From d7a88619894702f21eaa6831fbd78f97cd79fab2 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Tue, 25 Jun 2024 15:46:49 -0500 Subject: [PATCH] 4.6:add GPS jamming EKF3 option --- common/source/docs/common-positioning-landing-page.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/common/source/docs/common-positioning-landing-page.rst b/common/source/docs/common-positioning-landing-page.rst index 682345a151..e86931ec54 100644 --- a/common/source/docs/common-positioning-landing-page.rst +++ b/common/source/docs/common-positioning-landing-page.rst @@ -143,6 +143,11 @@ When using two GPS units there are a number of switching options that can be sel An additional variation with GPS switching is :ref:`EKF3 affinity and lane switching `. An EKF lane can be setup to use either GPS and the whole EKF lane is then switched based on its health. If the :ref:`GPS_PRIMARY ` is used for a lane, and :ref:`GPS_AUTO_SWITCH ` is enabled, then the lane will use GPS info as determined by the :ref:`GPS_AUTO_SWITCH ` setting. +GPS Jamming Mediation +===================== + +Setting the "JammingExpected", :ref:`EK3_OPTIONS` bit 0, will change the EKF3 behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by :ref:`EK3_GPS_CHECK` and :ref:`EK3_CHECK_SCALE` to pass again before resuming GPS use if GPS lock is lost for more than 2 seconds (presumably due to jamming). This is to prevent bad GPS data from being used, since the GPS data will be immediately used upon re-lock otherwise and could be corrupt. + Advanced Uses =============