2_main.cpp

@@ -1051,8 +1051,6 @@ void Ekf2::run()
 				global_pos.yaw = lpos.yaw; // Yaw in radians -PI..+PI.
 
 				_ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv, &global_pos.dead_reckoning);
-				global_pos.evh = lpos.evh;
-				global_pos.evv = lpos.evv;
 
 				global_pos.terrain_alt_valid = lpos.dist_bottom_valid;
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -729,9 +729,6 @@ void BlockLocalPositionEstimator::publishGlobalPos()
 		_pub_gpos.get().terrain_alt_valid = _estimatorInitialized & EST_TZ;
 		_pub_gpos.get().dead_reckoning = !(_estimatorInitialized & EST_XY);
 		_pub_gpos.update();
-		// TODO provide calculated values for these
-		_pub_gpos.get().evh = 0.0f;
-		_pub_gpos.get().evv = 0.0f;
 	}
 }
 

src/modules/position_estimator_inav/position_estimator_inav_main.cpp

@@ -1397,10 +1397,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				global_pos.eph = eph;
 				global_pos.epv = epv;
 
-				// TODO provide calculated values for these
-				global_pos.evh = 0.0f;
-				global_pos.evv = 0.0f;
-
 				if (terrain_estimator.is_valid()) {
 					global_pos.terrain_alt = global_pos.alt - terrain_estimator.get_distance_to_ground();
 					global_pos.terrain_alt_valid = true;