fc8e2021e7
A driver for EULER-NAV Baro-Inertial AHRS ( #24534 )
...
* Create a dummy BAHRS driver
* Resolve compilation
* Switch back to cpp, fix compilation
* Create module.yaml
* Implement required module APIs and open serial port
* Revise info and error messages
* Poll serial port
* Push received bytes into the ring buffer
* Process data buffer (1)
* Process data buffer (2)
* Process data buffer (3)
* Process data buffer (4)
* Process data buffer (5)
* Process data buffer (6)
* Implement and use initialize() and deinitialize() methods
* Implement print_usage() and print_status()
* Collect all config constants in a class
* Put info about next found message into a class
* Print CRC failure count
* Remove unneeded print
* Add comments
* Disable EKF2, advertise vehicle attitude
* Decode and publish BAHRS signals (1)
* Run the driver as an additional source of sensor signals
* Add tiny noise to baro-inertial pressure signal
* Fix the sensor ID
* Add copyrights
* Fix formatting
* Remove redundant newline character
* Fix long parameter name
* Fix findings (1)
* Fix finding (2)
* Fix formatting
* Fix the timeout value
* Remove aliases
* Fix copyright
* Fix indent
* Comply with naming convention
* Rework comparison to false
* Reduce nesting (1)
* Reduce nesting (2)
* Reduce nesting (3)
* Fix BAHRS sensor ID
2025-09-04 09:31:36 -08:00
e6f60ef403
Sensors: remove some distance sensors from COMMON_DISTANCE_SENSOR again ( #25522 )
...
* distance sensors common: remove DISTANCE_SENSOR_TERARANGER
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* distance sensors common: remove DISTANCE_SENSOR_CM8JL65
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-09-04 09:28:37 -08:00
9015001b42
uavcan: fix driver init after stop/start ( #25511 )
2025-09-02 10:02:15 -08:00
9062d0cc7d
[driver] Add a parameter to enable the PCA9685 driver
2025-08-29 14:05:40 +02:00
2eac6cca38
dds_topics: accept landing_gear command from external modes ( #25496 )
2025-08-28 08:30:27 -08:00
073013cf85
reset terrain w flow based on current horizontal velocity
2025-08-28 13:58:29 +02:00
547582b16b
DSHOT: fix unit for DSHOT_MIN parameter ( #25493 )
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-08-27 09:21:16 -08:00
8f2c36689d
logging: allow logging backend config
...
* logging: allow logging backend config
* correct board comments
* documentation: updated logging section
2025-08-27 15:44:36 +02:00
30fcb4fcb1
uavcan: esc: init msg to avoid publishing random values ( #25485 )
2025-08-27 17:09:36 +12:00
ec436d3be3
Enable selectively disabling sensors in the Gazebo bridge. ( #25484 )
...
* Initial plan
* Add configurable sensor subscription parameters
Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com >
---------
Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com >
Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com >
2025-08-26 10:00:47 -08:00
6ec8dec63a
commander: add valid_registrations_mask to ArmingCheckRequest.msg
...
This allows external modes to individually check if they are flagged as
invalid/unresponsive.
Previously this was done only based on whether or not ArmingCheckRequest
was received, which does not work when multiple modes are running.
2025-08-26 14:38:05 +02:00
edfcdaa008
commander: check for stale arming_check_reply messages
...
based on the message timestamp.
Previously it was possible to run into the following case:
- 2 external modes are registered (running inside the same ROS node)
- they time out due to the micro xrce agent being blocked for some reason
- PX4 removes them
- the latest arming check replies still arrive to PX4
- the application restarts
- the first mode gets registered
- PX4 handles the previous arming check reply, and clears
waiting_for_first_response, which reduces the timeout
- the second mode registers and as part of that checks for message
compatibility. This takes ~1s, triggering a timeout of the first mode
2025-08-26 14:38:05 +02:00
a1ee9eb2c4
mavlink: remove streams from LOW_BANDWIDTH that are deprecated
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-08-25 17:34:34 +02:00
4a697d0191
ekf2: stop GNSS altittude and velocity aiding when gnss_fault is set
2025-08-25 10:22:23 +02:00
dd09cdf986
Commander: remove HIL_STATE_ON from arming lockdown
...
Removing this from the boolean allows users to send pwm values in SIH.
2025-08-25 09:28:43 +02:00
4a5eabb61e
rover: constrain update steps
2025-08-22 12:13:01 +02:00
248f113141
rover: improve hold position logic ( #25466 )
2025-08-22 12:10:16 +02:00
c1d15d0e09
Zenoh: use strncpy and bool
2025-08-22 08:22:59 +02:00
8689c00be7
Zenoh: cleanup and review
2025-08-22 08:22:59 +02:00
17e843a985
zenoh: remove MessageFormat since Zenoh RIHS01 already provides it
...
RIHS01 has the same functionality and already provides type safety with
rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with
their own px4_msgs for a mismatch
2025-08-22 08:22:59 +02:00
747bcc9db5
zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h
...
Allows for re-use for later ROS2 Service / Zenoh queryable
2025-08-22 08:22:59 +02:00
c41216376a
Add an explicatory comment to Zenoh publisher's handling of the uOrb topic number (or lack thereof)
2025-08-22 08:22:59 +02:00
88c1412d25
Zenoh CLI improvements
2025-08-22 08:22:59 +02:00
01bf700f3d
Fix dds topics naming
2025-08-22 08:22:59 +02:00
70054fc567
Implement instance selection & pub/sub deletion for Zenoh
2025-08-22 08:22:59 +02:00
7a98c87fcb
Copy the uxrce config for Zenoh
2025-08-22 08:22:59 +02:00
80b5cf2ed7
Prevent conversion warnings from static integers in zenoh-pico
2025-08-22 08:22:59 +02:00
9ffd31097d
zenoh: Use CDRv1 to match ROS2
...
Fixes various padding related serialization issues.
2025-08-22 08:22:59 +02:00
f99759db87
zenoh: Fix status keyexpr printf
2025-08-22 08:22:59 +02:00
231128c68e
Zenoh set transport lease to 60000 to match ros2
2025-08-22 08:22:59 +02:00
5622565eea
Zenoh optimize memory usage and add optional publish on matching
2025-08-22 08:22:59 +02:00
0763bbe2cf
Generate default Zenoh config from dds_topics.yaml
...
For easy transition from uxrce to zenoh and a sane base config to begin with
2025-08-22 08:22:59 +02:00
ac2627cca9
rmw attachment serialization changes
...
Use new atachment serialization format
Subscriber fix parsing payload and remove uorb publisher on destructor
2025-08-22 08:22:59 +02:00
61e2f566ca
Zenoh config, lv and connection fixes
...
Fixes a bug in the csv parsing
Use % for / seperators in ros2_lv
On startup retry connecting
2025-08-22 08:22:59 +02:00
3d30eaae5f
Fix NuttX keepalive socketoption
2025-08-22 08:22:59 +02:00
e052f35664
zenoh: omit timestamp attachment
...
This isn't needed for the rmw_zenoh zenohd configuration
2025-08-22 08:22:59 +02:00
2bc9cb4ead
zenoh: implemement experimental liveliness to get ROS2 graph to work
2025-08-22 08:22:59 +02:00
5211d9c92e
zenoh: pubsub factory fix datatype naming convention
2025-08-22 08:22:59 +02:00
e37f20e94d
zenoh: Don't use uORB o_name as type but check for parent type
...
For example vehicle_local_position_groundtruth has ROS2 type
vehicle_local_position, so we've to use px4_msgs/VehicleLocalPosition as typename
2025-08-22 08:22:59 +02:00
cb74cee970
zenoh: Increase CDR safety margin
...
Figure out by trial and error with padding on vehicle_local_position
2025-08-22 08:22:59 +02:00
70536766db
zenoh: Handle parsing errors in config
2025-08-22 08:22:59 +02:00
40bba0069d
zenoh: Fix handling for non-existing types
2025-08-22 08:22:59 +02:00
923257779a
zenoh: Default to 127.0.0.1 when using sitl/posix
...
Also improve error message when connection failed
2025-08-22 08:22:59 +02:00
a24b3a121c
zenoh: Improve error message when there are no scouting results
2025-08-22 08:22:59 +02:00
859ba81e33
Zenoh fix gcc/sitl compile errors
2025-08-22 08:22:59 +02:00
4aff095f9b
IDL 2 RIHS01 remove tempfile and print
2025-08-22 08:22:59 +02:00
796efeebe7
Implement Domain id parameter and move gid to zenoh
2025-08-22 08:22:59 +02:00
9d02698987
Update Zenoh for library and implement rmw_zenoh features
...
New zenoh-pico library
Keyexpr instrospection
RIHS01 Types
2025-08-22 08:22:59 +02:00
e1a7fbce71
Update cdrstream code generator including typehash
2025-08-22 08:22:59 +02:00
a87456b38b
Update rosidl
...
Adds support for typehashes
2025-08-22 08:22:59 +02:00
fbaklanov