Yes, I have been following your talk, and I also increased the Horizontal standard deviation to 5.0, since my error to gps is around 3-5m and tweaked the following parameters -
param set EKF2_GPS_CTRL 0
param set EKF2_AGP0_ID 1
param set EKF2_AGP0_CTRL 1
param set EKF2_AGP0_NOISE 100
param set EKF2_HGT_REF Baro
param set EKF2_MAG_TYPE 0
param set EKF2_NOAID_TOUT 10000000 (EKF timeout)
param set COM_POS_FS_EPH 10.0 (Increased Error threshold)
param set EKF2_AGP0_GATE 5.0
After GNSS data fusion disabled, the mission still continues, but cs_aux_gpos: False still continues to report False, so I am assuming that it uses EKF dead-reckoning and not my VPS algorithm. Between points 3-4, It encounters slight deviation and goes back to land mode again. Not sure why it rejects my fused VPS data even though I have increased threshold and timeout. I ll tweak some more parameters and let you know. Thanks for your help
