From 1e25aee6fa40e0e883dfec73f6772d375200af9a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 22 May 2022 13:58:55 -0400
Subject: [PATCH] ekf2: estimator aid source status (baro height)

---
 msg/estimator_aid_source_1d.msg               |   1 +
 src/modules/ekf2/EKF/control.cpp              |  30 ++--
 src/modules/ekf2/EKF/covariance.cpp           |   2 +-
 src/modules/ekf2/EKF/ekf.h                    |  49 ++++--
 src/modules/ekf2/EKF/ekf_helper.cpp           |   2 +-
 src/modules/ekf2/EKF/estimator_interface.h    |   1 -
 src/modules/ekf2/EKF/fake_pos_control.cpp     |   6 +-
 src/modules/ekf2/EKF/gps_fusion.cpp           |  10 +-
 src/modules/ekf2/EKF/height_fusion.cpp        |  53 +++++--
 src/modules/ekf2/EKF2.cpp                     |   8 +-
 src/modules/ekf2/EKF2.hpp                     |  10 +-
 .../test/change_indication/ekf_gsf_reset.csv  | 150 +++++++++---------
 .../ekf2/test/change_indication/iris_gps.csv  |  50 +++---
 13 files changed, 217 insertions(+), 155 deletions(-)

diff --git a/msg/estimator_aid_source_1d.msg b/msg/estimator_aid_source_1d.msg
index 5670ab9e07..40ccf60927 100644
--- a/msg/estimator_aid_source_1d.msg
+++ b/msg/estimator_aid_source_1d.msg
@@ -19,3 +19,4 @@ bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
 # TOPICS estimator_aid_source_1d
+# TOPICS estimator_aid_src_baro_hgt
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index 452397f83f..81980a57a3 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -779,16 +779,16 @@ void Ekf::checkVerticalAccelerationHealth()
 	bool are_vertical_pos_and_vel_independant = false;
 
 	if (_control_status.flags.gps) {
-		// velocity
-		auto &gps_vel = _aid_src_gnss_vel;
+		// GNSS velocity
+		const auto &gps_vel = _aid_src_gnss_vel;
 
 		if (gps_vel.time_last_fuse[2] > _vert_vel_fuse_time_us) {
 			_vert_vel_fuse_time_us = gps_vel.time_last_fuse[2];
 			_vert_vel_innov_ratio = gps_vel.innovation[2] / sqrtf(gps_vel.innovation_variance[2]);
 		}
 
-		// position
-		auto &gps_pos = _aid_src_gnss_pos;
+		// GNSS position
+		const auto &gps_pos = _aid_src_gnss_pos;
 
 		if (gps_pos.time_last_fuse[2] > _vert_pos_fuse_attempt_time_us) {
 			_vert_pos_fuse_attempt_time_us = gps_pos.time_last_fuse[2];
@@ -796,6 +796,16 @@ void Ekf::checkVerticalAccelerationHealth()
 		}
 	}
 
+	if (_control_status.flags.baro_hgt) {
+		// baro height
+		const auto &baro_hgt = _aid_src_baro_hgt;
+
+		if (baro_hgt.time_last_fuse > _vert_pos_fuse_attempt_time_us) {
+			_vert_pos_fuse_attempt_time_us = baro_hgt.time_last_fuse;
+			_vert_pos_innov_ratio = baro_hgt.innovation / sqrtf(baro_hgt.innovation_variance);
+		}
+	}
+
 	if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
 		if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
 			// If vertical position and velocity come from independent sensors then we can
@@ -941,15 +951,15 @@ void Ekf::controlHeightFusion()
 	updateBaroHgtOffset();
 	updateGroundEffect();
 
-	if (_control_status.flags.baro_hgt) {
+	if (_baro_data_ready) {
+		updateBaroHgt(_baro_sample_delayed, _aid_src_baro_hgt);
 
-		if (_baro_data_ready && !_baro_hgt_faulty) {
-			fuseBaroHgt();
+		if (_control_status.flags.baro_hgt && !_baro_hgt_faulty) {
+			fuseBaroHgt(_aid_src_baro_hgt);
 		}
+	}
 
-	} else if (_control_status.flags.gps_hgt) {
-		// handled by gps fusion
-	} else if (_control_status.flags.rng_hgt) {
+	if (_control_status.flags.rng_hgt) {
 
 		if (_range_sensor.isDataHealthy()) {
 			fuseRngHgt();
diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 3c29ee8f58..320671a79d 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -991,7 +991,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
 			bool bad_vz_ev  = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
 
 			if (bad_vz_gps || bad_vz_ev) {
-				bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _baro_hgt_innov < 0.0f);
+				bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation    < 0.0f);
 				bool bad_z_gps  = _control_status.flags.gps_hgt  && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
 				bool bad_z_rng  = _control_status.flags.rng_hgt  && (down_dvel_bias * _rng_hgt_innov < 0.0f);
 				bool bad_z_ev   = _control_status.flags.ev_hgt   && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index b9458049a2..45f14444d1 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -86,9 +86,9 @@ public:
 	void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const;
 	void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const;
 
-	void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _baro_hgt_innov; }
-	void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _baro_hgt_innov_var; }
-	void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _baro_hgt_test_ratio; }
+	void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _aid_src_baro_hgt.innovation; }
+	void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _aid_src_baro_hgt.innovation_variance; }
+	void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _aid_src_baro_hgt.test_ratio; }
 
 	void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _rng_hgt_innov; }
 	void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _rng_hgt_innov_var; }
@@ -340,11 +340,13 @@ public:
 
 	const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
 
-	const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; }
-	const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; }
+	const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
 
 	const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
 
+	const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; }
+	const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; }
+
 private:
 
 	// set the internal states and status to their default value
@@ -452,9 +454,6 @@ private:
 	Vector3f _ev_pos_innov{};	///< external vision position innovations (m)
 	Vector3f _ev_pos_innov_var{};	///< external vision position innovation variances (m**2)
 
-	float _baro_hgt_innov{};		///< baro hgt innovations (m)
-	float _baro_hgt_innov_var{};	///< baro hgt innovation variances (m**2)
-
 	float _rng_hgt_innov{};	///< range hgt innovations (m)
 	float _rng_hgt_innov_var{};	///< range hgt innovation variances (m**2)
 
@@ -493,11 +492,13 @@ private:
 	bool _inhibit_flow_use{false};	///< true when use of optical flow and range finder is being inhibited
 	Vector2f _flow_compensated_XY_rad{};	///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
 
-	estimator_aid_source_3d_s _aid_src_gnss_vel{};
-	estimator_aid_source_3d_s _aid_src_gnss_pos{};
+	estimator_aid_source_1d_s _aid_src_baro_hgt{};
 
 	estimator_aid_source_2d_s _aid_src_fake_pos{};
 
+	estimator_aid_source_3d_s _aid_src_gnss_vel{};
+	estimator_aid_source_3d_s _aid_src_gnss_pos{};
+
 	// output predictor states
 	Vector3f _delta_angle_corr{};	///< delta angle correction vector (rad)
 	Vector3f _vel_err_integ{};	///< integral of velocity tracking error (m)
@@ -644,10 +645,13 @@ private:
 	// fuse body frame drag specific forces for multi-rotor wind estimation
 	void fuseDrag(const dragSample &drag_sample);
 
-	void fuseBaroHgt();
+	void fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt);
+
 	void fuseRngHgt();
 	void fuseEvHgt();
 
+	void updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt);
+
 	// fuse single velocity and position measurement
 	bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);
 
@@ -1063,7 +1067,7 @@ private:
 
 	void resetGpsDriftCheckFilters();
 
-	bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status)
+	bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status) const
 	{
 		if (status.timestamp_sample != 0) {
 			status.timestamp_sample = 0;
@@ -1077,7 +1081,7 @@ private:
 		return false;
 	}
 
-	void resetEstimatorAidStatus(estimator_aid_source_1d_s &status)
+	void resetEstimatorAidStatus(estimator_aid_source_1d_s &status) const
 	{
 		if (resetEstimatorAidStatusFlags(status)) {
 			status.observation = 0;
@@ -1090,7 +1094,7 @@ private:
 	}
 
 	template <typename T>
-	bool resetEstimatorAidStatusFlags(T &status)
+	bool resetEstimatorAidStatusFlags(T &status) const
 	{
 		if (status.timestamp_sample != 0) {
 			status.timestamp_sample = 0;
@@ -1108,7 +1112,7 @@ private:
 	}
 
 	template <typename T>
-	void resetEstimatorAidStatus(T &status)
+	void resetEstimatorAidStatus(T &status) const
 	{
 		if (resetEstimatorAidStatusFlags(status)) {
 			for (size_t i = 0; i < (sizeof(status.fusion_enabled) / sizeof(status.fusion_enabled[0])); i++) {
@@ -1121,6 +1125,21 @@ private:
 			}
 		}
 	}
+
+	void setEstimatorAidStatusTestRatio(estimator_aid_source_1d_s &status, float innovation_gate) const
+	{
+		status.test_ratio = sq(status.innovation) / (sq(innovation_gate) * status.innovation_variance);
+		status.innovation_rejected = (status.test_ratio > 1.f);
+	}
+
+	template <typename T>
+	void setEstimatorAidStatusTestRatio(T &status, float innovation_gate) const
+	{
+		for (size_t i = 0; i < (sizeof(status.test_ratio) / sizeof(status.test_ratio[0])); i++) {
+			status.test_ratio[i] = sq(status.innovation[i]) / (sq(innovation_gate) * status.innovation_variance[i]);
+			status.innovation_rejected[i] = (status.test_ratio[i] > 1.f);
+		}
+	}
 };
 
 #endif // !EKF_EKF_H
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index f4459eb2eb..5b62a7c6ee 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -941,7 +941,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
 
 	// return the vertical position innovation test ratio
 	if (_control_status.flags.baro_hgt) {
-		hgt = math::max(sqrtf(_baro_hgt_test_ratio), FLT_MIN);
+		hgt = math::max(sqrtf(_aid_src_baro_hgt.test_ratio), FLT_MIN);
 
 	} else if (_control_status.flags.gps_hgt) {
 		hgt = math::max(sqrtf(_aid_src_gnss_pos.test_ratio[2]), FLT_MIN);
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 3275186062..03aa0c97ff 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -334,7 +334,6 @@ protected:
 	Vector2f _ev_vel_test_ratio{};		// EV velocity innovation consistency check ratios
 	Vector2f _ev_pos_test_ratio{};		// EV position innovation consistency check ratios
 	Vector2f _aux_vel_test_ratio{};		// Auxiliary horizontal velocity innovation consistency check ratio
-	float _baro_hgt_test_ratio{};	// baro height innovation consistency check ratios
 	float _rng_hgt_test_ratio{};		// range finder height innovation consistency check ratios
 	float _optflow_test_ratio{};		// Optical flow innovation consistency check ratio
 	float _tas_test_ratio{};		// tas innovation consistency check ratio
diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/fake_pos_control.cpp
index 2975109f3d..81add54243 100644
--- a/src/modules/ekf2/EKF/fake_pos_control.cpp
+++ b/src/modules/ekf2/EKF/fake_pos_control.cpp
@@ -139,10 +139,12 @@ void Ekf::fuseFakePosition()
 
 		fake_pos.innovation[i] = _state.pos(i) - _last_known_posNE(i);
 		fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
-		fake_pos.test_ratio[i] = sq(fake_pos.innovation[i]) / (sq(innov_gate) * fake_pos.innovation_variance[i]);
+	}
 
-		fake_pos.innovation_rejected[i] = (fake_pos.test_ratio[i] > 1.f);
+	setEstimatorAidStatusTestRatio(fake_pos, innov_gate);
 
+	// fuse
+	for (int i = 0; i < 2; i++) {
 		// always protect against extreme values that could result in a NaN
 		fake_pos.fusion_enabled[i] = fake_pos.test_ratio[i] < sq(100.0f / innov_gate);
 
diff --git a/src/modules/ekf2/EKF/gps_fusion.cpp b/src/modules/ekf2/EKF/gps_fusion.cpp
index fa172908b6..86948f957c 100644
--- a/src/modules/ekf2/EKF/gps_fusion.cpp
+++ b/src/modules/ekf2/EKF/gps_fusion.cpp
@@ -55,11 +55,10 @@ void Ekf::updateGpsVel(const gpsSample &gps_sample)
 
 		gps_vel.innovation[i] = _state.vel(i) - gps_sample.vel(i);
 		gps_vel.innovation_variance[i] = P(4 + i, 4 + i) + obs_var(i);
-		gps_vel.test_ratio[i] = sq(gps_vel.innovation[i]) / (sq(innov_gate) * gps_vel.innovation_variance[i]);
-
-		gps_vel.innovation_rejected[i] = (gps_vel.test_ratio[i] > 1.f);
 	}
 
+	setEstimatorAidStatusTestRatio(gps_vel, innov_gate);
+
 	// vz special case if there is bad vertical acceleration data, then don't reject measurement,
 	// but limit innovation to prevent spikes that could destabilise the filter
 	if (_fault_status.flags.bad_acc_vertical && gps_vel.innovation_rejected[2]) {
@@ -109,11 +108,10 @@ void Ekf::updateGpsPos(const gpsSample &gps_sample)
 
 		gps_pos.innovation[i] = _state.pos(i) - position(i);
 		gps_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
-		gps_pos.test_ratio[i] = sq(gps_pos.innovation[i]) / (sq(innov_gate) * gps_pos.innovation_variance[i]);
-
-		gps_pos.innovation_rejected[i] = (gps_pos.test_ratio[i] > 1.f);
 	}
 
+	setEstimatorAidStatusTestRatio(gps_pos, innov_gate);
+
 	// z special case if there is bad vertical acceleration data, then don't reject measurement,
 	// but limit innovation to prevent spikes that could destabilise the filter
 	if (_fault_status.flags.bad_acc_vertical && gps_pos.innovation_rejected[2]) {
diff --git a/src/modules/ekf2/EKF/height_fusion.cpp b/src/modules/ekf2/EKF/height_fusion.cpp
index 86f8183903..1b4dcf60fd 100644
--- a/src/modules/ekf2/EKF/height_fusion.cpp
+++ b/src/modules/ekf2/EKF/height_fusion.cpp
@@ -38,12 +38,23 @@
 
 #include "ekf.h"
 
-void Ekf::fuseBaroHgt()
+void Ekf::updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt)
 {
+	// reset flags
+	resetEstimatorAidStatusFlags(baro_hgt);
+
+	// innovation gate size
+	float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
+
+	// observation variance - user parameter defined
+	float obs_var = sq(fmaxf(_params.baro_noise, 0.01f));
+
 	// vertical position innovation - baro measurement has opposite sign to earth z axis
-	const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
+	baro_hgt.observation = -(_baro_sample_delayed.hgt - _baro_b_est.getBias() - _baro_hgt_offset);
+	baro_hgt.observation_variance = obs_var;
 
-	_baro_hgt_innov = _state.pos(2) + unbiased_baro - _baro_hgt_offset;
+	baro_hgt.innovation = _state.pos(2) - baro_hgt.observation;
+	baro_hgt.innovation_variance = P(9, 9) + obs_var;
 
 	// Compensate for positive static pressure transients (negative vertical position innovations)
 	// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
@@ -52,24 +63,40 @@ void Ekf::fuseBaroHgt()
 		const float deadzone_start = 0.0f;
 		const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
 
-		if (_baro_hgt_innov < -deadzone_start) {
-			if (_baro_hgt_innov <= -deadzone_end) {
-				_baro_hgt_innov += deadzone_end;
+		if (baro_hgt.innovation < -deadzone_start) {
+			if (baro_hgt.innovation <= -deadzone_end) {
+				baro_hgt.innovation += deadzone_end;
 
 			} else {
-				_baro_hgt_innov = -deadzone_start;
+				baro_hgt.innovation = -deadzone_start;
 			}
 		}
 	}
 
-	// innovation gate size
-	float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
+	setEstimatorAidStatusTestRatio(baro_hgt, innov_gate);
 
-	// observation variance - user parameter defined
-	float obs_var = sq(fmaxf(_params.baro_noise, 0.01f));
+	// special case if there is bad vertical acceleration data, then don't reject measurement,
+	// but limit innovation to prevent spikes that could destabilise the filter
+	if (_fault_status.flags.bad_acc_vertical && baro_hgt.innovation_rejected) {
+		const float innov_limit = innov_gate * sqrtf(baro_hgt.innovation_variance);
+		baro_hgt.innovation = math::constrain(baro_hgt.innovation, -innov_limit, innov_limit);
+		baro_hgt.innovation_rejected = false;
+	}
 
-	fuseVerticalPosition(_baro_hgt_innov, innov_gate, obs_var,
-			     _baro_hgt_innov_var, _baro_hgt_test_ratio);
+	baro_hgt.fusion_enabled = _control_status.flags.baro_hgt;
+
+	baro_hgt.timestamp_sample = baro_sample.time_us;
+}
+
+void Ekf::fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt)
+{
+	if (baro_hgt.fusion_enabled
+	    && !baro_hgt.innovation_rejected
+	    && fuseVelPosHeight(baro_hgt.innovation, baro_hgt.innovation_variance, 5)) {
+
+		baro_hgt.fused = true;
+		baro_hgt.time_last_fuse = _time_last_imu;
+	}
 }
 
 void Ekf::fuseRngHgt()
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index d016d39599..23a5c401ce 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -636,12 +636,16 @@ void EKF2::Run()
 
 void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
 {
+	// baro height
+	PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);
+
+	// fake position
+	PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
+
 	// GNSS velocity & position
 	PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
 	PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
 
-	// fake position
-	PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
 }
 
 void EKF2::PublishAttitude(const hrt_abstime &timestamp)
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index 5e81523027..bf0b25057b 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -255,11 +255,13 @@ private:
 	hrt_abstime _last_sensor_bias_published{0};
 	hrt_abstime _last_gps_status_published{0};
 
-	hrt_abstime _status_gnss_vel_pub_last{0};
-	hrt_abstime _status_gnss_pos_pub_last{0};
+	hrt_abstime _status_baro_hgt_pub_last{0};
 
 	hrt_abstime _status_fake_pos_pub_last{0};
 
+	hrt_abstime _status_gnss_vel_pub_last{0};
+	hrt_abstime _status_gnss_pos_pub_last{0};
+
 	float _last_baro_bias_published{};
 
 	float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
@@ -319,11 +321,11 @@ private:
 	uORB::PublicationMulti<vehicle_odometry_s>           _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
 
+	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
+	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
 	uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
 	uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
 
-	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
-
 	// publications with topic dependent on multi-mode
 	uORB::PublicationMulti<vehicle_attitude_s>           _attitude_pub;
 	uORB::PublicationMulti<vehicle_local_position_s>     _local_position_pub;
diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
index 6024a36a18..6168fc36ce 100644
--- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
@@ -14,8 +14,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 1190000,1,-0.0112,-0.0137,-0.0166,0.0163,-0.0049,-0.155,0.00161,-0.000401,-0.0818,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,1.85e-06,0.00506,0.00506,0.00108,0.85,0.85,0.491,0.151,0.151,0.328,9.88e-07,9.88e-07,6.56e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
 1290000,1,-0.0113,-0.0139,-0.0166,0.0212,-0.00611,-0.169,0.00349,-0.000977,-0.098,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.06e-06,0.0056,0.0056,0.00108,1.03,1.03,0.5,0.214,0.214,0.402,9.88e-07,9.88e-07,5.97e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
 1390000,1,-0.0114,-0.0142,-0.0166,0.0275,-0.00825,-0.181,0.00597,-0.00168,-0.115,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.31e-06,0.00618,0.00619,0.00108,1.26,1.26,0.509,0.301,0.301,0.487,9.88e-07,9.88e-07,5.41e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
-1490000,1,-0.0114,-0.0143,-0.0166,0.0277,-0.00795,-0.196,0.00506,-0.00142,-0.134,-4.58e-07,-2.01e-06,-2.37e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.42e-06,0.00637,0.00637,0.00108,1.01,1.01,0.519,0.189,0.189,0.582,9.62e-07,9.62e-07,4.87e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
-1590000,1,-0.0114,-0.0146,-0.0166,0.0346,-0.00911,-0.209,0.00815,-0.00227,-0.155,-4.58e-07,-2.01e-06,-2.37e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.7e-06,0.00702,0.00702,0.00107,1.3,1.3,0.53,0.268,0.268,0.689,9.62e-07,9.62e-07,4.38e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
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+1590000,1,-0.0114,-0.0146,-0.0166,0.0346,-0.00911,-0.209,0.00815,-0.00227,-0.155,-4.58e-07,-2.01e-06,-2.38e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.7e-06,0.00702,0.00702,0.00107,1.3,1.3,0.53,0.268,0.268,0.689,9.62e-07,9.62e-07,4.38e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
 1690000,1,-0.0115,-0.0145,-0.0166,0.0339,-0.0104,-0.221,0.00659,-0.00188,-0.176,-1.15e-06,-4.89e-06,2.07e-09,2.38e-06,-5.49e-07,-7.51e-08,0.192,0.00189,0.404,0,0,0,0,0,2.66e-06,0.00677,0.00677,0.00105,1.11,1.11,0.542,0.179,0.179,0.807,9.06e-07,9.06e-07,3.92e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
 1790000,1,-0.0115,-0.0148,-0.0167,0.0422,-0.0137,-0.236,0.0104,-0.00306,-0.199,-1.15e-06,-4.89e-06,2.07e-09,2.38e-06,-5.49e-07,-7.51e-08,0.192,0.00189,0.404,0,0,0,0,0,2.96e-06,0.00744,0.00744,0.00104,1.45,1.45,0.554,0.262,0.262,0.936,9.06e-07,9.06e-07,3.51e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
 1890000,1,-0.0113,-0.0144,-0.0167,0.0382,-0.0124,-0.25,0.00784,-0.00241,-0.223,-2.41e-06,-9.67e-06,1.8e-08,4.1e-06,-9.99e-07,-1.33e-07,0.192,0.00189,0.404,0,0,0,0,0,2.68e-06,0.00658,0.00658,0.00102,1.19,1.19,0.567,0.178,0.178,1.08,8.16e-07,8.16e-07,3.14e-07,3.97e-06,3.97e-06,3.99e-06,0,0,0,0,0,0,0,0
@@ -47,37 +47,37 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 4490000,1,-0.0101,-0.0116,-0.0168,0.0131,-0.0043,-0.602,0.0051,-0.00216,-1.33,-1.46e-05,-5.14e-05,2.32e-07,4.34e-06,-8.5e-07,-1.19e-07,0.192,0.00189,0.404,0,0,0,0,0,5.92e-07,0.00152,0.00152,0.000544,0.549,0.549,1.19,0.187,0.187,10.8,1.02e-07,1.02e-07,3.24e-08,3.92e-06,3.92e-06,3.99e-06,0,0,0,0,0,0,0,0
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diff --git a/src/modules/ekf2/test/change_indication/iris_gps.csv b/src/modules/ekf2/test/change_indication/iris_gps.csv
index d4f4de31f7..f07d1c6848 100644
--- a/src/modules/ekf2/test/change_indication/iris_gps.csv
+++ b/src/modules/ekf2/test/change_indication/iris_gps.csv
@@ -2,9 +2,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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