Fix and unify the maximum allowed PDOP references

Tools/ecl_ekf/analysis/post_processing.py

@@ -125,7 +125,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
 
     # 0 : insufficient fix type (no 3D solution)
     # 1 : minimum required sat count fail
-    # 2 : minimum required PDOP fail
+    # 2 : maximum allowed PDOP fail
     # 3 : maximum allowed horizontal position error fail
     # 4 : maximum allowed vertical position error fail
     # 5 : maximum allowed speed error fail

msg/estimator_status.msg

@@ -12,7 +12,7 @@ uint16 gps_check_fail_flags     # Bitmask to indicate status of GPS checks - see
 # bits are true when corresponding test has failed
 uint8 GPS_CHECK_FAIL_GPS_FIX = 0		# 0 : insufficient fix type (no 3D solution)
 uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1		# 1 : minimum required sat count fail
-uint8 GPS_CHECK_FAIL_MIN_PDOP = 2		# 2 : minimum required PDOP fail
+uint8 GPS_CHECK_FAIL_MAX_PDOP = 2		# 2 : maximum allowed PDOP fail
 uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3		# 3 : maximum allowed horizontal position error fail
 uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4		# 4 : maximum allowed vertical position error fail
 uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5		# 5 : maximum allowed speed error fail

src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp

@@ -171,8 +171,8 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)) {
 					message = "Preflight%s: not enough GPS Satellites";
 
-				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_PDOP)) {
-					message = "Preflight%s: GPS PDOP too low";
+				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_PDOP)) {
+					message = "Preflight%s: GPS PDOP too high";
 
 				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)) {
 					message = "Preflight%s: GPS Horizontal Pos Error too high";

src/modules/ekf2/ekf2_params.c

@@ -153,7 +153,7 @@ PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5);
  *
  * Set bits to 1 to enable checks. Checks enabled by the following bit positions
  * 0 : Minimum required sat count set by EKF2_REQ_NSATS
- * 1 : Minimum required PDOP set by EKF2_REQ_PDOP
+ * 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP
  * 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
  * 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
  * 4 : Maximum allowed speed error set by EKF2_REQ_SACC
@@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5);
  * @min 0
  * @max 511
  * @bit 0 Min sat count (EKF2_REQ_NSATS)
- * @bit 1 Min PDOP (EKF2_REQ_PDOP)
+ * @bit 1 Max PDOP (EKF2_REQ_PDOP)
  * @bit 2 Max horizontal position error (EKF2_REQ_EPH)
  * @bit 3 Max vertical position error (EKF2_REQ_EPV)
  * @bit 4 Max speed error (EKF2_REQ_SACC)
@@ -220,7 +220,7 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 0.5f);
 PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
 
 /**
- * Required PDOP to use GPS.
+ * Maximum PDOP to use GPS.
  *
  * @group EKF2
  * @min 1.5