boards: ARK CAN Flow enable ekf2

ROMFS/cannode/init.d/rcS

@@ -67,6 +67,9 @@ then
 fi
 unset BOARD_RC_DEFAULTS
 
+# start uavcannode as early as possible to pet the watchdog
+uavcannode start
+
 #
 # Start system state indicator.
 #
@@ -114,5 +117,6 @@ param set-default SENS_MAG_RATE 100
 
 sensors start
 
-uavcannode start
+ekf2 start
+
 unset R

boards/ark/can-flow/default.px4board

@@ -6,27 +6,25 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BAROMETER is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS is not set
+# CONFIG_EKF2_GRAVITY_FUSION is not set
+# CONFIG_EKF2_MAGNETOMETER is not set
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY is not set
 # CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -27,7 +27,6 @@
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
 # CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
 # CONFIG_NSH_DISABLE_PS is not set
@@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
 CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
@@ -88,14 +78,9 @@ CONFIG_INIT_STACKSIZE=2624
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -108,31 +93,20 @@ CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -151,11 +125,6 @@ CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
 CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y

boards/ark/can-rtk-gps/default.px4board

@@ -21,15 +21,21 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_GRAVITY_FUSION is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY is not set
+# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
+# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
+CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -27,7 +27,6 @@
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
 # CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
 # CONFIG_NSH_DISABLE_PS is not set
@@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
 CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
@@ -90,14 +80,9 @@ CONFIG_INIT_STACKSIZE=2624
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -110,37 +95,22 @@ CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
 CONFIG_SIG_SIGUSR1_ACTION=y
 CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
@@ -155,11 +125,6 @@ CONFIG_STM32_I2C1=y
 CONFIG_STM32_I2C2=y
 CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y

boards/ark/can-rtk-gps/src/init.c

@@ -162,8 +162,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif // FLASH_BASED_PARAMS
 
 	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
+	//px4_platform_configure();
 
 	return OK;
 }

src/drivers/gps/gps.cpp

@@ -1167,8 +1167,9 @@ GPS::print_status()
 
 		PX4_INFO("rate publication:\t\t%6.2f Hz", (double)_rate);
 		PX4_INFO("rate RTCM injection:\t%6.2f Hz", (double)_rate_rtcm_injection);
-
+#ifndef CONSTRAINED_FLASH
 		print_message(ORB_ID(sensor_gps), _report_gps_pos);
+#endif // !CONSTRAINED_FLASH
 	}
 
 	if (_instance == Instance::Main && _secondary_instance.load()) {

src/modules/ekf2/CMakeLists.txt

@@ -124,7 +124,6 @@ list(APPEND EKF_SRCS
 	EKF/estimator_interface.cpp
 	EKF/fake_height_control.cpp
 	EKF/fake_pos_control.cpp
-	EKF/gravity_fusion.cpp
 	EKF/height_control.cpp
 	EKF/imu_down_sampler.cpp
 	EKF/output_predictor.cpp
@@ -175,6 +174,10 @@ if(CONFIG_EKF2_GNSS_YAW)
 	list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
 endif()
 
+if(CONFIG_EKF2_GRAVITY_FUSION)
+	list(APPEND EKF_SRCS EKF/gravity_fusion.cpp)
+endif()
+
 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
 		EKF/mag_3d_control.cpp

src/modules/ekf2/EKF/CMakeLists.txt

@@ -38,11 +38,9 @@ list(APPEND EKF_SRCS
 	covariance.cpp
 	ekf.cpp
 	ekf_helper.cpp
-	EKFGSF_yaw.cpp
 	estimator_interface.cpp
 	fake_height_control.cpp
 	fake_pos_control.cpp
-	gravity_fusion.cpp
 	height_control.cpp
 	imu_down_sampler.cpp
 	output_predictor.cpp
@@ -86,6 +84,7 @@ if(CONFIG_EKF2_GNSS)
 		gnss_height_control.cpp
 		gps_checks.cpp
 		gps_control.cpp
+		EKFGSF_yaw.cpp
 	)
 endif()
 
@@ -93,6 +92,10 @@ if(CONFIG_EKF2_GNSS_YAW)
 	list(APPEND EKF_SRCS gps_yaw_fusion.cpp)
 endif()
 
+if(CONFIG_EKF2_GRAVITY_FUSION)
+	list(APPEND EKF_SRCS gravity_fusion.cpp)
+endif()
+
 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
 		mag_3d_control.cpp

src/modules/ekf2/EKF/airspeed_fusion.cpp

@@ -62,6 +62,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 		_control_status.flags.wind = false;
 	}
 
+#if defined(CONFIG_EKF2_GNSS)
 	// clear yaw estimator airspeed (updated later with true airspeed if airspeed fusion is active)
 	if (_control_status.flags.fixed_wing) {
 		if (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest) {
@@ -73,6 +74,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 			_yawEstimator.setTrueAirspeed(0.f);
 		}
 	}
+#endif // CONFIG_EKF2_GNSS
 
 	if (_params.arsp_thr <= 0.f) {
 		stopAirspeedFusion();
@@ -99,7 +101,9 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 					fuseAirspeed(airspeed_sample, _aid_src_airspeed);
 				}
 
+#if defined(CONFIG_EKF2_GNSS)
 				_yawEstimator.setTrueAirspeed(airspeed_sample.true_airspeed);
+#endif // CONFIG_EKF2_GNSS
 
 				const bool is_fusion_failing = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
 
@@ -219,8 +223,11 @@ void Ekf::stopAirspeedFusion()
 	if (_control_status.flags.fuse_aspd) {
 		ECL_INFO("stopping airspeed fusion");
 		resetEstimatorAidStatus(_aid_src_airspeed);
-		_yawEstimator.setTrueAirspeed(NAN);
 		_control_status.flags.fuse_aspd = false;
+
+#if defined(CONFIG_EKF2_GNSS)
+		_yawEstimator.setTrueAirspeed(NAN);
+#endif // CONFIG_EKF2_GNSS
 	}
 }
 

src/modules/ekf2/EKF/common.h

@@ -454,8 +454,10 @@ struct parameters {
 	Vector3f ev_pos_body{};                 ///< xyz position of VI-sensor focal point in body frame (m)
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	// gravity fusion
 	float gravity_noise{1.0f};              ///< accelerometer measurement gaussian noise (m/s**2)
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	int32_t flow_ctrl{0};

src/modules/ekf2/EKF/control.cpp

@@ -128,7 +128,10 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 #endif // CONFIG_EKF2_DRAG_FUSION
 
 	controlHeightFusion(imu_delayed);
+
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	controlGravityFusion(imu_delayed);
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	// Additional data odometry data from an external estimator can be fused.

src/modules/ekf2/EKF/covariance.cpp

@@ -65,7 +65,12 @@ void Ekf::initialiseCovariance()
 	P.uncorrelateCovarianceSetVariance<State::vel.dof>(State::vel.idx, Vector3f(vel_var, vel_var, sq(1.5f) * vel_var));
 
 	// position
+#if defined(CONFIG_EKF2_BAROMETER)
 	float z_pos_var = sq(fmaxf(_params.baro_noise, 0.01f));
+#else
+	float z_pos_var = sq(1.f);
+#endif // CONFIG_EKF2_BAROMETER
+
 #if defined(CONFIG_EKF2_GNSS)
 	const float xy_pos_var = sq(fmaxf(_params.gps_pos_noise, 0.01f));
 

src/modules/ekf2/EKF/ekf.h

@@ -45,7 +45,10 @@
 
 #include "estimator_interface.h"
 
-#include "EKFGSF_yaw.h"
+#if defined(CONFIG_EKF2_GNSS)
+# include "EKFGSF_yaw.h"
+#endif // CONFIG_EKF2_GNSS
+
 #include "bias_estimator.hpp"
 #include "height_bias_estimator.hpp"
 #include "position_bias_estimator.hpp"
@@ -310,9 +313,13 @@ public:
 	void getBetaInnovRatio(float &beta_innov_ratio) const { beta_innov_ratio = _aid_src_sideslip.test_ratio; }
 #endif // CONFIG_EKF2_SIDESLIP
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
+	const auto &aid_src_gravity() const { return _aid_src_gravity; }
+
 	void getGravityInnov(float grav_innov[3]) const { memcpy(grav_innov, _aid_src_gravity.innovation, sizeof(_aid_src_gravity.innovation)); }
 	void getGravityInnovVar(float grav_innov_var[3]) const { memcpy(grav_innov_var, _aid_src_gravity.innovation_variance, sizeof(_aid_src_gravity.innovation_variance)); }
 	void getGravityInnovRatio(float &grav_innov_ratio) const { grav_innov_ratio = Vector3f(_aid_src_gravity.test_ratio).max(); }
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 	// get the state vector at the delayed time horizon
 	const matrix::Vector<float, State::size> &getStateAtFusionHorizonAsVector() const { return _state.vector(); }
@@ -488,9 +495,6 @@ public:
 	Vector3f calcRotVecVariances() const;
 	float getYawVar() const;
 
-	// Returns true if the output of the yaw emergency estimator can be used for a reset
-	bool isYawEmergencyEstimateAvailable() const;
-
 	uint8_t getHeightSensorRef() const { return _height_sensor_ref; }
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
@@ -533,11 +537,6 @@ public:
 
 	bool gps_checks_passed() const { return _gps_checks_passed; };
 
-	// get solution data from the EKF-GSF emergency yaw estimator
-	// returns false when data is not available
-	bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
-			   float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
-
 	const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
 
 	const auto &aid_src_gnss_hgt() const { return _aid_src_gnss_hgt; }
@@ -547,6 +546,15 @@ public:
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	const auto &aid_src_gnss_yaw() const { return _aid_src_gnss_yaw; }
 # endif // CONFIG_EKF2_GNSS_YAW
+
+	// Returns true if the output of the yaw emergency estimator can be used for a reset
+	bool isYawEmergencyEstimateAvailable() const;
+
+	// get solution data from the EKF-GSF emergency yaw estimator
+	// returns false when data is not available
+	bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
+			   float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
+
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -554,8 +562,6 @@ public:
 	const auto &aid_src_mag() const { return _aid_src_mag; }
 #endif // CONFIG_EKF2_MAGNETOMETER
 
-	const auto &aid_src_gravity() const { return _aid_src_gravity; }
-
 #if defined(CONFIG_EKF2_AUXVEL)
 	const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; }
 #endif // CONFIG_EKF2_AUXVEL
@@ -731,7 +737,9 @@ private:
 # endif // CONFIG_EKF2_GNSS_YAW
 #endif // CONFIG_EKF2_GNSS
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	estimator_aid_source3d_s _aid_src_gravity{};
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 #if defined(CONFIG_EKF2_AUXVEL)
 	estimator_aid_source2d_s _aid_src_aux_vel{};
@@ -1086,7 +1094,6 @@ private:
 	void stopGpsFusion();
 
 	bool shouldResetGpsFusion() const;
-	bool isYawFailure() const;
 
 	// return true id the GPS quality is good enough to set an origin and start aiding
 	bool gps_is_good(const gpsMessage &gps);
@@ -1094,11 +1101,6 @@ private:
 	void controlGnssHeightFusion(const gpsSample &gps_sample);
 	void stopGpsHgtFusion();
 
-	// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
-	// Resets the horizontal velocity and position to the default navigation sensor
-	// Returns true if the reset was successful
-	bool resetYawToEKFGSF();
-
 	void resetGpsDriftCheckFilters();
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
@@ -1115,6 +1117,17 @@ private:
 	void updateGpsYaw(const gpsSample &gps_sample);
 
 # endif // CONFIG_EKF2_GNSS_YAW
+
+	// Declarations used to control use of the EKF-GSF yaw estimator
+	bool isYawFailure() const;
+
+	// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
+	// Returns true if the reset was successful
+	bool resetYawToEKFGSF();
+
+	// yaw estimator instance
+	EKFGSF_yaw _yawEstimator{};
+
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -1184,8 +1197,10 @@ private:
 	void updateGroundEffect();
 #endif // CONFIG_EKF2_BAROMETER
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	// gravity fusion: heuristically enable / disable gravity fusion
 	void controlGravityFusion(const imuSample &imu_delayed);
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 	void resetQuatCov(const float yaw_noise = NAN);
 	void resetQuatCov(const Vector3f &euler_noise_ned);
@@ -1231,11 +1246,6 @@ private:
 	// yaw_variance : yaw error variance (rad^2)
 	void resetQuatStateYaw(float yaw, float yaw_variance);
 
-	// Declarations used to control use of the EKF-GSF yaw estimator
-
-	// yaw estimator instance
-	EKFGSF_yaw _yawEstimator{};
-
 	uint8_t _height_sensor_ref{HeightSensor::UNKNOWN};
 	uint8_t _position_sensor_ref{static_cast<uint8_t>(PositionSensor::GNSS)};
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -1028,56 +1028,6 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
 	_time_last_heading_fuse = _time_delayed_us;
 }
 
-#if defined(CONFIG_EKF2_GNSS)
-bool Ekf::resetYawToEKFGSF()
-{
-	if (!isYawEmergencyEstimateAvailable()) {
-		return false;
-	}
-
-	// don't allow reset if there's just been a yaw reset
-	const bool yaw_alignment_changed = (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align);
-	const bool quat_reset = (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat);
-
-	if (yaw_alignment_changed || quat_reset) {
-		return false;
-	}
-
-	ECL_INFO("yaw estimator reset heading %.3f -> %.3f rad",
-		 (double)getEulerYaw(_R_to_earth), (double)_yawEstimator.getYaw());
-
-	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
-
-	_control_status.flags.yaw_align = true;
-	_information_events.flags.yaw_aligned_to_imu_gps = true;
-
-	return true;
-}
-#endif // CONFIG_EKF2_GNSS
-
-bool Ekf::isYawEmergencyEstimateAvailable() const
-{
-#if defined(CONFIG_EKF2_GNSS)
-	// don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity
-	// data and the yaw estimate has converged
-	if (!_yawEstimator.isActive()) {
-		return false;
-	}
-
-	return _yawEstimator.getYawVar() < sq(_params.EKFGSF_yaw_err_max);
-#else
-	return false;
-#endif
-}
-
-#if defined(CONFIG_EKF2_GNSS)
-bool Ekf::getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
-			float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
-{
-	return _yawEstimator.getLogData(yaw_composite, yaw_variance, yaw, innov_VN, innov_VE, weight);
-}
-#endif // CONFIG_EKF2_GNSS
-
 #if defined(CONFIG_EKF2_WIND)
 void Ekf::resetWind()
 {

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -563,10 +563,12 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 	max_time_delay_ms = math::max(_params.auxvel_delay_ms, max_time_delay_ms);
 #endif // CONFIG_EKF2_AUXVEL
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	// using baro
 	if (_params.baro_ctrl > 0) {
 		max_time_delay_ms = math::max(_params.baro_delay_ms, max_time_delay_ms);
 	}
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_AIRSPEED)
 	// using airspeed

src/modules/ekf2/EKF/gps_control.cpp

@@ -302,18 +302,6 @@ bool Ekf::shouldResetGpsFusion() const
 	return (is_reset_required || is_inflight_nav_failure);
 }
 
-bool Ekf::isYawFailure() const
-{
-	if (!isYawEmergencyEstimateAvailable()) {
-		return false;
-	}
-
-	const float euler_yaw = getEulerYaw(_R_to_earth);
-	const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw());
-
-	return fabsf(yaw_error) > math::radians(25.f);
-}
-
 #if defined(CONFIG_EKF2_GNSS_YAW)
 void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing)
 {
@@ -436,3 +424,57 @@ void Ekf::stopGpsFusion()
 	stopGpsYawFusion();
 #endif // CONFIG_EKF2_GNSS_YAW
 }
+
+bool Ekf::isYawEmergencyEstimateAvailable() const
+{
+	// don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity
+	// data and the yaw estimate has converged
+	if (!_yawEstimator.isActive()) {
+		return false;
+	}
+
+	return _yawEstimator.getYawVar() < sq(_params.EKFGSF_yaw_err_max);
+}
+
+bool Ekf::isYawFailure() const
+{
+	if (!isYawEmergencyEstimateAvailable()) {
+		return false;
+	}
+
+	const float euler_yaw = getEulerYaw(_R_to_earth);
+	const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw());
+
+	return fabsf(yaw_error) > math::radians(25.f);
+}
+
+bool Ekf::resetYawToEKFGSF()
+{
+	if (!isYawEmergencyEstimateAvailable()) {
+		return false;
+	}
+
+	// don't allow reset if there's just been a yaw reset
+	const bool yaw_alignment_changed = (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align);
+	const bool quat_reset = (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat);
+
+	if (yaw_alignment_changed || quat_reset) {
+		return false;
+	}
+
+	ECL_INFO("yaw estimator reset heading %.3f -> %.3f rad",
+		 (double)getEulerYaw(_R_to_earth), (double)_yawEstimator.getYaw());
+
+	resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
+
+	_control_status.flags.yaw_align = true;
+	_information_events.flags.yaw_aligned_to_imu_gps = true;
+
+	return true;
+}
+
+bool Ekf::getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
+			float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
+{
+	return _yawEstimator.getLogData(yaw_composite, yaw_variance, yaw, innov_VN, innov_VE, weight);
+}

src/modules/ekf2/EKF/mag_control.cpp

@@ -155,7 +155,9 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 						* Vector3f(_mag_strength_gps, 0, 0);
 
 		// mag_B: reset
+#if defined(CONFIG_EKF2_GNSS)
 		if (isYawEmergencyEstimateAvailable()) {
+
 			const Dcmf R_to_earth = updateYawInRotMat(_yawEstimator.getYaw(), _R_to_earth);
 			const Dcmf R_to_body = R_to_earth.transpose();
 
@@ -163,8 +165,9 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 			_state.mag_B = mag - (R_to_body * mag_earth_pred);
 
 			ECL_INFO("resetMagStates using yaw estimator");
-
-		} else if (!reset_heading && _control_status.flags.yaw_align) {
+		} else
+#endif // CONFIG_EKF2_GNSS
+		if (!reset_heading && _control_status.flags.yaw_align) {
 			// mag_B: reset using WMM
 			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
 			_state.mag_B = mag - (R_to_body * mag_earth_pred);

src/modules/ekf2/EKF2.cpp

@@ -189,6 +189,16 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_of_pos_y(_params->flow_pos_body(1)),
 	_param_ekf2_of_pos_z(_params->flow_pos_body(2)),
 #endif // CONFIG_EKF2_OPTICAL_FLOW
+#if defined(CONFIG_EKF2_DRAG_FUSION)
+	_param_ekf2_drag_ctrl(_params->drag_ctrl),
+	_param_ekf2_drag_noise(_params->drag_noise),
+	_param_ekf2_bcoef_x(_params->bcoef_x),
+	_param_ekf2_bcoef_y(_params->bcoef_y),
+	_param_ekf2_mcoef(_params->mcoef),
+#endif // CONFIG_EKF2_DRAG_FUSION
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
+	_param_ekf2_grav_noise(_params->gravity_noise),
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 	_param_ekf2_imu_pos_x(_params->imu_pos_body(0)),
 	_param_ekf2_imu_pos_y(_params->imu_pos_body(1)),
 	_param_ekf2_imu_pos_z(_params->imu_pos_body(2)),
@@ -199,16 +209,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_abl_acclim(_params->acc_bias_learn_acc_lim),
 	_param_ekf2_abl_gyrlim(_params->acc_bias_learn_gyr_lim),
 	_param_ekf2_abl_tau(_params->acc_bias_learn_tc),
-	_param_ekf2_gyr_b_lim(_params->gyro_bias_lim),
-#if defined(CONFIG_EKF2_DRAG_FUSION)
-	_param_ekf2_drag_ctrl(_params->drag_ctrl),
-	_param_ekf2_drag_noise(_params->drag_noise),
-	_param_ekf2_bcoef_x(_params->bcoef_x),
-	_param_ekf2_bcoef_y(_params->bcoef_y),
-	_param_ekf2_mcoef(_params->mcoef),
-#endif // CONFIG_EKF2_DRAG_FUSION
-	_param_ekf2_grav_noise(_params->gravity_noise)
-
+	_param_ekf2_gyr_b_lim(_params->gyro_bias_lim)
 {
 	// advertise expected minimal topic set immediately to ensure logging
 	_attitude_pub.advertise();
@@ -229,7 +230,9 @@ EKF2::~EKF2()
 	perf_free(_ecl_ekf_update_perf);
 	perf_free(_ecl_ekf_update_full_perf);
 	perf_free(_msg_missed_imu_perf);
+#if defined(CONFIG_EKF2_BAROMETER)
 	perf_free(_msg_missed_air_data_perf);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_AIRSPEED)
 	perf_free(_msg_missed_airspeed_perf);
 #endif // CONFIG_EKF2_AIRSPEED
@@ -398,7 +401,9 @@ int EKF2::print_status()
 	perf_print_counter(_ecl_ekf_update_perf);
 	perf_print_counter(_ecl_ekf_update_full_perf);
 	perf_print_counter(_msg_missed_imu_perf);
+#if defined(CONFIG_EKF2_BAROMETER)
 	perf_print_counter(_msg_missed_air_data_perf);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_AIRSPEED)
 	perf_print_counter(_msg_missed_airspeed_perf);
 #endif // CONFIG_EKF2_AIRSPEED
@@ -1082,8 +1087,10 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
 	PublishAidSourceStatus(_ekf.aid_src_mag(), _status_mag_pub_last, _estimator_aid_src_mag_pub);
 #endif // CONFIG_EKF2_MAGNETOMETER
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	// gravity
 	PublishAidSourceStatus(_ekf.aid_src_gravity(), _status_gravity_pub_last, _estimator_aid_src_gravity_pub);
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 #if defined(CONFIG_EKF2_AUXVEL)
 	// aux velocity
@@ -1431,7 +1438,9 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
 	_ekf.getBetaInnov(innovations.beta);
 #endif // CONFIG_EKF2_SIDESLIP
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	_ekf.getGravityInnov(innovations.gravity);
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 #if defined(CONFIG_EKF2_TERRAIN)
 # if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -1525,7 +1534,9 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime &timestamp)
 	_ekf.getBetaInnovRatio(test_ratios.beta);
 #endif // CONFIG_EKF2_SIDESLIP
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	_ekf.getGravityInnovRatio(test_ratios.gravity[0]);
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 #if defined(CONFIG_EKF2_TERRAIN)
 # if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -1590,7 +1601,9 @@ void EKF2::PublishInnovationVariances(const hrt_abstime &timestamp)
 # endif // CONFIG_EKF2_OPTICAL_FLOW
 #endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
 	_ekf.getGravityInnovVar(variances.gravity);
+#endif // CONFIG_EKF2_GRAVITY_FUSION
 
 	// Not yet supported
 	variances.aux_vvel = NAN;

src/modules/ekf2/EKF2.hpp

@@ -349,8 +349,6 @@ private:
 	uORB::PublicationMulti<estimator_bias3d_s> _estimator_ev_pos_bias_pub{ORB_ID(estimator_ev_pos_bias)};
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
-	hrt_abstime _status_gravity_pub_last{0};
-
 #if defined(CONFIG_EKF2_AUXVEL)
 	uORB::Subscription _landing_target_pose_sub {ORB_ID(landing_target_pose)};
 
@@ -476,8 +474,6 @@ private:
 	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)};
 	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
 
-	uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_gravity_pub{ORB_ID(estimator_aid_src_gravity)};
-
 	// publications with topic dependent on multi-mode
 	uORB::PublicationMulti<vehicle_attitude_s>           _attitude_pub;
 	uORB::PublicationMulti<vehicle_local_position_s>     _local_position_pub;
@@ -511,13 +507,20 @@ private:
 	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_hgt_pub{ORB_ID(estimator_aid_src_gnss_hgt)};
 	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
 	uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
+
 	uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
+
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	hrt_abstime _status_gnss_yaw_pub_last {0};
 	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_yaw_pub {ORB_ID(estimator_aid_src_gnss_yaw)};
 # endif // CONFIG_EKF2_GNSS_YAW
 #endif // CONFIG_EKF2_GNSS
 
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
+	hrt_abstime _status_gravity_pub_last {0};
+	uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_gravity_pub{ORB_ID(estimator_aid_src_gravity)};
+#endif // CONFIG_EKF2_GRAVITY_FUSION
+
 	PreFlightChecker _preflt_checker;
 
 	Ekf _ekf;
@@ -722,6 +725,20 @@ private:
 		_param_ekf2_of_pos_z, ///< Z position of optical flow sensor focal point in body frame (m)
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
+#if defined(CONFIG_EKF2_DRAG_FUSION)
+		(ParamExtInt<px4::params::EKF2_DRAG_CTRL>) _param_ekf2_drag_ctrl,		///< drag fusion selection
+		// Multi-rotor drag specific force fusion
+		(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
+		_param_ekf2_drag_noise,	///< observation noise variance for drag specific force measurements (m/sec**2)**2
+		(ParamExtFloat<px4::params::EKF2_BCOEF_X>) _param_ekf2_bcoef_x,		///< ballistic coefficient along the X-axis (kg/m**2)
+		(ParamExtFloat<px4::params::EKF2_BCOEF_Y>) _param_ekf2_bcoef_y,		///< ballistic coefficient along the Y-axis (kg/m**2)
+		(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef,		///< propeller momentum drag coefficient (1/s)
+#endif // CONFIG_EKF2_DRAG_FUSION
+
+#if defined(CONFIG_EKF2_GRAVITY_FUSION)
+		(ParamExtFloat<px4::params::EKF2_GRAV_NOISE>) _param_ekf2_grav_noise,
+#endif // CONFIG_EKF2_GRAVITY_FUSION
+
 		// sensor positions in body frame
 		(ParamExtFloat<px4::params::EKF2_IMU_POS_X>) _param_ekf2_imu_pos_x,		///< X position of IMU in body frame (m)
 		(ParamExtFloat<px4::params::EKF2_IMU_POS_Y>) _param_ekf2_imu_pos_y,		///< Y position of IMU in body frame (m)
@@ -746,21 +763,9 @@ private:
 
 		(ParamExtFloat<px4::params::EKF2_GYR_B_LIM>) _param_ekf2_gyr_b_lim,	///< Gyro bias learning limit (rad/s)
 
-#if defined(CONFIG_EKF2_DRAG_FUSION)
-		(ParamExtInt<px4::params::EKF2_DRAG_CTRL>) _param_ekf2_drag_ctrl,		///< drag fusion selection
-		// Multi-rotor drag specific force fusion
-		(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
-		_param_ekf2_drag_noise,	///< observation noise variance for drag specific force measurements (m/sec**2)**2
-		(ParamExtFloat<px4::params::EKF2_BCOEF_X>) _param_ekf2_bcoef_x,		///< ballistic coefficient along the X-axis (kg/m**2)
-		(ParamExtFloat<px4::params::EKF2_BCOEF_Y>) _param_ekf2_bcoef_y,		///< ballistic coefficient along the Y-axis (kg/m**2)
-		(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef,		///< propeller momentum drag coefficient (1/s)
-#endif // CONFIG_EKF2_DRAG_FUSION
-
 		// output predictor filter time constants
 		(ParamFloat<px4::params::EKF2_TAU_VEL>) _param_ekf2_tau_vel,
-		(ParamFloat<px4::params::EKF2_TAU_POS>) _param_ekf2_tau_pos,
-
-		(ParamExtFloat<px4::params::EKF2_GRAV_NOISE>) _param_ekf2_grav_noise
+		(ParamFloat<px4::params::EKF2_TAU_POS>) _param_ekf2_tau_pos
 	)
 };
 #endif // !EKF2_HPP

src/modules/ekf2/Kconfig

@@ -75,6 +75,13 @@ depends on MODULES_EKF2
 	---help---
 		EKF2 GNSS yaw fusion support.
 
+menuconfig EKF2_GRAVITY_FUSION
+depends on MODULES_EKF2
+	bool "gravity fusion support"
+	default y
+	---help---
+		EKF2 gravity fusion support.
+
 menuconfig EKF2_MAGNETOMETER
 depends on MODULES_EKF2
 	bool "magnetometer support"