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Merge branch 'main' into pr-servo-pwm-trim

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Nick
2025-11-26 11:58:21 +01:00
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parent 7b9ce157ce d97a8d7d3b
commit 9577f20875
69 changed files with 1454 additions and 686 deletions
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boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld
-1
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@@ -132,7 +132,6 @@ ENTRY(_stext)
*/
EXTERN(abort)
EXTERN(_bootdelay_signature)
EXTERN(board_get_manifest)
SECTIONS
{
boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt
-1
View File
@@ -48,7 +48,6 @@ else()
i2c.cpp
init.c
led.c
mtd.cpp
spi.cpp
timer_config.cpp
usb.c
boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp
-76
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@@ -1,76 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2025 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
static const px4_mft_device_t spi2 = { // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
.bus_type = px4_mft_device_t::SPI,
.devid = SPIDEV_FLASH(0)
};
static const px4_mtd_entry_t fmum_fram = {
.device = &spi2,
.npart = 1,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
},
},
};
static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 1,
.entries = {
&fmum_fram
}
};
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
.pmft = (void *) &board_mtd_config,
};
static const px4_mft_s mft = {
.nmft = 1,
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
{
return &mft;
}
boards/auterion/fmu-v6s/default.px4board
-3
View File
@@ -77,9 +77,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
@@ -91,7 +89,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
boards/auterion/fmu-v6s/init/rc.board_defaults
+1 -1
View File
@@ -4,7 +4,7 @@
#------------------------------------------------------------------------------
# By disabling INA modules, we use the
# i2c_launcher instead.
# auterion launcher instead.
param set-default SENS_EN_INA226 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA238 0
boards/auterion/fmu-v6x/init/rc.board_defaults
+1 -1
View File
@@ -4,7 +4,7 @@
#------------------------------------------------------------------------------
# By disabling all 3 INA modules, we use the
# i2c_launcher instead.
# auterion launcher instead.
param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 0
docs/en/SUMMARY.md
+1 -2
View File
@@ -672,8 +672,6 @@
- [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
- [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
- [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
- [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
- [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
- [Rpm](msg_docs/Rpm.md)
- [RtlStatus](msg_docs/RtlStatus.md)
- [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)
@@ -695,6 +693,7 @@
- [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md)
- [SensorPreflightMag](msg_docs/SensorPreflightMag.md)
- [SensorSelection](msg_docs/SensorSelection.md)
- [SensorTemp](msg_docs/SensorTemp.md)
- [SensorUwb](msg_docs/SensorUwb.md)
- [SensorsStatus](msg_docs/SensorsStatus.md)
- [SensorsStatusImu](msg_docs/SensorsStatusImu.md)
docs/en/advanced_config/parameter_reference.md
+74 -14
View File
@@ -10,6 +10,48 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
<!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
## ADC
### ADC_ADS7953_EN (`INT32`) {#ADC_ADS7953_EN}
Enable ADS7953.
Enable the driver for the ADS7953 board
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_ADS7953_REFV (`FLOAT`) {#ADC_ADS7953_REFV}
Applied reference Voltage.
The voltage applied to the ADS7953 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
### ADC_TLA2528_EN (`INT32`) {#ADC_TLA2528_EN}
Enable TLA2528.
Enable the driver for the TLA2528
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_TLA2528_REFV (`FLOAT`) {#ADC_TLA2528_REFV}
Applied reference Voltage.
The voltage applied to the TLA2528 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
## ADSB
### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@@ -13955,9 +13997,9 @@ Scale of airspeed sensor 1.
This is the scale IAS --> CAS of the first airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_2 (`FLOAT`) {#ASPD_SCALE_2}
@@ -13965,9 +14007,9 @@ Scale of airspeed sensor 2.
This is the scale IAS --> CAS of the second airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_3 (`FLOAT`) {#ASPD_SCALE_3}
@@ -13975,9 +14017,9 @@ Scale of airspeed sensor 3.
This is the scale IAS --> CAS of the third airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_APPLY (`INT32`) {#ASPD_SCALE_APPLY}
@@ -17165,7 +17207,9 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion
### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY}
GPS measurement delay relative to IMU measurements.
GPS measurement delay relative to IMU measurement.
GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
@@ -17175,7 +17219,7 @@ GPS measurement delay relative to IMU measurements.
Fusion reset mode.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.
**Values:**
@@ -33105,6 +33149,14 @@ Maxbotix Sonar (mb12xx).
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MCP9808 (`INT32`) {#SENS_EN_MCP9808}
Enable MCP9808 temperature sensor (external I2C).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MPDT (`INT32`) {#SENS_EN_MPDT}
Enable Mappydot rangefinder (i2c).
@@ -39432,6 +39484,14 @@ Maximum time (in seconds) before resetting setpoint.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2.0 |
### UUV_STICK_MODE (`INT32`) {#UUV_STICK_MODE}
Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 0 |
### UUV_THRUST_SAT (`FLOAT`) {#UUV_THRUST_SAT}
UUV Thrust setpoint Saturation.
@@ -40135,7 +40195,7 @@ Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
### VT_B_DEC_I (`FLOAT`) {#VT_B_DEC_I}
Backtransition deceleration setpoint to pitch I gain.
Backtransition deceleration setpoint to tilt I gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ------- |
@@ -40353,7 +40413,7 @@ During landing it can be beneficial to reduce the pitch angle to reduce the gene
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PITCH_MIN (`FLOAT`) {#VT_PITCH_MIN}
@@ -40364,7 +40424,7 @@ VT_FWD_TRHUST_EN is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PSHER_SLEW (`FLOAT`) {#VT_PSHER_SLEW}
docs/en/advanced_config/tuning_the_ecl_ekf.md
+54
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@@ -348,6 +348,60 @@ The `hpos_drift_rate`, `vpos_drift_rate` and `hspd` are calculated over a period
Note that `ekf2_gps_drift` is not logged!
:::
#### GNSS Fault Detection
PX4's GNSS fault detection protects against malicious or erroneous GNSS signals using selective fusion control based on measurement validation.
The fault detection logic depends on the GPS mode, and also operates differently for horizontal position and altitude measurements.
The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) parameter:
- **Automatic (`0`)** (Default): Assumes that GNSS is generally reliable and is likely to be recovered.
EKF2 resets on fusion timeouts if no other source of position is available.
- **Dead-reckoning (`1`)**: Assumes that GNSS might be lost indefinitely, so resets should be avoided while we have other estimates of position data.
EKF2 may reset if no other sources of position or velocity are available.
If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
##### Detection Logic
Horizontal Position:
- **Automatic mode**: Horizontal position resets to GNSS data if no other horizontal position source is currently being fused (e.g., Auxiliary Global Position - AGP).
- **Dead-reckoning mode**: Horizontal position resets to GNSS data only if no other horizontal position OR velocity source is currently being fused (e.g., AGP, airspeed, optical flow).
Altitude:
- The altitude logic is more complex due to the height reference sensor ([EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)) parameter, which is typically set to GNSS or baro in GNSS-denied scenarios.
- If height reference is set to baro, GNSS-based height resets are prevented (except when baro fusion fails completely and height reference automatically switches to GNSS).
- When height reference is set to GNSS:
- **Automatic mode**: Resets occur on drifting GNSS altitude measurements.
- **Dead-reckoning mode**: When validation starts failing, the system prevents GNSS altitude resets and labels the GNSS data as faulty.
##### Faulty GNSS Data During Boot
The system cannot automatically detect faulty GNSS data during vehicle boot as no baseline comparison exists.
If GNSS fusion is enabled ([EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)), operators will observe incorrect positions on maps and should disable GNSS fusion, then manually set the correct position via ground control station.
The global position gets corrected, and if [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) was enabled, baro offsets are automatically adjusted (through bias correction, not parameter changes).
##### Enabling GNSS Fusion Mid-Flight
With Faulty GNSS Data:
- **Automatic mode**: Vehicle will reset to faulty position - potentially dangerous.
- **Dead-reckoning mode**: Large measurement differences cause GNSS rejection and fault detection activation.
With Valid GNSS Data:
- **Automatic mode**: Vehicle will reset to GNSS measurements.
- **Dead-reckoning mode**: If estimated position/altitude is close enough to measurements, fusion resumes; if too far apart, data gets labeled as faulty.
##### Notes
- **Dual Detection**: Horizontal and altitude checks run completely separately but both lead to the same result when triggered - all GNSS fusion gets disabled.
- **Recovery**: Only the specific check that labeled data as invalid can re-enable fusion.
- **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
- **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.
### Range Finder
[Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
docs/en/config_rover/basic_setup.md
+1 -1
View File
@@ -88,7 +88,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
One approach to determine an appropriate value is:
1. From a standstill, give the rover full throttle until it reaches the maximum speed.
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md).
3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
docs/en/config_rover/position_tuning.md
+1 -4
View File
@@ -19,7 +19,6 @@ To tune the position controller configure the [parameters](../advanced_config/pa
$v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $
with
- $v_{max}:$ Maximum speed
- $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED).
- $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
@@ -34,14 +33,13 @@ To tune the position controller configure the [parameters](../advanced_config/pa
::: tip
Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
- If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter.
- If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM).
These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
:::
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
## Path Following
@@ -57,7 +55,6 @@ The following parameters are used to tune the algorithm:
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
docs/en/config_rover/velocity_tuning.md
+1 -3
View File
@@ -23,11 +23,10 @@ To tune the velocity controller configure the following [parameters](../advanced
::: tip
To further tune this parameter:
1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
@@ -64,7 +63,6 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
docs/en/dev_log/ulog_file_format.md
+1 -1
View File
@@ -215,7 +215,7 @@ Predefined information messages are:
| `char[value_len] ver_sw_branch` | git branch | "master" |
| `uint32_t ver_sw_release` | Software version (see below) | 0x010401ff |
| `char[value_len] sys_os_name` | Operating System Name | "Linux" |
| `char[value_len] sys_os_ve`r | OS version (git tag) | "9f82919" |
| `char[value_len] sys_os_ver` | OS version (git tag) | "9f82919" |
| `uint32_t ver_os_release` | OS version (see below) | 0x010401ff |
| `char[value_len] sys_toolchain` | Toolchain Name | "GNU GCC" |
| `char[value_len] sys_toolchain_ver` | Toolchain Version | "6.2.1" |
docs/en/middleware/dds_topics.md
+247 -239
View File
@@ -4,75 +4,84 @@
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
## Publications
Topic | Type| Rate Limit
--- | --- | ---
`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) |
`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
| Topic | Type | Rate Limit |
| ---------------------------------------- | -------------------------------------------------------------------------------------- | ---------- |
| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 |
| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 |
| `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 |
| `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 |
| `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 |
| `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 |
| `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 |
| `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
| `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 |
| `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
| `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 |
| `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) |
| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 |
| `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 |
| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 |
| `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
| `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 |
| `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 |
| `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 |
| `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 |
| `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 |
| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 |
| `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 |
| `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 |
| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 |
## Subscriptions
Topic | Type
--- | ---
/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
| Topic | Type |
| ------------------------------------------ | -------------------------------------------------------------------------------------------------- |
| /fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) |
| /fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) |
| /fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) |
| /fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) |
| /fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) |
| /fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) |
| /fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) |
| /fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) |
| /fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) |
| /fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) |
| /fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) |
| /fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) |
| /fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) |
| /fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) |
| /fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) |
| /fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| /fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) |
| /fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
| /fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) |
| /fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
| /fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) |
| /fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) |
| /fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) |
| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) |
| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) |
| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) |
| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) |
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) |
| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) |
| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) |
| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) |
| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) |
| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) |
| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) |
## Subscriptions Multi
@@ -85,192 +94,191 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [EventV0](../msg_docs/EventV0.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [InputRc](../msg_docs/InputRc.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [Event](../msg_docs/Event.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [Ping](../msg_docs/Ping.md)
- [LedControl](../msg_docs/LedControl.md)
- [Wind](../msg_docs/Wind.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [Gripper](../msg_docs/Gripper.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [LandingGear](../msg_docs/LandingGear.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Mission](../msg_docs/Mission.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Ping](../msg_docs/Ping.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [Event](../msg_docs/Event.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [Rpm](../msg_docs/Rpm.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TransponderReport](../msg_docs/TransponderReport.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [Mission](../msg_docs/Mission.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
:::
- [FollowTarget](../msg_docs/FollowTarget.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EventV0](../msg_docs/EventV0.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
:::
docs/en/modules/modules_driver.md
+25 -60
View File
@@ -2,6 +2,7 @@
Subcategories:
- [Adc](modules_driver_adc.md)
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
- [Baro](modules_driver_baro.md)
- [Camera](modules_driver_camera.md)
@@ -46,66 +47,6 @@ MCP23009 <command> [arguments...]
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -808,6 +749,30 @@ lsm303agr <command> [arguments...]
status print status info
```
## mcp9808
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
### Usage {#mcp9808_usage}
```
mcp9808 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 24
stop
status print status info
```
## msp_osd
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)
docs/en/modules/modules_driver_adc.md
+107
View File
@@ -0,0 +1,107 @@
# Modules Reference: Adc (Driver)
## TLA2528
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
### Usage {#TLA2528_usage}
```
TLA2528 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## ads7953
Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953)
### Usage {#ads7953_usage}
```
ads7953 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
docs/en/modules/modules_driver_radio_control.md
+10 -10
View File
@@ -4,10 +4,9 @@
Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
### Description
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
### Usage {#crsf_rc_usage}
@@ -17,6 +16,10 @@ crsf_rc <command> [arguments...]
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] RC baudrate
default: 420000
inject Inject frame data bytes (for testing)
stop
@@ -27,10 +30,9 @@ crsf_rc <command> [arguments...]
Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
### Description
This module does Spektrum DSM RC input parsing.
This module does Spektrum DSM RC input parsing.
### Usage {#dsm_rc_usage}
@@ -52,10 +54,9 @@ dsm_rc <command> [arguments...]
Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
### Description
This module does Ghost (GHST) RC input parsing.
This module does Ghost (GHST) RC input parsing.
### Usage {#ghst_rc_usage}
@@ -75,9 +76,10 @@ ghst_rc <command> [arguments...]
Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
### Description
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
@@ -85,7 +87,6 @@ This module does the RC input parsing and auto-selecting the method. Supported m
- ST24
- TBS Crossfire (CRSF)
### Usage {#rc_input_usage}
```
@@ -106,10 +107,9 @@ rc_input <command> [arguments...]
Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
### Description
This module does SBUS RC input parsing.
This module does SBUS RC input parsing.
### Usage {#sbus_rc_usage}
docs/en/msg_docs/AdcReport.md
+12 -6
View File
@@ -1,15 +1,21 @@
# AdcReport (UORB message)
ADC raw data.
Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # ADC channel resolution
float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
# ADC raw data.
#
# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
uint64 timestamp # [us] Time since system start
uint32 device_id # [-] unique device ID for the sensor that does not change between power cycles
int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # [-] ADC channel resolution
float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
```
docs/en/msg_docs/EscReport.md
+13 -2
View File
@@ -1,7 +1,5 @@
# EscReport (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
```c
@@ -18,6 +16,19 @@ uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
docs/en/msg_docs/InputRc.md
+2 -2
View File
@@ -1,7 +1,5 @@
# InputRc (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
```c
@@ -39,11 +37,13 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in
uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid
uint8 input_source # Input source
uint16[18] values # measured pulse widths for each of the supported channels
int8 link_quality # link quality. Percentage 0-100%. -1 = invalid
float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid
int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid
```
docs/en/msg_docs/RoverVelocitySetpoint.md
-15
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@@ -1,15 +0,0 @@
# RoverVelocitySetpoint (UORB message)
Rover Velocity Setpoint
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
```c
# Rover Velocity Setpoint
uint64 timestamp # [us] Time since system start
float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint
```
docs/en/msg_docs/RoverVelocityStatus.md
-18
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@@ -1,18 +0,0 @@
# RoverVelocityStatus (UORB message)
Rover Velocity Status
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg)
```c
# Rover Velocity Status
uint64 timestamp # [us] Time since system start
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
```
docs/en/msg_docs/SensorTemp.md
+11
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@@ -0,0 +1,11 @@
# SensorTemp (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 temperature # Temperature provided by sensor (Celsius)
```
docs/en/msg_docs/VehicleCommand.md
+1 -1
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@@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
docs/en/msg_docs/index.md
+2 -1
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@@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
- [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.md)
- [AdcReport](AdcReport.md) — ADC raw data.
- [Airspeed](Airspeed.md) — Airspeed data from sensors
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
@@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
The topic will not be updated when the vehicle is armed
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic.
Will be updated on startup of the sensor module and when sensor selection changes
- [SensorTemp](SensorTemp.md)
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
such as Pozyx or NXP Rddrone.
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
docs/en/releases/main.md
+4
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@@ -76,6 +76,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- TBD
### RC
- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
### Multi-Rotor
- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
docs/en/sensor/barometer.md
+42 -8
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@@ -30,17 +30,51 @@ If needed, you can:
- Change the selection order of barometers using the [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) parameters for each barometer.
- Disable a barometer by setting its [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) value to `0`.
## Calibration
## Baro Auto-Calibration (Developers)
Barometers don't require calibration.
::: tip
This section documents the automated calibration mechanisms that ensure accurate altitude measurements throughout flight operations.
It is intended primarily for a developer audience who want to understand the underlying mechanisms.
:::
<!-- Notes:
- Absolute value isn't important since we just use the difference in altitude between "now" and the value when initializing EKF2
- There is usually a scale factor error but it's compensated by the GNSS altitude using a bias estimator in EKF2 (we don't provide a way to calibrate that). This method is fine as long as the height change of the drone isn't too fast (below 200-300km/h probably; don't have real data on that).
- The baro readings can be corrected using a param SENS_BARO_QNH (https://en.wikipedia.org/wiki/Altimeter_setting) parameter, but again, it is only necessary to adjust it if the absolute barometric altitude is required by the pilot.
-->
The system implements two complementary calibration approaches that work together to maintain altitude measurement precision.
Both calibrations are initiated at the beginning after a system boot.
Relative calibration is performed first, followed by GNSS-barometric calibration.
## Developer Information
### Relative Calibration
Relative baro calibration is **always enabled** and operates automatically during system initialization.
This calibration establishes offset corrections for all secondary baro sensors relative to the primary (selected) sensor.
This calibration:
- Eliminates altitude jumps when switching between baro sensors during flight.
- Ensures consistent altitude readings across all available baro sensors.
- Maintains seamless sensor redundancy and failover capability.
### GNSS-Baro Calibration
::: info
GNSS-baro calibration requires an operational GNSS receiver with vertical accuracy (EPV) ≤ 8 meters.
Relative calibration must already have completed.
:::
GNSS-baro calibration adjusts baro sensor offsets to align with absolute altitude measurements from the GNSS receiver.
This calibration is controlled by the [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) parameter (enabled by default).
The algorithm monitors GNSS quality, collects altitude differences over a 2-second filtered window, and verifies stability within 4m tolerance.
Once stable, it uses binary search to calculate pressure offsets that align baro altitude with GNSS altitude (0.1m precision), then applies the offset to all sensors and saves the parameters.
Notes:
- **EKF Independence**: GNSS-baro calibration operates independently of EKF2 altitude fusion settings.
- **Execution Timing**: Calibration runs even when [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) altitude fusion is disabled.
- **One-Time Process**: Each calibration session completes once per system startup.
- **Persistence**: Calibration offsets are saved to parameters and persist across reboots.
- **Faulty GNSS Vulnerability**: If GNSS data is faulty during boot, the calibration will use incorrect altitude reference.
See [Faulty GNSS Data During Boot](../advanced_config/tuning_the_ecl_ekf.md#faulty-gnss-data-during-boot) for mitigation strategies.
## See Also
- [Baro driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer)
- [Modules Reference: Baro (Driver)](../modules/modules_driver_baro.md) documentation.
msg/InputRc.msg
+2
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@@ -32,9 +32,11 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in
uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid
uint8 input_source # Input source
uint16[18] values # measured pulse widths for each of the supported channels
int8 link_quality # link quality. Percentage 0-100%. -1 = invalid
float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid
int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid
msg/px4_msgs_old/msg/ConfigOverridesV0.msg
+21
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@@ -0,0 +1,21 @@
# Configurable overrides by (external) modes or mode executors
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured)
bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
int8 SOURCE_TYPE_MODE = 0
int8 SOURCE_TYPE_MODE_EXECUTOR = 1
int8 source_type
uint8 source_id # ID depending on source_type
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS config_overrides config_overrides_request
msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg
+15
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@@ -0,0 +1,15 @@
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 request_id # ID from the request
char[25] name # name from the request
uint16 px4_ros2_api_version
bool success
int8 arming_check_id # arming check registration ID (-1 if invalid)
int8 mode_id # assigned mode ID (-1 if invalid)
int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
uint8 ORB_QUEUE_LENGTH = 2
msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg
+24
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@@ -0,0 +1,24 @@
# Request to register an external component
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 request_id # ID, set this to a random value
char[25] name # either the requested mode name, or component name
uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
# Components to be registered
bool register_arming_check
bool register_mode # registering a mode also requires arming_check to be set
bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
bool enable_replace_internal_mode # set to true if an internal mode should be replaced
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
uint8 ORB_QUEUE_LENGTH = 2
msg/translation_node/translations/all_translations.h
+3
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@@ -10,8 +10,11 @@
#include "translation_arming_check_reply_v1.h"
#include "translation_arming_check_request_v1.h"
#include "translation_battery_status_v1.h"
#include "translation_config_overrides_v1.h"
#include "translation_event_v1.h"
#include "translation_home_position_v1.h"
#include "translation_register_ext_component_reply_v1.h"
#include "translation_register_ext_component_request_v1.h"
#include "translation_vehicle_attitude_setpoint_v1.h"
#include "translation_vehicle_status_v1.h"
#include "translation_vehicle_local_position_v1.h"
msg/translation_node/translations/translation_config_overrides_v1.h
+41
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@@ -0,0 +1,41 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate ConfigOverrides v0 <--> v1
#include <px4_msgs_old/msg/config_overrides_v0.hpp>
#include <px4_msgs/msg/config_overrides.hpp>
class ConfigOverridesV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::ConfigOverridesV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::ConfigOverrides;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/config_overrides_request";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.disable_auto_disarm = msg_older.disable_auto_disarm;
msg_newer.defer_failsafes = msg_older.defer_failsafes;
msg_newer.defer_failsafes_timeout_s = msg_older.defer_failsafes_timeout_s;
msg_newer.disable_auto_set_home = false;
msg_newer.source_type = msg_older.source_type;
msg_newer.source_id = msg_older.source_id;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.disable_auto_disarm = msg_newer.disable_auto_disarm;
msg_older.defer_failsafes = msg_newer.defer_failsafes;
msg_older.defer_failsafes_timeout_s = msg_newer.defer_failsafes_timeout_s;
msg_older.source_type = msg_newer.source_type;
msg_older.source_id = msg_newer.source_id;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(ConfigOverridesV1Translation);
msg/translation_node/translations/translation_register_ext_component_reply_v1.h
+45
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@@ -0,0 +1,45 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate RegisterExtComponentReply v0 <--> v1
#include <px4_msgs_old/msg/register_ext_component_reply_v0.hpp>
#include <px4_msgs/msg/register_ext_component_reply.hpp>
class RegisterExtComponentReplyV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::RegisterExtComponentReplyV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::RegisterExtComponentReply;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/register_ext_component_reply";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.request_id = msg_older.request_id;
msg_newer.name = msg_older.name;
msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
msg_newer.success = msg_older.success;
msg_newer.arming_check_id = msg_older.arming_check_id;
msg_newer.mode_id = msg_older.mode_id;
msg_newer.mode_executor_id = msg_older.mode_executor_id;
msg_newer.not_user_selectable = false;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.request_id = msg_newer.request_id;
msg_older.name = msg_newer.name;
msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
msg_older.success = msg_newer.success;
msg_older.arming_check_id = msg_newer.arming_check_id;
msg_older.mode_id = msg_newer.mode_id;
msg_older.mode_executor_id = msg_newer.mode_executor_id;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentReplyV1Translation);
msg/translation_node/translations/translation_register_ext_component_request_v1.h
+49
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@@ -0,0 +1,49 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate RegisterExtComponentRequest v0 <--> v1
#include <px4_msgs_old/msg/register_ext_component_request_v0.hpp>
#include <px4_msgs/msg/register_ext_component_request.hpp>
class RegisterExtComponentRequestV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::RegisterExtComponentRequestV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::RegisterExtComponentRequest;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/register_ext_component_request";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.request_id = msg_older.request_id;
msg_newer.name = msg_older.name;
msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
msg_newer.register_arming_check = msg_older.register_arming_check;
msg_newer.register_mode = msg_older.register_mode;
msg_newer.register_mode_executor = msg_older.register_mode_executor;
msg_newer.enable_replace_internal_mode = msg_older.enable_replace_internal_mode;
msg_newer.replace_internal_mode = msg_older.replace_internal_mode;
msg_newer.activate_mode_immediately = msg_older.activate_mode_immediately;
msg_newer.not_user_selectable = false;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.request_id = msg_newer.request_id;
msg_older.name = msg_newer.name;
msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
msg_older.register_arming_check = msg_newer.register_arming_check;
msg_older.register_mode = msg_newer.register_mode;
msg_older.register_mode_executor = msg_newer.register_mode_executor;
msg_older.enable_replace_internal_mode = msg_newer.enable_replace_internal_mode;
msg_older.replace_internal_mode = msg_newer.replace_internal_mode;
msg_older.activate_mode_immediately = msg_newer.activate_mode_immediately;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentRequestV1Translation);
msg/versioned/ConfigOverrides.msg
+2 -2
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@@ -1,6 +1,6 @@
# Configurable overrides by (external) modes or mode executors
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -8,7 +8,7 @@ bool disable_auto_disarm # Prevent the drone from automatically disarmin
bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
bool disable_auto_set_home # Prevent the drone from automatically setting the home position on arm or takeoff
int8 SOURCE_TYPE_MODE = 0
int8 SOURCE_TYPE_MODE_EXECUTOR = 1
msg/versioned/RegisterExtComponentReply.msg
+3 -1
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@@ -1,4 +1,4 @@
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -12,4 +12,6 @@ int8 arming_check_id # arming check registration ID (-1 if invalid)
int8 mode_id # assigned mode ID (-1 if invalid)
int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2
msg/versioned/RegisterExtComponentRequest.msg
+2 -2
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@@ -1,6 +1,6 @@
# Request to register an external component
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -19,6 +19,6 @@ bool register_mode_executor # registering an executor also requires a mod
bool enable_replace_internal_mode # set to true if an internal mode should be replaced
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2
msg/versioned/VehicleCommand.msg
+1 -1
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@@ -20,7 +20,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
platforms/nuttx/NuttX/nuttx
+1 -1
Submodule platforms/nuttx/NuttX/nuttx updated: fb2fadf6f5...201d8b01f1
platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c
+91 -10
View File
@@ -74,26 +74,40 @@ typedef enum {
BDSHOT_RECEIVE_COMPLETE,
} dshot_state;
typedef struct dshot_handler_t {
typedef struct dshot_channel_t {
bool init;
uint32_t data_seg1;
uint32_t irq_data;
dshot_state state;
bool bdshot;
uint32_t raw_response;
uint16_t erpm;
uint32_t crc_error_cnt;
uint32_t frame_error_cnt;
uint32_t no_response_cnt;
uint32_t last_no_response_cnt;
} dshot_handler_t;
bool bdshot;
uint32_t bdshot_tcmp;
uint32_t bdshot_training_mask;
uint8_t bdshot_training_count;
uint8_t bdshot_training_success;
bool bdshot_training_done;
int8_t bdshot_tcmp_offset;
} dshot_channel_t;
#define BDSHOT_OFFLINE_COUNT 400 // If there are no responses for 400 setpoints ESC is offline
static dshot_handler_t dshot_inst[DSHOT_TIMERS] = {};
#define BDSHOT_TCMP_MIN_OFFSET -16
#define BDSHOT_TCMP_MAX_OFFSET 15
#define BDSHOT_TCMP_TO_MASK(x) ((x) - BDSHOT_TCMP_MIN_OFFSET)
#define BDSHOT_TRAINING_TRIES 200
#define BDSHOT_TRAINING_SUCCESS 198
#define BDSHOT_ZERO_RESPONSE 0x52951
static dshot_channel_t dshot_inst[DSHOT_TIMERS] = {};
static uint32_t dshot_tcmp;
static uint32_t bdshot_tcmp;
static unsigned dshot_speed;
static uint32_t dshot_mask;
static uint32_t bdshot_recv_mask;
static uint32_t bdshot_parsed_recv_mask;
@@ -155,6 +169,12 @@ static inline void clear_timer_status_flags(uint32_t mask)
flexio_putreg32(mask, IMXRT_FLEXIO_TIMSTAT_OFFSET);
}
static inline void flexio_dshot_set_tcmp(uint32_t channel)
{
dshot_inst[channel].bdshot_tcmp = 0x2900 | (((BOARD_FLEXIO_PREQ / (dshot_speed * 5 / 4) / 2) +
dshot_inst[channel].bdshot_tcmp_offset) & 0xFF);
}
static void flexio_dshot_output(uint32_t channel, uint32_t pin, uint32_t timcmp, bool inverted)
{
/* Disable Shifter */
@@ -278,7 +298,7 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
/* Enable on pin transition, resychronize through reset on rising edge */
flexio_putreg32(bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
flexio_putreg32(dshot_inst[channel].bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
/* Trigger on FXIO pin transition, Baud mode */
flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * timer_io_channels[channel].dshot.flexio_pin) |
@@ -305,7 +325,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
{
/* Calculate dshot timings based on dshot_pwm_freq */
dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF);
bdshot_tcmp = 0x2900 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 3) & 0xFF);
dshot_speed = dshot_pwm_freq;
/* Clock FlexIO peripheral */
imxrt_clockall_flexio1();
@@ -340,7 +360,16 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);
dshot_inst[channel].bdshot = enable_bidirectional_dshot;
if (enable_bidirectional_dshot) {
dshot_inst[channel].bdshot = true;
dshot_inst[channel].bdshot_training_mask = 0;
dshot_inst[channel].bdshot_tcmp_offset = BDSHOT_TCMP_MIN_OFFSET;
dshot_inst[channel].bdshot_training_done = false;
flexio_dshot_set_tcmp(channel);
} else {
dshot_inst[channel].bdshot = false;
}
flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
@@ -357,6 +386,52 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
return channel_mask;
}
void up_bdshot_training(uint32_t channel, uint32_t value)
{
dshot_channel_t *ch = &dshot_inst[channel];
if (value == BDSHOT_ZERO_RESPONSE) {
// Count successful responses
ch->bdshot_training_success++;
} else if ((value & 0x1) == 0) {
// Invalidate frame error immediately
ch->bdshot_training_count = BDSHOT_TRAINING_TRIES - 1;
}
// Keep count and check if a training round finished
ch->bdshot_training_count++;
if (ch->bdshot_training_count == BDSHOT_TRAINING_TRIES) {
if (ch->bdshot_training_success >= BDSHOT_TRAINING_SUCCESS) {
ch->bdshot_training_mask |=
(1 << BDSHOT_TCMP_TO_MASK(ch->bdshot_tcmp_offset));
}
ch->bdshot_training_count = 0;
ch->bdshot_training_success = 0;
ch->bdshot_tcmp_offset++;
if (ch->bdshot_tcmp_offset == BDSHOT_TCMP_MAX_OFFSET) {
if (ch->bdshot_training_mask == 0) {
// No candidates retry
ch->bdshot_tcmp_offset = BDSHOT_TCMP_MIN_OFFSET;
} else {
// Training done, use mask to find best offset
int low = __builtin_ctz(ch->bdshot_training_mask);
int high = 31 - __builtin_clz(ch->bdshot_training_mask);
ch->bdshot_tcmp_offset = ((low + high) / 2) + BDSHOT_TCMP_MIN_OFFSET;
ch->bdshot_training_done = true;
}
}
// Update TCMP
flexio_dshot_set_tcmp(channel);
}
}
void up_bdshot_erpm(void)
{
uint32_t value;
@@ -373,8 +448,12 @@ void up_bdshot_erpm(void)
if (bdshot_recv_mask & (1 << channel)) {
value = ~dshot_inst[channel].raw_response & 0xFFFFF;
/* if lowest significant isn't 1 we've got a framing error */
if (value & 0x1) {
// BDSHOT ESC hardware varies and timings differ between units.
// Run training to estimate the correct baudrate to lock onto.
if (!dshot_inst[channel].bdshot_training_done) {
up_bdshot_training(channel, value);
} else if (value & 0x1) { /* if lowest significant isn't 1 we've got a framing error */
/* Decode RLL */
value = (value ^ (value >> 1));
@@ -461,6 +540,8 @@ void up_bdshot_status(void)
if (dshot_inst[channel].init) {
PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline",
dshot_inst[channel].erpm);
PX4_INFO("BDSHOT Training done: %s TCMP offset: %d", dshot_inst[channel].bdshot_training_done ? "YES" : "NO",
dshot_inst[channel].bdshot_tcmp_offset);
PX4_INFO("CRC errors Frame error No response");
PX4_INFO("%10lu %11lu %11lu", dshot_inst[channel].crc_error_cnt, dshot_inst[channel].frame_error_cnt,
dshot_inst[channel].no_response_cnt);
src/drivers/differential_pressure/auav/AUAV.cpp
+13 -6
View File
@@ -65,6 +65,7 @@ AUAV::AUAV(const I2CSPIDriverConfig &config) :
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
I2C::_retries = 5;
}
AUAV::~AUAV()
@@ -130,15 +131,21 @@ int AUAV::init()
int AUAV::probe()
{
uint8_t res_data = 0;
int status = transfer(nullptr, 0, &res_data, sizeof(res_data));
uint8_t res_data;
/* Check that the sensor is active. Reported in bit 6 of the status byte */
if ((res_data & 0x40) == 0) {
status = PX4_ERROR;
for (unsigned i = 0; i < 10; i++) {
res_data = 0;
int status = transfer(nullptr, 0, &res_data, 1);
/* Check that the sensor is active. Reported in bit 6 of the status byte */
if (status == PX4_OK && (res_data & 0x40)) {
return PX4_OK;
}
px4_usleep(10'000);
}
return status;
return PX4_ERROR;
}
void AUAV::handle_state_read_calibdata()
src/drivers/differential_pressure/auav/AUAV_Absolute.hpp
+2
View File
@@ -51,6 +51,8 @@ static constexpr uint8_t EEPROM_ABS_ES = 0x38;
/* Measurement rate is 50Hz */
static constexpr unsigned ABS_MEAS_RATE = 50;
static constexpr int64_t ABS_CONVERSION_INTERVAL = (1000000 / ABS_MEAS_RATE); /* microseconds */
/* reading too fast can yield all zero data -> incorrect sensor reading */
static_assert(ABS_CONVERSION_INTERVAL >= 7000, "Conversion interval is too fast");
/* Conversions */
static constexpr float MBAR_TO_PA = 100.0f;
src/drivers/differential_pressure/auav/AUAV_Differential.hpp
+2
View File
@@ -51,6 +51,8 @@ static constexpr uint8_t EEPROM_DIFF_ES = 0x34;
/* Measurement rate is 100Hz */
static constexpr unsigned DIFF_MEAS_RATE = 100;
static constexpr int64_t DIFF_CONVERSION_INTERVAL = (1000000 / DIFF_MEAS_RATE); /* microseconds */
/* reading too fast can yield all zero data -> incorrect sensor reading */
static_assert(DIFF_CONVERSION_INTERVAL >= 7000, "Conversion interval is too fast");
/* Conversions */
static constexpr float INH_TO_PA = 249.08f;
src/drivers/gps/gps.cpp
+23 -7
View File
@@ -84,9 +84,11 @@
using namespace device;
using namespace time_literals;
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
#define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error
#define TIMEOUT_DUMP_ADD 450 //!< Additional time in mS to account for RTCM3 parsing and dumping
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
#define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error
#define TIMEOUT_INIT_1HZ (3 * TIMEOUT_1HZ) //!< Timeout time in mS, used until GPS is healthy
#define TIMEOUT_INIT_5HZ (3 * TIMEOUT_5HZ) //!< Timeout time in mS, used until GPS is healthy
#define TIMEOUT_DUMP_ADD 450 //!< Additional time in mS to account for RTCM3 parsing and dumping
enum class gps_driver_mode_t {
None = 0,
@@ -178,6 +180,7 @@ private:
char _port[20] {}; ///< device / serial port path
bool _healthy{false}; ///< flag to signal if the GPS is ok
bool _cfg_wiped{false}; ///< flag to signal if the config was already wiped
bool _mode_auto; ///< if true, auto-detect which GPS is attached
gps_driver_mode_t _mode; ///< current mode
@@ -939,7 +942,7 @@ GPS::run()
param_get(handle, &gps_cfg_wipe);
}
gpsConfig.cfg_wipe = static_cast<bool>(gps_cfg_wipe);
gpsConfig.cfg_wipe = static_cast<bool>(gps_cfg_wipe) && !_cfg_wiped;
if (_helper && _helper->configure(_baudrate, gpsConfig) == 0) {
@@ -995,19 +998,26 @@ GPS::run()
}
int helper_ret;
unsigned receive_timeout = TIMEOUT_5HZ;
/* After being configured (especially in combination with FLASH wipes) the GPS may require
* additional time before outputting the first navigation data. To account for this, there is
* an init timeout. As soon as the GPS is healthy, the timeout is decreased. This allows for
* a quick reaction to a connection loss. */
unsigned receive_timeout = TIMEOUT_INIT_5HZ;
unsigned healthy_timeout = TIMEOUT_5HZ;
if ((ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBase)
|| (ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1)) {
/* The MB rover will wait as long as possible to compute a navigation solution,
* possibly lowering the navigation rate all the way to 1 Hz while doing so. */
receive_timeout = TIMEOUT_1HZ;
receive_timeout = TIMEOUT_INIT_1HZ;
healthy_timeout = TIMEOUT_1HZ;
}
if (_dump_communication_mode != gps_dump_comm_mode_t::Disabled) {
/* Dumping the RTCM3/UBX data requires additional parsing and storing of data via uORB.
* Without additional time this can lead to timeouts. */
receive_timeout += TIMEOUT_DUMP_ADD;
healthy_timeout += TIMEOUT_DUMP_ADD;
}
while ((helper_ret = _helper->receive(receive_timeout)) > 0 && !should_exit()) {
@@ -1067,6 +1077,12 @@ GPS::run()
//
// PX4_WARN("module found: %s", mode_str);
_healthy = true;
receive_timeout = healthy_timeout;
}
/* Do not wipe the FLASH config multiple times. */
if (!_cfg_wiped) {
_cfg_wiped = true;
}
}
src/drivers/pca9685_pwm_out/PCA9685.cpp
+72 -55
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2025 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
@@ -57,61 +57,61 @@ PCA9685::PCA9685(int bus, int addr):
int PCA9685::init()
{
int ret = I2C::init();
if (ret != PX4_OK) { return ret; }
return I2C::init();
}
int PCA9685::configure()
{
uint8_t buf[2] = {};
buf[0] = PCA9685_REG_MODE1;
buf[1] = PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_SLEEP_MASK; // put into sleep mode
ret = transfer(buf, 2, nullptr, 0);
if (OK != ret) {
PX4_ERR("init: i2c::transfer returned %d", ret);
return ret;
}
int ret = transfer(buf, 2, nullptr, 0);
#ifdef CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL
/* EXTCLK is sticky, so writing it once is enough. Its not a problem when its written to 0 later. */
buf[1] = PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_SLEEP_MASK | PCA9685_MODE1_EXTCLK_MASK;
ret = transfer(buf, 2, nullptr, 0); // enable EXTCLK if possible
if (OK != ret) {
PX4_ERR("init: i2c::transfer returned %d", ret);
return ret;
}
ret |= transfer(buf, 2, nullptr, 0);
#endif
buf[0] = PCA9685_REG_MODE2;
buf[1] = PCA9685_DEFAULT_MODE2_CFG;
ret = transfer(buf, 2, nullptr, 0);
ret |= transfer(buf, 2, nullptr, 0);
return ret;
}
if (OK != ret) {
PX4_ERR("init: i2c::transfer returned %d", ret);
return ret;
int PCA9685::registers_check()
{
/* Check MODE1 register */
uint8_t send_buf = PCA9685_REG_MODE1;
uint8_t recv_buf;
int ret = transfer(&send_buf, 1, &recv_buf, 1);
uint8_t ignore_extclk_mask = ~PCA9685_MODE1_EXTCLK_MASK;
if (ret != PX4_OK) {
return -EIO;
}
if ((recv_buf & ignore_extclk_mask) != (PCA9685_DEFAULT_MODE1_CFG & ignore_extclk_mask)) {
return -EFAULT;
}
/* Check MODE2 register */
send_buf = PCA9685_REG_MODE2;
ret = transfer(&send_buf, 1, &recv_buf, 1);
if (ret != PX4_OK) {
return -EIO;
}
if (recv_buf != PCA9685_DEFAULT_MODE2_CFG) {
return -EFAULT;
}
return PX4_OK;
}
int PCA9685::updatePWM(const uint16_t *outputs, unsigned num_outputs)
{
if (num_outputs > PCA9685_PWM_CHANNEL_COUNT) {
num_outputs = PCA9685_PWM_CHANNEL_COUNT;
PX4_DEBUG("PCA9685 can only drive up to 16 channels");
}
uint16_t out[PCA9685_PWM_CHANNEL_COUNT];
memcpy(out, outputs, sizeof(uint16_t) * num_outputs);
for (unsigned i = 0; i < num_outputs; ++i) {
out[i] = calcRawFromPulse(out[i]);
}
return writePWM(0, out, num_outputs);
}
int PCA9685::updateFreq(float freq)
{
uint16_t divider = (uint16_t)round((float)PCA9685_CLOCK_REFERENCE / freq / PCA9685_PWM_RES) - 1;
@@ -160,30 +160,47 @@ int PCA9685::sleep()
int PCA9685::wake()
{
uint8_t buf[2] = {
PCA9685_REG_MODE1,
PCA9685_DEFAULT_MODE1_CFG
};
return transfer(buf, 2, nullptr, 0);
}
uint8_t send_buf[2];
uint8_t recv_buf;
int PCA9685::doRestart()
{
uint8_t buf[2] = {
PCA9685_REG_MODE1,
PCA9685_DEFAULT_MODE1_CFG | PCA9685_MODE1_RESTART_MASK
};
return transfer(buf, 2, nullptr, 0);
send_buf[0] = PCA9685_REG_MODE1;
int ret = transfer(&send_buf[0], 1, &recv_buf, 1);
if (ret != PX4_OK) {
return PX4_ERROR;
}
send_buf[1] = recv_buf & ~PCA9685_MODE1_SLEEP_MASK; // Clear sleep bit
ret |= transfer(&send_buf[0], 2, nullptr, 0);
px4_usleep(500); // wait for oscillator to stabilize
if (recv_buf & PCA9685_MODE1_RESTART_MASK) { // Check if reset bit is set
send_buf[1] |= PCA9685_MODE1_RESTART_MASK; // Set restart bit
ret |= transfer(&send_buf[0], 2, nullptr, 0);
}
ret |= transfer(&send_buf[0], 1, &recv_buf, 1);
if (ret != PX4_OK || recv_buf & (PCA9685_MODE1_RESTART_MASK | PCA9685_MODE1_SLEEP_MASK)) {
return PX4_ERROR;
}
return ret;
}
int PCA9685::probe()
{
int ret = I2C::probe();
for (int i = 0; i < 10; i++) {
uint8_t send_buf = PCA9685_REG_MODE1;
if (ret != PX4_OK) { return ret; }
if (transfer(&send_buf, 1, nullptr, 0) == PX4_OK) {
return PX4_OK;
}
uint8_t buf[2] = {0x00};
return transfer(buf, 2, buf, 1);
px4_usleep(10'000);
}
return PX4_ERROR;
}
int PCA9685::writePWM(uint8_t idx, const uint16_t *value, uint8_t num)
src/drivers/pca9685_pwm_out/PCA9685.h
+9 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2025 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
@@ -95,13 +95,6 @@ public:
int init() override;
/*
* Write new PWM value to device
*
* *output: pulse width, us
*/
int updatePWM(const uint16_t *outputs, unsigned num_outputs);
/*
* Set PWM frequency to new value.
*
@@ -150,11 +143,14 @@ public:
int wake();
/*
* If PCA9685 is put into sleep without clearing all the outputs,
* then the restart command will be available, and it can bring back PWM output without the
* need of updatePWM() call.
*/
int doRestart();
* Configure the PCA9685 device with necessary settings. e.g. MODE1 or MODE2
*/
int configure();
/*
* Verfy whether the registers of PCA9685 are in a consistent state
*/
int registers_check();
protected:
int probe() override;
src/drivers/pca9685_pwm_out/main.cpp
+129 -60
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2025 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
@@ -80,12 +80,15 @@ protected:
private:
perf_counter_t _cycle_perf;
perf_counter_t _comms_errors;
perf_counter_t _registers_invalid_reset;
perf_counter_t _registers_transfer_reset;
enum class STATE : uint8_t {
CONFIGURE,
INIT,
WAIT_FOR_OSC,
RUNNING
} state{STATE::INIT};
} _state{STATE::CONFIGURE};
PCA9685 *pca9685 = nullptr;
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -99,14 +102,22 @@ private:
float param_pwm_freq, previous_pwm_freq;
float param_schd_rate, previous_schd_rate;
bool param_update_failed = false;
uint32_t param_duty_mode;
static constexpr uint8_t _transfer_fails_threshold = 10;
uint8_t _register_transfer_fails = 0;
void Run() override;
int registers_check();
};
PCA9685Wrapper::PCA9685Wrapper() :
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors")),
_registers_invalid_reset(perf_alloc(PC_COUNT, MODULE_NAME": registers invalid reset")),
_registers_transfer_reset(perf_alloc(PC_COUNT, MODULE_NAME": registers transfer reset"))
{
}
@@ -119,6 +130,9 @@ PCA9685Wrapper::~PCA9685Wrapper()
}
perf_free(_cycle_perf);
perf_free(_comms_errors);
perf_free(_registers_invalid_reset);
perf_free(_registers_transfer_reset);
}
int PCA9685Wrapper::init()
@@ -139,7 +153,7 @@ int PCA9685Wrapper::init()
bool PCA9685Wrapper::updateOutputs(uint16_t *outputs, unsigned num_outputs,
unsigned num_control_groups_updated)
{
if (state != STATE::RUNNING) { return false; }
if (_state != STATE::RUNNING) { return false; }
uint16_t low_level_outputs[PCA9685_PWM_CHANNEL_COUNT] = {};
num_outputs = num_outputs > PCA9685_PWM_CHANNEL_COUNT ? PCA9685_PWM_CHANNEL_COUNT : num_outputs;
@@ -154,7 +168,7 @@ bool PCA9685Wrapper::updateOutputs(uint16_t *outputs, unsigned num_outputs,
}
if (pca9685->updateRAW(low_level_outputs, num_outputs) != PX4_OK) {
PX4_ERR("Failed to write PWM to PCA9685");
perf_count(_comms_errors);
return false;
}
@@ -176,69 +190,124 @@ void PCA9685Wrapper::Run()
return;
}
switch (state) {
case STATE::INIT:
updateParams();
pca9685->updateFreq(param_pwm_freq);
previous_pwm_freq = param_pwm_freq;
previous_schd_rate = param_schd_rate;
switch (_state) {
case STATE::CONFIGURE: {
int ret = pca9685->configure();
pca9685->wake();
state = STATE::WAIT_FOR_OSC;
ScheduleDelayed(500);
break;
if (ret == PX4_OK) {
_state = STATE::INIT;
ScheduleNow();
case STATE::WAIT_FOR_OSC: {
state = STATE::RUNNING;
ScheduleOnInterval(1000000 / param_schd_rate, 0);
}
break;
case STATE::RUNNING:
perf_begin(_cycle_perf);
_mixing_output.update();
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
// apply param updates
if ((float)fabs(previous_pwm_freq - param_pwm_freq) > 0.01f) {
previous_pwm_freq = param_pwm_freq;
ScheduleClear();
pca9685->sleep();
pca9685->updateFreq(param_pwm_freq);
pca9685->wake();
// update of PWM freq will always trigger scheduling change
previous_schd_rate = param_schd_rate;
state = STATE::WAIT_FOR_OSC;
ScheduleDelayed(500);
} else if ((float)fabs(previous_schd_rate - param_schd_rate) > 0.01f) {
// case when PWM freq not changed but scheduling rate does
previous_schd_rate = param_schd_rate;
ScheduleClear();
ScheduleOnInterval(1000000 / param_schd_rate, 1000000 / param_schd_rate);
} else {
perf_count(_comms_errors);
ScheduleDelayed(20_ms);
}
break;
}
_mixing_output.updateSubscriptions(false);
case STATE::INIT: {
updateParams();
int ret = pca9685->updateFreq(param_pwm_freq);
ret |= pca9685->wake();
perf_end(_cycle_perf);
break;
if (ret == PX4_OK) {
previous_pwm_freq = param_pwm_freq;
previous_schd_rate = param_schd_rate;
_state = STATE::RUNNING;
ScheduleOnInterval(1000000 / param_schd_rate, 0);
} else {
perf_count(_comms_errors);
_state = STATE::CONFIGURE;
ScheduleDelayed(20_ms);
}
break;
}
case STATE::RUNNING: {
perf_begin(_cycle_perf);
_mixing_output.update();
// check for parameter updates
if (_parameter_update_sub.updated() || param_update_failed) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
// apply param updates
if ((float)fabs(previous_pwm_freq - param_pwm_freq) > 0.01f) {
ScheduleClear();
int ret = pca9685->sleep();
ret |= pca9685->updateFreq(param_pwm_freq);
ret |= pca9685->wake();
if (ret == PX4_OK) {
// update of PWM freq will always trigger scheduling change
param_update_failed = false;
previous_schd_rate = param_schd_rate;
previous_pwm_freq = param_pwm_freq;
ScheduleOnInterval(1000000 / param_schd_rate, 0);
} else {
param_update_failed = true;
perf_count(_comms_errors);
ScheduleDelayed(20_ms);
break;
}
} else if ((float)fabs(previous_schd_rate - param_schd_rate) > 0.01f) {
// case when PWM freq not changed but scheduling rate does
previous_schd_rate = param_schd_rate;
ScheduleClear();
ScheduleOnInterval(1000000 / param_schd_rate, 1000000 / param_schd_rate);
}
}
if (registers_check() != PX4_OK) {
_state = STATE::CONFIGURE;
ScheduleClear();
ScheduleDelayed(20_ms);
}
_mixing_output.updateSubscriptions(false);
perf_end(_cycle_perf);
break;
}
}
}
int PCA9685Wrapper::registers_check()
{
int reg_ret = pca9685->registers_check();
if (reg_ret == -EIO) {
_register_transfer_fails++;
} else {
_register_transfer_fails = 0;
}
if (reg_ret == -EFAULT) {
perf_count(_registers_invalid_reset);
return PX4_ERROR;
}
if (_register_transfer_fails > _transfer_fails_threshold) {
perf_count(_registers_transfer_reset);
_register_transfer_fails = 0;
return PX4_ERROR;
}
return PX4_OK;
}
int PCA9685Wrapper::print_usage(const char *reason)
{
if (reason) {
src/drivers/rc/crsf_rc/CrsfParser.cpp
+100 -13
View File
@@ -57,8 +57,10 @@ enum CRSF_PAYLOAD_SIZE {
CRSF_PAYLOAD_SIZE_GPS = 15,
CRSF_PAYLOAD_SIZE_BATTERY = 8,
CRSF_PAYLOAD_SIZE_LINK_STATISTICS = 10,
CRSF_PAYLOAD_SIZE_LINK_STATISTICS_TX = -1,
CRSF_PAYLOAD_SIZE_RC_CHANNELS = 22,
CRSF_PAYLOAD_SIZE_ATTITUDE = 6,
CRSF_PAYLOAD_SIZE_ELRS_STATUS = -1, // unclear how large this message is
};
enum CRSF_PACKET_TYPE {
@@ -68,6 +70,8 @@ enum CRSF_PACKET_TYPE {
CRSF_PACKET_TYPE_OPENTX_SYNC = 0x10,
CRSF_PACKET_TYPE_RADIO_ID = 0x3A,
CRSF_PACKET_TYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_PACKET_TYPE_LINK_STATISTICS_RX = 0x1C,
CRSF_PACKET_TYPE_LINK_STATISTICS_TX = 0x1D,
CRSF_PACKET_TYPE_ATTITUDE = 0x1E,
CRSF_PACKET_TYPE_FLIGHT_MODE = 0x21,
// Extended Header Frames, range: 0x28 to 0x96
@@ -76,6 +80,7 @@ enum CRSF_PACKET_TYPE {
CRSF_PACKET_TYPE_PARAMETER_SETTINGS_ENTRY = 0x2B,
CRSF_PACKET_TYPE_PARAMETER_READ = 0x2C,
CRSF_PACKET_TYPE_PARAMETER_WRITE = 0x2D,
CRSF_PACKET_TYPE_ELRS_STATUS = 0x2E,
CRSF_PACKET_TYPE_COMMAND = 0x32,
// MSP commands
CRSF_PACKET_TYPE_MSP_REQ = 0x7A, // response request using msp sequence as command
@@ -114,18 +119,22 @@ enum PARSER_STATE {
typedef struct {
uint8_t packet_type;
uint32_t packet_size;
int32_t packet_size;
bool (*processor)(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
} CrsfPacketDescriptor_t;
static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
static bool ProcessLinkStatistics(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
static bool ProcessLinkStatisticsTx(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
static bool ProcessElrsStatus(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
#define CRSF_PACKET_DESCRIPTOR_COUNT 2
static const CrsfPacketDescriptor_t crsf_packet_descriptors[CRSF_PACKET_DESCRIPTOR_COUNT] = {
static const CrsfPacketDescriptor_t crsf_packet_descriptors[] = {
{CRSF_PACKET_TYPE_RC_CHANNELS_PACKED, CRSF_PAYLOAD_SIZE_RC_CHANNELS, ProcessChannelData},
{CRSF_PACKET_TYPE_LINK_STATISTICS, CRSF_PAYLOAD_SIZE_LINK_STATISTICS, ProcessLinkStatistics},
{CRSF_PACKET_TYPE_LINK_STATISTICS_TX, CRSF_PAYLOAD_SIZE_LINK_STATISTICS_TX, ProcessLinkStatisticsTx},
{CRSF_PACKET_TYPE_ELRS_STATUS, CRSF_PAYLOAD_SIZE_ELRS_STATUS, ProcessElrsStatus},
};
#define CRSF_PACKET_DESCRIPTOR_COUNT (sizeof(crsf_packet_descriptors) / sizeof(CrsfPacketDescriptor_t))
static enum PARSER_STATE parser_state = PARSER_STATE_HEADER;
static uint32_t working_index = 0;
@@ -134,6 +143,11 @@ static uint32_t working_segment_size = HEADER_SIZE;
#define RX_QUEUE_BUFFER_SIZE 200
static QueueBuffer_t rx_queue;
static uint8_t rx_queue_buffer[RX_QUEUE_BUFFER_SIZE];
#ifdef CONFIG_DRIVERS_RC_CRSF_RC_INJECT
static QueueBuffer_t inject_queue;
static uint8_t inject_queue_buffer[RX_QUEUE_BUFFER_SIZE];
static uint8_t temp_queue_buffer[RX_QUEUE_BUFFER_SIZE];
#endif
static uint8_t process_buffer[CRSF_MAX_PACKET_LEN];
static CrsfPacketDescriptor_t *working_descriptor = NULL;
@@ -142,6 +156,9 @@ static CrsfPacketDescriptor_t *FindCrsfDescriptor(const enum CRSF_PACKET_TYPE pa
void CrsfParser_Init(void)
{
QueueBuffer_Init(&rx_queue, rx_queue_buffer, RX_QUEUE_BUFFER_SIZE);
#ifdef CONFIG_DRIVERS_RC_CRSF_RC_INJECT
QueueBuffer_Init(&inject_queue, inject_queue_buffer, RX_QUEUE_BUFFER_SIZE);
#endif
}
static float ConstrainF(const float x, const float min, const float max)
@@ -201,7 +218,7 @@ static bool ProcessLinkStatistics(const uint8_t *data, const uint32_t size, Crsf
new_packet->message_type = CRSF_MESSAGE_TYPE_LINK_STATISTICS;
new_packet->link_statistics.uplink_rssi_1 = data[0];
new_packet->link_statistics.uplink_rssi_2 = data[1];
new_packet->link_statistics.uplink_rssi_2 = data[1];
new_packet->link_statistics.uplink_link_quality = data[2];
new_packet->link_statistics.uplink_snr = data[3];
new_packet->link_statistics.active_antenna = data[4];
@@ -214,6 +231,34 @@ static bool ProcessLinkStatistics(const uint8_t *data, const uint32_t size, Crsf
return true;
}
static bool ProcessLinkStatisticsTx(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet)
{
new_packet->message_type = CRSF_MESSAGE_TYPE_LINK_STATISTICS_TX;
new_packet->link_statistics_tx.uplink_rssi = data[0];
new_packet->link_statistics_tx.uplink_rssi_pct = data[1];
new_packet->link_statistics_tx.uplink_link_quality = data[2];
new_packet->link_statistics_tx.uplink_snr = data[3];
new_packet->link_statistics_tx.downlink_power = data[4];
new_packet->link_statistics_tx.uplink_fps = data[5];
return true;
}
static bool ProcessElrsStatus(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet)
{
new_packet->message_type = CRSF_MESSAGE_TYPE_ELRS_STATUS;
// Try: crsf_rc inject 0x2E 0x13 0x50 0xFB 0x53 0x31 0x63 0x63 0x63 0x63
new_packet->elrs_status.packets_bad = data[2];
new_packet->elrs_status.packets_good = (data[3] << 8) | data[4];
new_packet->elrs_status.flags = data[5];
strlcpy(new_packet->elrs_status.message, (const char *)&data[6], sizeof(new_packet->elrs_status.message));
return true;
}
static CrsfPacketDescriptor_t *FindCrsfDescriptor(const enum CRSF_PACKET_TYPE packet_type)
{
uint32_t i;
@@ -232,6 +277,13 @@ bool CrsfParser_LoadBuffer(const uint8_t *buffer, const uint32_t size)
return QueueBuffer_AppendBuffer(&rx_queue, buffer, size);
}
#ifdef CONFIG_DRIVERS_RC_CRSF_RC_INJECT
bool CrsfParser_InjectBuffer(const uint8_t *buffer, const uint32_t size)
{
return QueueBuffer_AppendBuffer(&inject_queue, buffer, size);
}
#endif
uint32_t CrsfParser_FreeQueueSize(void)
{
return RX_QUEUE_BUFFER_SIZE - QueueBuffer_Count(&rx_queue);
@@ -280,16 +332,21 @@ bool CrsfParser_TryParseCrsfPacket(CrsfPacket_t *const new_packet, CrsfParserSta
// If we know what this packet is...
if (working_descriptor != NULL) {
// Validate length
if (packet_size != working_descriptor->packet_size + PACKET_SIZE_TYPE_SIZE) {
parser_statistics->invalid_known_packet_sizes++;
parser_state = PARSER_STATE_HEADER;
working_segment_size = HEADER_SIZE;
working_index = 0;
buffer_count = QueueBuffer_Count(&rx_queue);
continue;
}
if (working_descriptor->packet_size == -1) {
working_segment_size = packet_size - PACKET_SIZE_TYPE_SIZE;
working_segment_size = working_descriptor->packet_size;
} else {
if (packet_size != working_descriptor->packet_size + PACKET_SIZE_TYPE_SIZE) {
parser_statistics->invalid_known_packet_sizes++;
parser_state = PARSER_STATE_HEADER;
working_segment_size = HEADER_SIZE;
working_index = 0;
buffer_count = QueueBuffer_Count(&rx_queue);
continue;
}
working_segment_size = working_descriptor->packet_size;
}
} else {
// We don't know what this packet is, so we'll let the parser continue
@@ -349,7 +406,37 @@ bool CrsfParser_TryParseCrsfPacket(CrsfPacket_t *const new_packet, CrsfParserSta
parser_state = PARSER_STATE_HEADER;
if (valid_packet) {
#ifdef CONFIG_DRIVERS_RC_CRSF_RC_INJECT
if (!QueueBuffer_IsEmpty(&inject_queue)) {
// copy the remaining bytes from the rx queue to the temp buffer
const uint32_t temp_size = QueueBuffer_Count(&rx_queue);
if (temp_size) {
QueueBuffer_PeekBuffer(&rx_queue, 0, temp_queue_buffer, temp_size);
// clear the rx queue
QueueBuffer_Dequeue(&rx_queue, QueueBuffer_Count(&rx_queue));
}
// append the inject queue to the rx queue
uint8_t inject_byte;
while (QueueBuffer_Get(&inject_queue, &inject_byte)) {
QueueBuffer_Append(&rx_queue, inject_byte);
}
if (temp_size) {
// append the temp buffer back to the rx queue
QueueBuffer_AppendBuffer(&rx_queue, temp_queue_buffer, temp_size);
}
} else {
return true;
}
#else
return true;
#endif
}
break;
src/drivers/rc/crsf_rc/CrsfParser.hpp
+24
View File
@@ -43,6 +43,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <board_config.h>
#define CRSF_CHANNEL_COUNT 16
@@ -63,6 +64,22 @@ struct CrsfLinkStatistics_t {
int8_t downlink_snr;
};
struct CrsfLinkStatisticsTx_t {
uint8_t uplink_rssi;
uint8_t uplink_rssi_pct;
uint8_t uplink_link_quality;
int8_t uplink_snr;
uint8_t downlink_power;
uint8_t uplink_fps;
};
struct CrsfElrsStatus_t {
uint8_t packets_bad;
uint16_t packets_good;
uint8_t flags;
char message[48];
};
struct CrsfParserStatistics_t {
uint32_t disposed_bytes;
uint32_t crcs_valid_known_packets;
@@ -75,6 +92,8 @@ struct CrsfParserStatistics_t {
enum CRSF_MESSAGE_TYPE {
CRSF_MESSAGE_TYPE_RC_CHANNELS,
CRSF_MESSAGE_TYPE_LINK_STATISTICS,
CRSF_MESSAGE_TYPE_LINK_STATISTICS_TX,
CRSF_MESSAGE_TYPE_ELRS_STATUS,
};
typedef struct {
@@ -83,10 +102,15 @@ typedef struct {
union {
CrsfChannelData_t channel_data;
CrsfLinkStatistics_t link_statistics;
CrsfLinkStatisticsTx_t link_statistics_tx;
CrsfElrsStatus_t elrs_status;
};
} CrsfPacket_t;
void CrsfParser_Init(void);
bool CrsfParser_LoadBuffer(const uint8_t *buffer, const uint32_t size);
#ifdef DRIVERS_RC_CRSF_RC_INJECT
bool CrsfParser_InjectBuffer(const uint8_t *buffer, const uint32_t size);
#endif
uint32_t CrsfParser_FreeQueueSize(void);
bool CrsfParser_TryParseCrsfPacket(CrsfPacket_t *const new_packet, CrsfParserStatistics_t *const parser_statistics);
src/drivers/rc/crsf_rc/CrsfRc.cpp
+86 -15
View File
@@ -36,6 +36,7 @@
#include "Crc8.hpp"
#include <fcntl.h>
#include <inttypes.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -44,11 +45,10 @@
using namespace time_literals;
#define CRSF_BAUDRATE 420000
CrsfRc::CrsfRc(const char *device) :
CrsfRc::CrsfRc(const char *device, uint32_t baudrate) :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device))
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
_baudrate(baudrate)
{
if (device) {
strncpy(_device, device, sizeof(_device) - 1);
@@ -70,13 +70,18 @@ int CrsfRc::task_spawn(int argc, char *argv[])
int ch;
const char *myoptarg = nullptr;
const char *device_name = nullptr;
uint32_t baudrate = 420'000;
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "d:b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
device_name = myoptarg;
break;
case 'b':
baudrate = strtoul(myoptarg, nullptr, 10);
break;
case '?':
error_flag = true;
break;
@@ -102,7 +107,7 @@ int CrsfRc::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
CrsfRc *instance = new CrsfRc(device_name);
CrsfRc *instance = new CrsfRc(device_name, baudrate);
if (instance == nullptr) {
PX4_ERR("alloc failed");
@@ -144,10 +149,9 @@ void CrsfRc::Run()
}
if (! _uart->isOpen()) {
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (! _uart->setBaudrate(CRSF_BAUDRATE)) {
PX4_ERR("Error setting baudrate to %u on %s", CRSF_BAUDRATE, _device);
// Configure the UART.
if (_baudrate && ! _uart->setBaudrate(_baudrate)) {
PX4_ERR("Error setting baudrate to %" PRIu32 " on %s", _baudrate, _device);
px4_sleep(1);
return;
}
@@ -178,8 +182,11 @@ void CrsfRc::Run()
Crc8Init(0xd5);
_input_rc.rssi = -1;
_input_rc.rssi_dbm = NAN;
_input_rc.link_quality = -1;
_input_rc.rc_frame_rate = 0;
_input_rc.link_snr = -1;
CrsfParser_Init();
}
@@ -213,8 +220,30 @@ void CrsfRc::Run()
case CRSF_MESSAGE_TYPE_LINK_STATISTICS:
_last_packet_seen = time_now_us;
_input_rc.rssi_dbm = -(float)new_crsf_packet.link_statistics.uplink_rssi_1;
_input_rc.rssi_dbm = -(float)(new_crsf_packet.link_statistics.active_antenna ?
new_crsf_packet.link_statistics.uplink_rssi_2 :
new_crsf_packet.link_statistics.uplink_rssi_1);
if (time_now_us - _last_stats_tx_seen > 500_ms) {
// We haven't received link statistics tx in a while, use an approximation
_input_rc.rssi = (1.f - _input_rc.rssi_dbm / -130.f) * _input_rc.RSSI_MAX;
}
_input_rc.link_quality = new_crsf_packet.link_statistics.uplink_link_quality;
_input_rc.rc_frame_rate = new_crsf_packet.link_statistics.rf_mode;
_input_rc.link_snr = new_crsf_packet.link_statistics.uplink_snr;
break;
case CRSF_MESSAGE_TYPE_LINK_STATISTICS_TX:
_last_packet_seen = time_now_us;
_last_stats_tx_seen = time_now_us;
_input_rc.rssi = new_crsf_packet.link_statistics_tx.uplink_rssi_pct;
break;
case CRSF_MESSAGE_TYPE_ELRS_STATUS:
_last_packet_seen = time_now_us;
_input_rc.rc_lost_frame_count = new_crsf_packet.elrs_status.packets_bad;
_input_rc.rc_total_frame_count = new_crsf_packet.elrs_status.packets_good;
break;
default:
@@ -342,14 +371,17 @@ void CrsfRc::Run()
}
// If no communication
if (time_now_us - _last_packet_seen > 100_ms) {
if (time_now_us - _last_packet_seen > 500_ms) {
// Invalidate link statistics
_input_rc.rssi = -1;
_input_rc.rssi_dbm = NAN;
_input_rc.link_quality = -1;
_input_rc.rc_frame_rate = 0;
_input_rc.link_snr = -1;
}
// If we have not gotten RC updates specifically
if (time_now_us - _input_rc.timestamp_last_signal > 50_ms) {
if (time_now_us - _input_rc.timestamp_last_signal > 500_ms) {
_input_rc.rc_lost = 1;
_input_rc.rc_failsafe = 1;
@@ -359,7 +391,6 @@ void CrsfRc::Run()
}
_input_rc.channel_count = CRSF_CHANNEL_COUNT;
_input_rc.rssi = -1;
_input_rc.rc_ppm_frame_length = 0;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF;
_input_rc.timestamp = hrt_absolute_time();
@@ -518,6 +549,43 @@ int CrsfRc::print_status()
int CrsfRc::custom_command(int argc, char *argv[])
{
#ifdef CONFIG_DRIVERS_RC_CRSF_RC_INJECT
if (!strcmp(argv[0], "start")) {
if (is_running()) {
return print_usage("already running");
}
int ret = CrsfRc::task_spawn(argc, argv);
if (ret) {
return ret;
}
}
if (!is_running()) {
return print_usage("not running");
}
// crsf_rc inject 0x7C 0xC8 0xEA 0x30 0x02 0x59 0x31 0x00 0x6A
if (!strcmp(argv[0], "inject")) {
const uint8_t length = argc;
uint8_t buf[100];
buf[0] = 0xC8; // sync byte
buf[1] = length;
uint8_t i = 0;
for (; i < length - 1; i++) {
buf[i + 2] = (uint8_t) strtol(argv[i + 1], nullptr, 16);
}
buf[i + 2] = Crc8Calc(buf + 2, length - 1); // CRC
CrsfParser_InjectBuffer(buf, length + 2);
return PX4_OK;
}
#endif
return print_usage("unknown command");
}
@@ -538,7 +606,10 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 420000, 4800, 3000000, "RC baudrate", true);
#ifdef CONFIG_DRIVERS_RC_CRSF_RC_INJECT
PRINT_MODULE_USAGE_COMMAND_DESCR("inject", "Inject frame data bytes (for testing)");
#endif
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
src/drivers/rc/crsf_rc/CrsfRc.hpp
+3 -1
View File
@@ -59,7 +59,7 @@ using namespace device;
class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
CrsfRc(const char *device);
CrsfRc(const char *device, uint32_t baudrate);
~CrsfRc() override;
/** @see ModuleBase */
@@ -94,12 +94,14 @@ private:
char _device[20] {}; ///< device / serial port path
bool _is_singlewire{false};
uint32_t _baudrate{0};
static constexpr size_t RC_MAX_BUFFER_SIZE{64};
uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
uint32_t _bytes_rx{0};
hrt_abstime _last_packet_seen{0};
hrt_abstime _last_stats_tx_seen{0};
CrsfParserStatistics_t _packet_parser_statistics{0};
src/drivers/rc/crsf_rc/Kconfig
+6
View File
@@ -3,3 +3,9 @@ menuconfig DRIVERS_RC_CRSF_RC
default n
---help---
Enable support for crsf rc
config DRIVERS_RC_CRSF_RC_INJECT
bool "Inject CRSF RC"
default n
---help---
Enable this to inject CRSF RC commands.
src/drivers/rc/crsf_rc/module.yaml
+1 -1
View File
@@ -1,6 +1,6 @@
module_name: CRSF RC Input Driver
serial_config:
- command: "crsf_rc start -d ${SERIAL_DEV}"
- command: "crsf_rc start -d ${SERIAL_DEV} -b ${BAUD_PARAM}"
port_config_param:
name: RC_CRSF_PRT_CFG
group: Serial
src/modules/commander/Commander.cpp
+4 -3
View File
@@ -638,7 +638,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_armed_by"), events::Log::Info,
"Armed by {1}", calling_reason);
if (_param_com_home_en.get() && !_mission_in_progress) {
if (_param_com_home_en.get() && !_mission_in_progress && !_config_overrides.disable_auto_set_home) {
_home_position.setHomePosition();
}
@@ -1850,7 +1850,8 @@ void Commander::run()
_mission_in_progress = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
&& !_mission_result_sub.get().finished;
_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed && !_mission_in_progress);
_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed && !_mission_in_progress
&& !_config_overrides.disable_auto_set_home);
handleAutoDisarm();
@@ -2140,7 +2141,7 @@ void Commander::landDetectorUpdate()
}
// automatically set or update home position
if (_param_com_home_en.get() && !_mission_in_progress) {
if (_param_com_home_en.get() && !_mission_in_progress && !_config_overrides.disable_auto_set_home) {
// set the home position when taking off
if (!_vehicle_land_detected.landed) {
if (was_landed) {
src/modules/commander/ModeManagement.cpp
+5
View File
@@ -232,6 +232,7 @@ void ModeManagement::checkNewRegistrations(UpdateRequest &update_request)
static_assert(sizeof(request.name) == sizeof(reply.name), "size mismatch");
memcpy(reply.name, request.name, sizeof(request.name));
reply.request_id = request.request_id;
reply.not_user_selectable = request.not_user_selectable;
reply.px4_ros2_api_version = register_ext_component_request_s::LATEST_PX4_ROS2_API_VERSION;
// validate
@@ -562,6 +563,10 @@ void ModeManagement::updateActiveConfigOverrides(uint8_t nav_state, config_overr
current_overrides.disable_auto_disarm = true;
}
if (executor_overrides.disable_auto_set_home) {
current_overrides.disable_auto_set_home = true;
}
if (executor_overrides.defer_failsafes) {
current_overrides.defer_failsafes = true;
current_overrides.defer_failsafes_timeout_s = executor_overrides.defer_failsafes_timeout_s;
src/modules/commander/commander_params.c
+6 -4
View File
@@ -243,14 +243,16 @@ PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
/**
* GPS preflight check
* Arming without GNSS configuration
*
* Measures taken when a check defined by EKF2_GPS_CHECK is failing.
* Configures whether arming is allowed without GNSS, for modes that require a global position
* (specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).
* The settings deny arming and warn, allow arming and warn, or silently allow arming.
*
* @group Commander
* @value 0 Deny arming
* @value 1 Warning only
* @value 2 Disabled
* @value 1 Allow arming (with warning)
* @value 2 Allow arming (no warning)
*/
PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
src/modules/ekf2/params_gnss.yaml
+2 -2
View File
@@ -20,8 +20,8 @@ parameters:
EKF2_GPS_MODE:
description:
short: Fusion reset mode
long: 'Automatic: reset on fusion timeout if no other source of position is available
Dead-reckoning: reset on fusion timeout if no source of velocity is available'
long: 'Automatic: reset on fusion timeout if no other source of position is available.
Dead-reckoning: reset on fusion timeout if no source of velocity is available.'
type: enum
values:
0: Automatic
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1
View File
@@ -48,6 +48,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
/* fetch initial parameter values */
parameters_update();
_landing_gear_wheel_pub.advertise();
_attitude_sp_pub.advertise();
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
src/modules/fw_att_control/fw_pitch_controller.h
+5 -5
View File
@@ -64,11 +64,11 @@ public:
float get_body_rate_setpoint() { return _body_rate_setpoint; }
private:
float _tc;
float _max_rate_pos;
float _max_rate_neg;
float _euler_rate_setpoint;
float _body_rate_setpoint;
float _tc{};
float _max_rate_pos{};
float _max_rate_neg{};
float _euler_rate_setpoint{};
float _body_rate_setpoint{};
};
#endif // FW_PITCH_CONTROLLER_H
src/modules/fw_att_control/fw_roll_controller.h
+4 -4
View File
@@ -63,10 +63,10 @@ public:
float get_body_rate_setpoint() { return _body_rate_setpoint; }
private:
float _tc;
float _max_rate;
float _euler_rate_setpoint;
float _body_rate_setpoint;
float _tc{};
float _max_rate{};
float _euler_rate_setpoint{};
float _body_rate_setpoint{};
};
#endif // FW_ROLL_CONTROLLER_H
src/modules/fw_att_control/fw_yaw_controller.h
+3 -3
View File
@@ -71,9 +71,9 @@ public:
float get_body_rate_setpoint() { return _body_rate_setpoint; }
private:
float _max_rate;
float _euler_rate_setpoint;
float _body_rate_setpoint;
float _max_rate{};
float _euler_rate_setpoint{};
float _body_rate_setpoint{};
};
#endif // FW_YAW_CONTROLLER_H
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+1
View File
@@ -70,6 +70,7 @@ FwLateralLongitudinalControl::FwLateralLongitudinalControl(bool is_vtol) :
_attitude_sp_pub(is_vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_attitude_sp_pub.advertise();
_tecs_status_pub.advertise();
_flight_phase_estimation_pub.advertise();
_fixed_wing_lateral_status_pub.advertise();
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -1194,8 +1194,8 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
}
// if we reach here, the stream list does not contain the stream.
// flash constrained target's don't include all streams, and some are only available for the development dialect
#if defined(CONSTRAINED_FLASH) || !defined(MAVLINK_DEVELOPMENT_H)
// flash constrained target's don't include all streams
#if defined(CONSTRAINED_FLASH)
return PX4_OK;
#else
PX4_WARN("stream %s not found", stream_name);
src/modules/mavlink/streams/AVAILABLE_MODES.hpp
+14
View File
@@ -38,6 +38,7 @@
#include <uORB/topics/register_ext_component_reply.h>
#include <lib/modes/standard_modes.hpp>
#include <lib/modes/ui.hpp>
#include <limits.h>
class MavlinkStreamAvailableModes : public MavlinkStream
{
@@ -71,6 +72,8 @@ private:
char name[sizeof(register_ext_component_reply_s::name)] {};
};
ExternalModeName *_external_mode_names{nullptr};
uint8_t _not_user_selectable_mask{0};
static_assert(MAX_NUM_EXTERNAL_MODES <= (sizeof(_not_user_selectable_mask) * CHAR_BIT), "Mask too small");
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _register_ext_component_reply_sub{ORB_ID(register_ext_component_reply)};
@@ -116,6 +119,10 @@ private:
} else if (_external_mode_names) {
strncpy(available_modes.mode_name, _external_mode_names[external_mode_index].name, sizeof(available_modes.mode_name));
available_modes.mode_name[sizeof(available_modes.mode_name) - 1] = '\0';
if ((_not_user_selectable_mask & (1 << external_mode_index)) > 0) {
available_modes.properties |= MAV_MODE_PROPERTY_NOT_USER_SELECTABLE;
}
}
} else { // Internal
@@ -205,6 +212,13 @@ private:
if (_external_mode_names && mode_index < MAX_NUM_EXTERNAL_MODES) {
memcpy(_external_mode_names[mode_index].name, reply.name, sizeof(ExternalModeName::name));
if (reply.not_user_selectable) {
_not_user_selectable_mask |= (1 << mode_index);
} else {
_not_user_selectable_mask &= ~(1 << mode_index);
}
}
dynamic_update = true;
src/modules/navigator/mission_block.cpp
+11 -3
View File
@@ -1027,10 +1027,18 @@ void MissionBlock::updateFailsafeChecks()
void MissionBlock::updateMaxHaglFailsafe()
{
const float target_alt = _navigator->get_position_setpoint_triplet()->current.alt;
const float max_alt = math::min(_navigator->get_local_position()->hagl_max_z, _navigator->get_local_position()->hagl_max_xy);
const float terrain_alt = _navigator->get_global_position()->terrain_alt;
const bool terrain_alt_valid = _navigator->get_global_position()->terrain_alt_valid;
if (_navigator->get_global_position()->terrain_alt_valid
&& ((target_alt - _navigator->get_global_position()->terrain_alt)
> math::min(_navigator->get_local_position()->hagl_max_z, _navigator->get_local_position()->hagl_max_xy))) {
// If the HAGL failsafe is declared during front transition, we enter a
// FW hold at the current low altitude while not having finished the
// transition. This is dangerous and worse than possibly fusing neither
// optical flow nor airspeed for a couple seconds, so we bypass the
// failsafe here.
const bool in_transition_to_fw = _navigator->get_vstatus()->in_transition_to_fw;
if (!in_transition_to_fw && terrain_alt_valid && (target_alt - terrain_alt) > max_alt) {
// Handle case where the altitude setpoint is above the maximum HAGL (height above ground level)
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Target altitude higher than max HAGL\t");
events::send(events::ID("navigator_fail_max_hagl"), events::Log::Error, "Target altitude higher than max HAGL");
src/modules/navigator/navigator_main.cpp
+4
View File
@@ -652,6 +652,10 @@ void Navigator::run()
_vtol_takeoff.setTransitionAltitudeAbsolute(cmd.param7);
if (std::fabs(cmd.param2 - 3.0f) < FLT_EPSILON) { // Specified transition direction
_vtol_takeoff.setTransitionDirection(cmd.param4);
}
// after the transition the vehicle will establish on a loiter at this position
_vtol_takeoff.setLoiterLocation(matrix::Vector2d(cmd.param5, cmd.param6));
src/modules/navigator/vtol_takeoff.cpp
+9 -2
View File
@@ -71,8 +71,15 @@ VtolTakeoff::on_active()
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.yaw = wrap_pi(get_bearing_to_next_waypoint(_mission_item.lat,
_mission_item.lon, _loiter_location(0), _loiter_location(1)));
if (!PX4_ISFINITE(_transition_direction_deg)) {
_mission_item.yaw = wrap_pi(get_bearing_to_next_waypoint(_navigator->get_home_position()->lat,
_navigator->get_home_position()->lon, _loiter_location(0), _loiter_location(1)));
} else {
_mission_item.yaw = wrap_pi(math::radians(_transition_direction_deg));
}
_mission_item.force_heading = true;
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->current.cruising_speed = -1.f;
src/modules/navigator/vtol_takeoff.h
+2
View File
@@ -55,6 +55,7 @@ public:
void on_active() override;
void setTransitionAltitudeAbsolute(const float alt_amsl) {_transition_alt_amsl = alt_amsl; }
void setTransitionDirection(const float tran_bear) {_transition_direction_deg = tran_bear; }
void setLoiterLocation(matrix::Vector2d loiter_location) { _loiter_location = loiter_location; }
void setLoiterHeight(const float height_m) { _loiter_height = height_m; }
@@ -73,6 +74,7 @@ private:
float _takeoff_alt_msl{0.f};
matrix::Vector2d _loiter_location;
float _loiter_height{0};
float _transition_direction_deg{NAN};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::VTO_LOITER_ALT>) _param_loiter_alt