Merge remote-tracking branch 'px4/main' into pr-ekf2_output_predictor_init_cleanup

ekf2: cleanup output predictor init
- output predictor align also init _output_vert_new - output predictor reset handle all fields - output predictor resetQuaternion() normalize - output predictor calculateOutputStates() paranoid timestamp check - output predictor correctOutputStates() paranoid timestamp checks and explicitly pop delayed sample at correct time
2023-10-26 11:15:58 -04:00 · 2023-08-08 14:33:27 -04:00
8 changed files with 1004 additions and 822 deletions
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@ -101,6 +101,8 @@ void Ekf::reset()
 	_output_predictor.reset();

 	// Ekf private fields
+	_filter_initialised = false;
+
 	_time_last_horizontal_aiding = 0;
 	_time_last_v_pos_aiding = 0;
 	_time_last_v_vel_aiding = 0;
@ -180,11 +182,11 @@ void Ekf::reset()

 bool Ekf::update()
 {
-	if (!_filter_initialised) {
-		_filter_initialised = initialiseFilter();
+	bool updated = false;

 	if (!_filter_initialised) {
-			return false;
+		if (initialiseFilter()) {
+			_filter_initialised = true;
 		}
 	}

@ -204,6 +206,7 @@ bool Ekf::update()

 		updateIMUBiasInhibit(imu_sample_delayed);

+		if (_filter_initialised) {
 			// perform state and covariance prediction for the main filter
 			predictCovariance(imu_sample_delayed);
 			predictState(imu_sample_delayed);
@ -216,12 +219,13 @@ bool Ekf::update()
 			runTerrainEstimator(imu_sample_delayed);
 #endif // CONFIG_EKF2_TERRAIN

-		_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias);
-
-		return true;
+			updated = true;
 		}

-	return false;
+		_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias);
+	}
+
+	return updated;
 }

 bool Ekf::initialiseFilter()
@ -256,9 +260,6 @@ bool Ekf::initialiseFilter()
 	initHagl();
 #endif // CONFIG_EKF2_TERRAIN

-	// reset the output predictor state history to match the EKF initial values
-	_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos);
-
 	return true;
 }

--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@ -810,7 +810,7 @@ private:
 	void fuseDrag(const dragSample &drag_sample);
 #endif // CONFIG_EKF2_DRAG_FUSION

-	void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var);
+	void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var = Vector3f(NAN, NAN, NAN));

 	void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var);
 	void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, float vel_var) { resetHorizontalVelocityTo(new_horz_vel, Vector2f(vel_var, vel_var)); }
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@ -74,7 +74,7 @@ void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f
 		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 1, math::max(sq(0.01f), new_horz_vel_var(1)));
 	}

-	_output_predictor.resetHorizontalVelocityTo(delta_horz_vel);
+	_output_predictor.resetHorizontalVelocityTo(_time_delayed_us, new_horz_vel);

 	// record the state change
 	if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) {
@ -100,7 +100,7 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
 		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 2, math::max(sq(0.01f), new_vert_vel_var));
 	}

-	_output_predictor.resetVerticalVelocityTo(delta_vert_vel);
+	_output_predictor.resetVerticalVelocityTo(_time_delayed_us, new_vert_vel);

 	// record the state change
 	if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) {
@ -140,7 +140,7 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, math::max(sq(0.01f), new_horz_pos_var(1)));
 	}

-	_output_predictor.resetHorizontalPositionTo(delta_horz_pos);
+	_output_predictor.resetHorizontalPositionTo(_time_delayed_us, new_horz_pos);

 	// record the state change
 	if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
@ -175,7 +175,7 @@ bool Ekf::isHeightResetRequired() const

 void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
 {
-	const float old_vert_pos = _state.pos(2);
+	const float delta_z = new_vert_pos - _state.pos(2);
 	_state.pos(2) = new_vert_pos;

 	if (PX4_ISFINITE(new_vert_pos_var)) {
@ -183,11 +183,9 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
 		P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, math::max(sq(0.01f), new_vert_pos_var));
 	}

-	const float delta_z = new_vert_pos - old_vert_pos;
-
 	// apply the change in height / height rate to our newest height / height rate estimate
 	// which have already been taken out from the output buffer
-	_output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z);
+	_output_predictor.resetVerticalPositionTo(_time_delayed_us, new_vert_pos);

 	// record the state change
 	if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
@ -923,7 +921,7 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
 	resetQuatCov(rot_var_ned_before_reset);

 	// add the reset amount to the output observer buffered data
-	_output_predictor.resetQuaternion(q_error);
+	_output_predictor.resetQuaternion(_time_delayed_us, quat_after_reset);

 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	// update EV attitude error filter
@ -946,6 +944,20 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
 	_state_reset_status.reset_count.quat++;

 	_time_last_heading_fuse = _time_delayed_us;
+
+
+	// apply change to velocity state
+	const Vector3f new_vel = q_error.rotateVector(_state.vel);
+	const Vector3f delta_vel = new_vel - _state.vel;
+	_state.vel = new_vel;
+
+	if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) {
+		_state_reset_status.velNE_change = delta_vel.xy();
+
+	} else {
+		// there's already a reset this update, accumulate total delta
+		_state_reset_status.velNE_change += delta_vel.xy();
+	}
 }

 #if defined(CONFIG_EKF2_WIND)
--- a/src/modules/ekf2/EKF/output_predictor.cpp
+++ b/src/modules/ekf2/EKF/output_predictor.cpp
@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2022 PX4. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -48,39 +48,11 @@ void OutputPredictor::print_status()

 	printf("output buffer: %d/%d (%d Bytes)\n", _output_buffer.entries(), _output_buffer.get_length(),
 	       _output_buffer.get_total_size());
-
-	printf("output vert buffer: %d/%d (%d Bytes)\n", _output_vert_buffer.entries(), _output_vert_buffer.get_length(),
-	       _output_vert_buffer.get_total_size());
-}
-
-void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state)
-{
-	const outputSample &output_delayed = _output_buffer.get_oldest();
-
-	// calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon
-	Quatf q_delta{quat_state * output_delayed.quat_nominal.inversed()};
-	q_delta.normalize();
-
-	// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
-	const Vector3f vel_delta = vel_state - output_delayed.vel;
-	const Vector3f pos_delta = pos_state - output_delayed.pos;
-
-	// loop through the output filter state history and add the deltas
-	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-		_output_buffer[i].quat_nominal = q_delta * _output_buffer[i].quat_nominal;
-		_output_buffer[i].quat_nominal.normalize();
-		_output_buffer[i].vel += vel_delta;
-		_output_buffer[i].pos += pos_delta;
-	}
-
-	_output_new = _output_buffer.get_newest();
 }

 void OutputPredictor::reset()
 {
-	// TODO: who resets the output buffer content?
-	_output_new = {};
-	_output_vert_new = {};
+	_output_buffer.reset();

 	_accel_bias.setZero();
 	_gyro_bias.setZero();
@ -88,86 +60,172 @@ void OutputPredictor::reset()
 	_time_last_update_states_us = 0;
 	_time_last_correct_states_us = 0;

+	_output_new = {};
 	_R_to_earth_now.setIdentity();
-	_vel_imu_rel_body_ned.setZero();
-	_vel_deriv.setZero();
+	_vel_imu_rel_body_ned.zero();
+	_vel_deriv.zero();

-	_delta_angle_corr.setZero();
+	_delta_angle_corr.zero();
+	_vel_err_integ.zero();
+	_pos_err_integ.zero();

-	_vel_err_integ.setZero();
-	_pos_err_integ.setZero();
+	_output_tracking_error.zero();

-	_output_tracking_error.setZero();
-
-	for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		_output_buffer[index] = {};
+	_output_filter_aligned = false;
 }

-	for (uint8_t index = 0; index < _output_vert_buffer.get_length(); index++) {
-		_output_vert_buffer[index] = {};
-	}
-}
-
-void OutputPredictor::resetQuaternion(const Quatf &quat_change)
+void OutputPredictor::resetQuaternion(const uint64_t time_delayed_us, const Quatf &new_quat)
 {
+	const outputSample &output_delayed = _output_buffer.get_oldest();
+	const Quatf quat_change{(new_quat * output_delayed.quat_nominal.inversed()).normalized()};
+	const Dcmf rot_change{quat_change};
+
 	// add the reset amount to the output observer buffered data
 	for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-		_output_buffer[i].quat_nominal = quat_change * _output_buffer[i].quat_nominal;
+		_output_buffer[i].quat_nominal = (quat_change * _output_buffer[i].quat_nominal).normalized();
+
+		// apply change to velocity
+		_output_buffer[i].vel = rot_change * _output_buffer[i].vel;
+		_output_buffer[i].vel_alternative = rot_change * _output_buffer[i].vel_alternative;
 	}

 	// apply the change in attitude quaternion to our newest quaternion estimate
-	// which was already taken out from the output buffer
-	_output_new.quat_nominal = quat_change * _output_new.quat_nominal;
+	_output_new.quat_nominal = (quat_change * _output_new.quat_nominal).normalized();
+	_R_to_earth_now = Dcmf(_output_new.quat_nominal);
+
+	// apply change to velocity
+	_output_new.vel = rot_change * _output_new.vel;
+	_output_new.vel_alternative = rot_change * _output_new.vel_alternative;
+
+	propagateVelocityUpdateToPosition();
 }

-void OutputPredictor::resetHorizontalVelocityTo(const Vector2f &delta_horz_vel)
+void OutputPredictor::resetHorizontalVelocityTo(const uint64_t time_delayed_us, const Vector2f &new_horz_vel)
 {
+	const outputSample &output_delayed = _output_buffer.get_oldest();
+
+	// horizontal velocity
+	{
+		const Vector2f delta_vxy = new_horz_vel - Vector2f(output_delayed.vel.xy());
+
 		for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		_output_buffer[index].vel.xy() += delta_horz_vel;
+			_output_buffer[index].vel.xy() += delta_vxy;
 		}

-	_output_new.vel.xy() += delta_horz_vel;
+		_output_new.vel.xy() += delta_vxy;
 	}

-void OutputPredictor::resetVerticalVelocityTo(float delta_vert_vel)
+	// horizontal velocity (alternative)
 	{
+		const Vector2f delta_vxy = new_horz_vel - Vector2f(output_delayed.vel_alternative.xy());
+
 		for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		_output_buffer[index].vel(2) += delta_vert_vel;
-		_output_vert_buffer[index].vert_vel += delta_vert_vel;
+			_output_buffer[index].vel_alternative.xy() += delta_vxy;
 		}

-	_output_new.vel(2) += delta_vert_vel;
-	_output_vert_new.vert_vel += delta_vert_vel;
+		_output_new.vel_alternative.xy() += delta_vxy;
 	}

-void OutputPredictor::resetHorizontalPositionTo(const Vector2f &delta_horz_pos)
+	// propagate position forward using the reset velocity
+	propagateVelocityUpdateToPosition();
+}
+
+void OutputPredictor::resetVerticalVelocityTo(const uint64_t time_delayed_us, const float new_vert_vel)
 {
+	const outputSample &output_delayed = _output_buffer.get_oldest();
+
+	// vertical velocity
+	{
+		const float delta_z = new_vert_vel - output_delayed.vel(2);
+
 		for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		_output_buffer[index].pos.xy() += delta_horz_pos;
+			_output_buffer[index].vel(2) += delta_z;
 		}

-	_output_new.pos.xy() += delta_horz_pos;
+		_output_new.vel(2) += delta_z;
 	}

-void OutputPredictor::resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change)
+	// vertical velocity (alternative)
 	{
-	// apply the change in height / height rate to our newest height / height rate estimate
-	// which have already been taken out from the output buffer
-	_output_new.pos(2) += vert_pos_change;
+		const float delta_z = new_vert_vel - output_delayed.vel_alternative(2);
+
+		for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
+			_output_buffer[index].vel_alternative(2) += delta_z;
+		}
+
+		_output_new.vel_alternative(2) += delta_z;
+	}
+
+	// propagate vertical position forward using the reset velocity
+	propagateVelocityUpdateToPosition();
+}
+
+void OutputPredictor::resetHorizontalPositionTo(const uint64_t time_delayed_us, const Vector2f &new_horz_pos)
+{
+	const outputSample &output_delayed = _output_buffer.get_oldest();
+
+	// horizontal position
+	{
+		const Vector2f delta_xy = new_horz_pos - output_delayed.pos.xy();
+
+		for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
+			_output_buffer[index].pos.xy() += delta_xy;
+		}
+
+		_output_new.pos.xy() += delta_xy;
+	}
+
+	// horizontal position (alternative)
+	{
+		const Vector2f delta_xy = new_horz_pos - output_delayed.vel_alternative_integ.xy();
+
+		for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
+			_output_buffer[index].vel_alternative_integ.xy() += delta_xy;
+		}
+
+		_output_new.vel_alternative_integ.xy() += delta_xy;
+	}
+}
+
+void OutputPredictor::resetVerticalPositionTo(const uint64_t time_delayed_us, const float new_vert_pos)
+{
+	const outputSample &output_delayed = _output_buffer.get_oldest();
+
+	// vertical position
+	{
+		const float delta_z = new_vert_pos - output_delayed.pos(2);

 		// add the reset amount to the output observer buffered data
 		for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-		_output_buffer[i].pos(2) += vert_pos_change;
-		_output_vert_buffer[i].vert_vel_integ += vert_pos_change;
+			_output_buffer[i].pos(2) += delta_z;
+		}
+
+		// apply the change in height / height rate to our newest height / height rate estimate
+		// which have already been taken out from the output buffer
+		_output_new.pos(2) += delta_z;
+	}
+
+	// vertical position (alternative)
+	{
+		const float delta_z = new_vert_pos - output_delayed.vel_alternative_integ(2);
+
+		// add the reset amount to the output observer buffered data
+		for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
+			_output_buffer[i].vel_alternative_integ(2) += delta_z;
 		}

 		// add the reset amount to the output observer vertical position state
-	_output_vert_new.vert_vel_integ = new_vert_pos;
+		_output_new.vel_alternative_integ(2) += delta_z;
+	}
 }

-void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle,
+bool OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle,
 		const float delta_angle_dt, const Vector3f &delta_velocity, const float delta_velocity_dt)
 {
+	if (time_us <= _time_last_update_states_us) {
+		return false;
+	}
+
 	// Use full rate IMU data at the current time horizon
 	if (_time_last_update_states_us != 0) {
 		const float dt = math::constrain((time_us - _time_last_update_states_us) * 1e-6f, 0.0001f, 0.03f);
@ -185,18 +243,11 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 	const Vector3f delta_velocity_corrected(delta_velocity - delta_vel_bias_scaled);

 	_output_new.time_us = time_us;
-	_output_vert_new.time_us = time_us;
-
-	const Quatf dq(AxisAnglef{delta_angle_corrected});

 	// rotate the previous INS quaternion by the delta quaternions
-	_output_new.quat_nominal = _output_new.quat_nominal * dq;
-
-	// the quaternions must always be normalised after modification
-	_output_new.quat_nominal.normalize();
-
-	// calculate the rotation matrix from body to earth frame
-	_R_to_earth_now = Dcmf(_output_new.quat_nominal);
+	const Quatf dq(AxisAnglef{delta_angle_corrected});
+	_output_new.quat_nominal = (_output_new.quat_nominal * dq).normalized();
+	_R_to_earth_now = Dcmf(_output_new.quat_nominal); // calculate the rotation matrix from body to earth frame

 	// rotate the delta velocity to earth frame
 	Vector3f delta_vel_earth{_R_to_earth_now * delta_velocity_corrected};
@ -215,16 +266,16 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 	// increment the INS velocity states by the measurement plus corrections
 	// do the same for vertical state used by alternative correction algorithm
 	_output_new.vel += delta_vel_earth;
-	_output_vert_new.vert_vel += delta_vel_earth(2);
+	_output_new.vel_alternative += delta_vel_earth;

 	// use trapezoidal integration to calculate the INS position states
 	// do the same for vertical state used by alternative correction algorithm
 	const Vector3f delta_pos_NED = (_output_new.vel + vel_last) * (delta_velocity_dt * 0.5f);
 	_output_new.pos += delta_pos_NED;
-	_output_vert_new.vert_vel_integ += delta_pos_NED(2);
+	_output_new.vel_alternative_integ += delta_pos_NED;

 	// accumulate the time for each update
-	_output_vert_new.dt += delta_velocity_dt;
+	_output_new.dt += delta_velocity_dt;

 	// correct velocity for IMU offset
 	if (delta_angle_dt > 0.001f) {
@ -242,33 +293,133 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 	const Vector3f unbiased_delta_angle = delta_angle - delta_angle_bias_scaled;
 	const float spin_del_ang_D = unbiased_delta_angle.dot(Vector3f(_R_to_earth_now.row(2)));
 	_unaided_yaw = matrix::wrap_pi(_unaided_yaw + spin_del_ang_D);
+
+	return true;
 }

 void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
-		const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias)
+		const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state,
+		const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias)
 {
-	// calculate an average filter update time
-	if (_time_last_correct_states_us != 0) {
-		const float dt = math::constrain((time_delayed_us - _time_last_correct_states_us) * 1e-6f, 0.0001f, 0.03f);
-		_dt_correct_states_avg = 0.8f * _dt_correct_states_avg + 0.2f * dt;
+	const uint64_t time_latest_us = _time_last_update_states_us;
+
+	if (time_latest_us <= time_delayed_us) {
+		return;
 	}

-	_time_last_correct_states_us = time_delayed_us;
+	// store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer
+	if (_output_new.dt > 0.f) {
+		_output_buffer.push(_output_new);
+		_output_new.dt = 0.0f; // reset time delta to zero for the next accumulation of full rate IMU data
+	}

 	// store IMU bias for calculateOutputStates
 	_gyro_bias = gyro_bias;
 	_accel_bias = accel_bias;

-	// store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer
-	_output_buffer.push(_output_new);
-	_output_vert_buffer.push(_output_vert_new);
+	// calculate an average filter update time
+	if ((_time_last_correct_states_us != 0) && (time_delayed_us > _time_last_correct_states_us)) {
+		const float dt = math::constrain((time_delayed_us - _time_last_correct_states_us) * 1e-6f, 0.0001f, 0.03f);
+		_dt_correct_states_avg = 0.8f * _dt_correct_states_avg + 0.2f * dt;
+
+	} else {
+		if (!_output_filter_aligned) {
+			resetQuaternion(time_delayed_us, quat_state);
+			resetHorizontalVelocityTo(time_delayed_us, vel_state.xy());
+			resetVerticalVelocityTo(time_delayed_us, vel_state(2));
+			resetHorizontalPositionTo(time_delayed_us, pos_state.xy());
+			resetVerticalPositionTo(time_delayed_us, pos_state(2));
+		}
+
+		_time_last_correct_states_us = time_delayed_us;
+		return;
+	}
+
+	_time_last_correct_states_us = time_delayed_us;

 	// get the oldest INS state data from the ring buffer
 	// this data will be at the EKF fusion time horizon
-	// TODO: there is no guarantee that data is at delayed fusion horizon
-	//       Shouldnt we use pop_first_older_than?
-	const outputSample &output_delayed = _output_buffer.get_oldest();
-	const outputVert &output_vert_delayed = _output_vert_buffer.get_oldest();
+	outputSample output_delayed;
+
+	while (_output_buffer.pop_first_older_than(time_delayed_us, &output_delayed)) {
+
+		if (output_delayed.time_us != time_delayed_us) {
+			continue;
+		}
+
+		if (!_output_filter_aligned) {
+
+			// calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon
+			const Quatf q_delta((quat_state * output_delayed.quat_nominal.inversed()).normalized());
+			const Dcmf rot_change{q_delta};
+
+			// add the reset amount to the output observer buffered data
+			for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
+
+				_output_buffer[i].quat_nominal = (q_delta * _output_buffer[i].quat_nominal).normalized();
+
+				// apply change to velocity
+				_output_buffer[i].vel = rot_change * _output_buffer[i].vel;
+				_output_buffer[i].vel_alternative = rot_change * _output_buffer[i].vel_alternative;
+			}
+
+			// apply the change in attitude quaternion to our newest quaternion estimate
+			_output_new.quat_nominal = (q_delta * _output_new.quat_nominal).normalized();
+
+
+			// apply change to velocity
+			_output_new.vel = rot_change * _output_new.vel;
+			_output_new.vel_alternative = rot_change * _output_new.vel_alternative;
+
+			propagateVelocityUpdateToPosition();
+
+
+			// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
+			output_delayed.vel = q_delta.rotateVectorInverse(output_delayed.vel);
+			const Vector3f vel_err = vel_state - output_delayed.vel;
+
+			output_delayed.vel_alternative = q_delta.rotateVectorInverse(output_delayed.vel_alternative);
+			const Vector3f vel_alternative_err = vel_state - output_delayed.vel_alternative;
+
+			for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
+				// a constant velocity correction is applied
+				_output_buffer[index].vel += vel_err;
+				_output_buffer[index].vel_alternative += vel_alternative_err;
+			}
+
+			// manually correct next oldest state
+			//  position is propagated forward using the corrected velocity and a trapezoidal integrator
+			uint8_t index = _output_buffer.get_oldest_index();
+			outputSample &next_oldest_state = _output_buffer[index];
+
+			if ((next_oldest_state.time_us > output_delayed.time_us) && (next_oldest_state.dt > 0.f)) {
+
+				next_oldest_state.pos = pos_state + (vel_state + next_oldest_state.vel) * 0.5f * next_oldest_state.dt;
+				next_oldest_state.vel_alternative_integ = pos_state + (vel_state + next_oldest_state.vel_alternative) * 0.5f *
+						next_oldest_state.dt;
+
+				propagateVelocityUpdateToPosition();
+			}
+
+			_output_new = _output_buffer.get_newest();
+			_output_new.dt = 0.0f;
+
+			// reset tracking error, integral, etc
+			_output_tracking_error.zero();
+			_delta_angle_corr.zero();
+			_vel_err_integ.zero();
+			_pos_err_integ.zero();
+
+			_output_filter_aligned = true;
+
+		} else {
+
+			/*
+			* Loop through the output filter state history and apply the corrections to the velocity and position states.
+			* This method is too expensive to use for the attitude states due to the quaternion operations required
+			* but because it eliminates the time delay in the 'correction loop' it allows higher tracking gains
+			* to be used and reduces tracking error relative to EKF states.
+			*/

 			// calculate the quaternion delta between the INS and EKF quaternions at the EKF fusion time horizon
 			const Quatf q_error((quat_state.inversed() * output_delayed.quat_nominal).normalized());
@ -280,7 +431,7 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,

 			// calculate a gain that provides tight tracking of the estimator attitude states and
 			// adjust for changes in time delay to maintain consistent damping ratio of ~0.7
-	const uint64_t time_latest_us = _time_last_update_states_us;
+
 			const float time_delay = fmaxf((time_latest_us - time_delayed_us) * 1e-6f, _dt_update_states_avg);
 			const float att_gain = 0.5f * _dt_update_states_avg / time_delay;

@ -289,90 +440,111 @@ void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
 			_delta_angle_corr = delta_ang_error * att_gain;
 			_output_tracking_error(0) = delta_ang_error.norm();

+
 			/*
-	* Loop through the output filter state history and apply the corrections to the velocity and position states.
-	* This method is too expensive to use for the attitude states due to the quaternion operations required
-	* but because it eliminates the time delay in the 'correction loop' it allows higher tracking gains
-	* to be used and reduces tracking error relative to EKF states.
+			* Calculate corrections to be applied to vel and pos output state history.
+			* The vel and pos state history are corrected individually so they track the EKF states at
+			* the fusion time horizon. This option provides the most accurate tracking of EKF states.
 			*/

-	// Complementary filter gains
-	const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg, 10.f);
-	const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg, 10.f);
-
-	// calculate down velocity and position tracking errors
-	const float vert_vel_err = (vel_state(2) - output_vert_delayed.vert_vel);
-	const float vert_vel_integ_err = (pos_state(2) - output_vert_delayed.vert_vel_integ);
-
-	// calculate a velocity correction that will be applied to the output state history
-	// using a PD feedback tuned to a 5% overshoot
-	const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f;
-
-	applyCorrectionToVerticalOutputBuffer(vert_vel_correction);
-
-	// calculate velocity and position tracking errors
-	const Vector3f vel_err(vel_state - output_delayed.vel);
-	const Vector3f pos_err(pos_state - output_delayed.pos);
-
+			// calculate velocity tracking errors
+			const Vector3f vel_err = vel_state - output_delayed.vel;
 			_output_tracking_error(1) = vel_err.norm();
-	_output_tracking_error(2) = pos_err.norm();
-
 			// calculate a velocity correction that will be applied to the output state history
+			const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg,
+					       10.f); // Complementary filter gains
 			_vel_err_integ += vel_err;
 			const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f;

+			// calculate position tracking errors
+			const Vector3f pos_err = pos_state - output_delayed.pos;
+			_output_tracking_error(2) = pos_err.norm();
 			// calculate a position correction that will be applied to the output state history
+			const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg,
+					       10.f); // Complementary filter gains
 			_pos_err_integ += pos_err;
 			const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f;

-	applyCorrectionToOutputBuffer(vel_correction, pos_correction);
+			for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
+				// a constant velocity correction is applied
+				_output_buffer[index].vel += vel_correction;
+				_output_buffer[index].pos += pos_correction;
 			}

-void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_correction)
-{
-	// loop through the vertical output filter state history starting at the oldest and apply the corrections to the
-	// vert_vel states and propagate vert_vel_integ forward using the corrected vert_vel
-	uint8_t index = _output_vert_buffer.get_oldest_index();

-	const uint8_t size = _output_vert_buffer.get_length();
+			/*
+			* Calculate a correction to be applied to vel_alternative that casues vel_alternative_integ to track the EKF
+			* position state at the fusion time horizon using an alternative algorithm to what
+			* is used for the vel and pos state tracking. The algorithm applies a correction to the vel_alternative
+			* state history and propagates vel_alternative_integ forward in time using the corrected vel_alternative history.
+			* This provides an alternative velocity output that is closer to the first derivative
+			* of the position but does degrade tracking relative to the EKF state.
+			*/
+
+			// vel alternative: calculate velocity and position tracking errors
+			const Vector3f vel_alternative_err = (vel_state - output_delayed.vel_alternative);
+			const Vector3f vel_alternative_integ_err = (pos_state - output_delayed.vel_alternative_integ);
+
+			// calculate a velocity correction that will be applied to the output state history
+			// using a PD feedback tuned to a 5% overshoot
+			const Vector3f vel_alternative_correction = vel_alternative_integ_err * pos_gain + vel_alternative_err * vel_gain *
+					1.1f;
+
+			for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
+				// a constant velocity correction is applied
+				_output_buffer[index].vel_alternative += vel_alternative_correction;
+				_output_buffer[index].vel_alternative_integ += vel_alternative_integ_err;
+			}
+
+			// recompute position by integrating velocity
+			propagateVelocityUpdateToPosition();
+		}
+	}
+
+	_output_new = _output_buffer.get_newest();
+	_output_new.dt = 0.f;
+
+	_R_to_earth_now = Dcmf(_output_new.quat_nominal);
+}
+
+void OutputPredictor::propagateVelocityUpdateToPosition()
+{
+	// propagate position forward using the reset velocity
+	uint8_t index = _output_buffer.get_oldest_index();
+	const uint8_t size = _output_buffer.get_length();

 	for (uint8_t counter = 0; counter < (size - 1); counter++) {
+
+		const outputSample &current_state = _output_buffer[index];
+
+		// next state
 		const uint8_t index_next = (index + 1) % size;
-		outputVert &current_state = _output_vert_buffer[index];
-		outputVert &next_state = _output_vert_buffer[index_next];
-
-		// correct the velocity
-		if (counter == 0) {
-			current_state.vert_vel += vert_vel_correction;
-		}
-
-		next_state.vert_vel += vert_vel_correction;
+		outputSample &next_state = _output_buffer[index_next];

+		if ((next_state.time_us > current_state.time_us) && (next_state.dt > 0.f)) {
 			// position is propagated forward using the corrected velocity and a trapezoidal integrator
-		next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f * next_state.dt;
+			next_state.pos = current_state.pos + (current_state.vel + next_state.vel) * 0.5f * next_state.dt;
+			next_state.vel_alternative_integ = current_state.vel_alternative_integ + (current_state.vel_alternative +
+							   next_state.vel_alternative) * 0.5f * next_state.dt;
+		}

 		// advance the index
 		index = (index + 1) % size;
 	}

-	// update output state to corrected values
-	_output_vert_new = _output_vert_buffer.get_newest();
+	if ((_output_new.time_us > _output_buffer.get_newest().time_us) && (_output_new.dt > 0.f)) {
+		// position is propagated forward using the corrected velocity and a trapezoidal integrator
+		_output_new.pos = _output_buffer.get_newest().pos
+				  + (_output_buffer.get_newest().vel + _output_new.vel) * 0.5f * _output_new.dt;

-	// reset time delta to zero for the next accumulation of full rate IMU data
-	_output_vert_new.dt = 0.0f;
-}
-
-void OutputPredictor::applyCorrectionToOutputBuffer(const Vector3f &vel_correction, const Vector3f &pos_correction)
-{
-	// loop through the output filter state history and apply the corrections to the velocity and position states
-	for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
-		// a constant velocity correction is applied
-		_output_buffer[index].vel += vel_correction;
-
-		// a constant position correction is applied
-		_output_buffer[index].pos += pos_correction;
-	}
+		_output_new.vel_alternative_integ = _output_buffer.get_newest().vel_alternative_integ +
+						    (_output_buffer.get_newest().vel_alternative + _output_new.vel_alternative) * 0.5f * _output_new.dt;

+	} else {
 		// update output state to corrected values
 		_output_new = _output_buffer.get_newest();
+
+		// reset time delta to zero for the next accumulation of full rate IMU data
+		_output_new.dt = 0.0f;
+	}
 }
--- a/src/modules/ekf2/EKF/output_predictor.h
+++ b/src/modules/ekf2/EKF/output_predictor.h
@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2022 PX4. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -51,9 +51,6 @@ public:

 	~OutputPredictor() = default;

-	// modify output filter to match the the EKF state at the fusion time horizon
-	void alignOutputFilter(const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state,
-			       const matrix::Vector3f &pos_state);
 	/*
 	* Implement a strapdown INS algorithm using the latest IMU data at the current time horizon.
 	* Buffer the INS states and calculate the difference with the EKF states at the delayed fusion time horizon.
@ -64,25 +61,26 @@ public:
 	* “Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements”
 	* A Khosravian, J Trumpf, R Mahony, T Hamel, Australian National University
 	*/
-	void calculateOutputStates(const uint64_t time_us, const matrix::Vector3f &delta_angle, const float delta_angle_dt,
+	bool calculateOutputStates(const uint64_t time_us, const matrix::Vector3f &delta_angle, const float delta_angle_dt,
 				   const matrix::Vector3f &delta_velocity, const float delta_velocity_dt);

 	void correctOutputStates(const uint64_t time_delayed_us,
-				 const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);
+				 const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state,
+				 const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);

-	void resetQuaternion(const matrix::Quatf &quat_change);
+	void resetQuaternion(const uint64_t time_delayed_us, const matrix::Quatf &new_quat);

-	void resetHorizontalVelocityTo(const matrix::Vector2f &delta_horz_vel);
-	void resetVerticalVelocityTo(float delta_vert_vel);
+	void resetHorizontalVelocityTo(const uint64_t time_delayed_us, const matrix::Vector2f &new_horz_vel);
+	void resetVerticalVelocityTo(const uint64_t time_delayed_us, const float new_vert_vel);

-	void resetHorizontalPositionTo(const matrix::Vector2f &delta_horz_pos);
-	void resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change);
+	void resetHorizontalPositionTo(const uint64_t time_delayed_us, const matrix::Vector2f &new_horz_pos);
+	void resetVerticalPositionTo(const uint64_t time_delayed_us, const float new_vert_pos);

 	void print_status();

 	bool allocate(uint8_t size)
 	{
-		if (_output_buffer.allocate(size) && _output_vert_buffer.allocate(size)) {
+		if (_output_buffer.allocate(size)) {
 			reset();
 			return true;
 		}
@ -104,7 +102,7 @@ public:
 	const matrix::Vector3f &getVelocityDerivative() const { return _vel_deriv; }

 	// get the derivative of the vertical position of the body frame origin in local NED earth frame
-	float getVerticalPositionDerivative() const { return _output_vert_new.vert_vel - _vel_imu_rel_body_ned(2); }
+	float getVerticalPositionDerivative() const { return _output_new.vel_alternative(2) - _vel_imu_rel_body_ned(2); }

 	// get the position of the body frame origin in local earth frame
 	matrix::Vector3f getPosition() const
@ -119,28 +117,15 @@ public:
 	// error magnitudes (rad), (m/sec), (m)
 	const matrix::Vector3f &getOutputTrackingError() const { return _output_tracking_error; }

+	bool aligned() const { return _output_filter_aligned; }
+
 	void set_imu_offset(const matrix::Vector3f &offset) { _imu_pos_body = offset; }
 	void set_pos_correction_tc(const float tau) { _pos_tau = tau; }
 	void set_vel_correction_tc(const float tau) { _vel_tau = tau; }

 private:

-	/*
-	* Calculate a correction to be applied to vert_vel that casues vert_vel_integ to track the EKF
-	* down position state at the fusion time horizon using an alternative algorithm to what
-	* is used for the vel and pos state tracking. The algorithm applies a correction to the vert_vel
-	* state history and propagates vert_vel_integ forward in time using the corrected vert_vel history.
-	* This provides an alternative vertical velocity output that is closer to the first derivative
-	* of the position but does degrade tracking relative to the EKF state.
-	*/
-	void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction);
-
-	/*
-	* Calculate corrections to be applied to vel and pos output state history.
-	* The vel and pos state history are corrected individually so they track the EKF states at
-	* the fusion time horizon. This option provides the most accurate tracking of EKF states.
-	*/
-	void applyCorrectionToOutputBuffer(const matrix::Vector3f &vel_correction, const matrix::Vector3f &pos_correction);
+	void propagateVelocityUpdateToPosition();

 	// return the square of two floating point numbers - used in auto coded sections
 	static constexpr float sq(float var) { return var * var; }
@ -150,17 +135,14 @@ private:
 		matrix::Quatf    quat_nominal{1.f, 0.f, 0.f, 0.f};     ///< nominal quaternion describing vehicle attitude
 		matrix::Vector3f vel{0.f, 0.f, 0.f};                   ///< NED velocity estimate in earth frame (m/sec)
 		matrix::Vector3f pos{0.f, 0.f, 0.f};                   ///< NED position estimate in earth frame (m/sec)
-	};

-	struct outputVert {
-		uint64_t time_us{0};          ///< timestamp of the measurement (uSec)
-		float    vert_vel{0.f};       ///< Vertical velocity calculated using alternative algorithm (m/sec)
-		float    vert_vel_integ{0.f}; ///< Integral of vertical velocity (m)
+		matrix::Vector3f vel_alternative{0.f, 0.f, 0.f};       ///< NED velocity calculated using alternative algorithm (m/sec)
+		matrix::Vector3f vel_alternative_integ{0.f, 0.f, 0.f}; ///< NED integral of velocity (m)
+
 		float            dt{0.f};                              ///< delta time (sec)
 	};

 	RingBuffer<outputSample> _output_buffer{12};
-	RingBuffer<outputVert> _output_vert_buffer{12};

 	matrix::Vector3f _accel_bias{};
 	matrix::Vector3f _gyro_bias{};
@ -173,7 +155,6 @@ private:

 	// Output Predictor
 	outputSample _output_new{};		// filter output on the non-delayed time horizon
-	outputVert _output_vert_new{};		// vertical filter output on the non-delayed time horizon
 	matrix::Matrix3f _R_to_earth_now{};		// rotation matrix from body to earth frame at current time
 	matrix::Vector3f _vel_imu_rel_body_ned{};		// velocity of IMU relative to body origin in NED earth frame
 	matrix::Vector3f _vel_deriv{};		// velocity derivative at the IMU in NED earth frame (m/s/s)
@ -185,6 +166,8 @@ private:

 	matrix::Vector3f _output_tracking_error{}; ///< contains the magnitude of the angle, velocity and position track errors (rad, m/s, m)

+	bool _output_filter_aligned{false};
+
 	matrix::Vector3f _imu_pos_body{};                ///< xyz position of IMU in body frame (m)

 	float _unaided_yaw{};
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@ -757,9 +757,27 @@ void EKF2::Run()
 		if (_ekf.update()) {
 			perf_set_elapsed(_ecl_ekf_update_full_perf, hrt_elapsed_time(&ekf_update_start));

+			if (_ekf.attitude_valid() && _ekf.output_predictor().aligned()) {
+				// publish output predictor output
 				PublishLocalPosition(now);
 				PublishOdometry(now, imu_sample_new);
 				PublishGlobalPosition(now);
+			}
+
+			// online accel/gyro/mag calibration
+			UpdateAccelCalibration(now);
+			UpdateGyroCalibration(now);
+			UpdateMagCalibration(now);
+
+			// publish other state output used by the system not dependent on output predictor
+
+			// update sensor calibration (in-run bias) before publishing sensor bias
+			UpdateAccelCalibration(now);
+			UpdateGyroCalibration(now);
+#if defined(CONFIG_EKF2_MAGNETOMETER)
+			UpdateMagCalibration(now);
+#endif // CONFIG_EKF2_MAGNETOMETER
+
 			PublishSensorBias(now);

 #if defined(CONFIG_EKF2_WIND)
@ -768,13 +786,15 @@ void EKF2::Run()

 			// publish status/logging messages
 			PublishEventFlags(now);
+			PublishStatusFlags(now);
+			PublishStatus(now);
+
+			// verbose logging
+			PublishAidSourceStatus(now);
 			PublishInnovations(now);
 			PublishInnovationTestRatios(now);
 			PublishInnovationVariances(now);
 			PublishStates(now);
-			PublishStatus(now);
-			PublishStatusFlags(now);
-			PublishAidSourceStatus(now);

 #if defined(CONFIG_EKF2_BAROMETER)
 			PublishBaroBias(now);
@ -798,12 +818,6 @@ void EKF2::Run()
 			PublishOpticalFlowVel(now);
 #endif // CONFIG_EKF2_OPTICAL_FLOW

-			UpdateAccelCalibration(now);
-			UpdateGyroCalibration(now);
-#if defined(CONFIG_EKF2_MAGNETOMETER)
-			UpdateMagCalibration(now);
-#endif // CONFIG_EKF2_MAGNETOMETER
-
 		} else {
 			// ekf no update
 			perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start));
@ -1120,7 +1134,7 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)

 void EKF2::PublishAttitude(const hrt_abstime &timestamp)
 {
-	if (_ekf.attitude_valid()) {
+	if (_ekf.attitude_valid() && _ekf.output_predictor().aligned()) {
 		// generate vehicle attitude quaternion data
 		vehicle_attitude_s att;
 		att.timestamp_sample = timestamp;
--- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
@ -61,288 +61,288 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 5890000,1,-0.0095,-0.011,-3.4e-05,0.0045,-0.0011,0.0028,0.0022,-0.0017,-3.7e+02,-0.0015,-0.0056,5.2e-05,0,0,-6.4e-05,0,0,0,0,0,0,0,0,9e-08,0.00038,0.00038,2.9e-05,0.23,0.23,9.8,0.1,0.1,0.52,0.00018,0.00018,6.9e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 5990000,1,-0.0095,-0.011,-1.6e-05,0.0049,0.00031,0.015,0.0026,-0.0017,-3.7e+02,-0.0015,-0.0056,5.2e-05,0,0,-7.3e-05,0,0,0,0,0,0,0,0,9.6e-08,0.00041,0.00041,3e-05,0.27,0.27,8.8,0.13,0.13,0.33,0.00018,0.00018,6.9e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0
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--- a/src/modules/ekf2/test/change_indication/iris_gps.csv
+++ b/src/modules/ekf2/test/change_indication/iris_gps.csv
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