Marco Hauswirth
c47b3ba1b0
* parameter renaming
...
* move hor-motion check to method
2025-08-26 15:08:55 +02:00
Marco Hauswirth
db468f78a1
set state to unknown during init (re-init)
2025-08-26 15:08:55 +02:00
Marco Hauswirth
18bee5e08b
revert unnecessary unit-test changes
2025-08-26 15:08:55 +02:00
Marco Hauswirth
58f63909ca
* naming conventions
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* add landed-state for range-finder-cons-check
* ajdust unit-tests
2025-08-26 15:08:55 +02:00
Marco Hauswirth
85b116f14e
remove terrain checks form baroRef unit-tests, vehicle vertical motion is not defined in test
2025-08-26 15:08:53 +02:00
Marco Hauswirth
c83debd64b
always run consistency-KF but limit state change to vertical velocity. this fixes behavior for jumps in fixed wing
2025-08-26 15:08:43 +02:00
Marco Hauswirth
9df07a9542
minor cleanup
2025-08-26 15:08:43 +02:00
Marco Hauswirth
f2df6c7264
only run range validator on regular data
2025-08-26 15:08:43 +02:00
Marco Hauswirth
f89f73cf37
adjust IMU falling detection baro-range unittest
2025-08-26 15:08:43 +02:00
Marco Hauswirth
a97cc72791
also run range consistency check while landed
2025-08-26 15:08:43 +02:00
Marco Hauswirth
c98a7ef8ae
change consistency to only be valid if running for a second
2025-08-26 15:08:43 +02:00
Marco Hauswirth
86725c0491
* clean up method calls
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* move P-init to ekf-derivation script
2025-08-26 15:08:43 +02:00
Marco Hauswirth
a078d6e306
fix uncertainty initialization
2025-08-26 15:08:43 +02:00
Marco Hauswirth
f56c4cc370
clean up range-filter fusion step
2025-08-26 15:08:41 +02:00
Marco Hauswirth
bb17333bf4
reset state to unknown on init
2025-08-26 15:08:09 +02:00
Marco Hauswirth
670d19c382
overhaul approach to work on unit tests and snow/blocking/normal flights
2025-08-26 15:08:09 +02:00
Marco Hauswirth
ce6fe59c8a
adjust threshold unit tests
2025-08-26 15:08:09 +02:00
Marco Hauswirth
ba72d37f9b
add symforce, adjust smaller things
2025-08-26 15:08:09 +02:00
Marco Hauswirth
dade5c3a5c
always update lpf
2025-08-26 15:08:09 +02:00
Marco Hauswirth
8c13115e27
fix bugs, rejection was too sensitive
2025-08-26 15:08:08 +02:00
Marco Hauswirth
4e40a86971
fix wrong miniEKF init
2025-08-26 15:07:33 +02:00
Marco Hauswirth
0058953e4f
handle noise while hovering
2025-08-26 15:07:31 +02:00
Marco Hauswirth
f1f1e6f059
add mini KF to validate range sensor measurements
2025-08-26 15:04:40 +02:00
Beat Küng
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
Beat Küng
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
Silvan
a1ee9eb2c4
mavlink: remove streams from LOW_BANDWIDTH that are deprecated
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Signed-off-by: Silvan <silvan@auterion.com>
2025-08-25 17:34:34 +02:00
bresch
4a697d0191
ekf2: stop GNSS altittude and velocity aiding when gnss_fault is set
2025-08-25 10:22:23 +02:00
mahima-yoga
db3f33760e
docs: add instructions for controlling actuators in SIH
2025-08-25 09:28:43 +02:00
mahima-yoga
dd09cdf986
Commander: remove HIL_STATE_ON from arming lockdown
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Removing this from the boolean allows users to send pwm values in SIH.
2025-08-25 09:28:43 +02:00
chfriedrich98
4a5eabb61e
rover: constrain update steps
2025-08-22 12:13:01 +02:00
chfriedrich98
248f113141
rover: improve hold position logic ( #25466 )
2025-08-22 12:10:16 +02:00
Peter van der Perk
c1d15d0e09
Zenoh: use strncpy and bool
2025-08-22 08:22:59 +02:00
Peter van der Perk
8689c00be7
Zenoh: cleanup and review
2025-08-22 08:22:59 +02:00
Peter van der Perk
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
Peter van der Perk
44ff6d9c62
zenoh: exclude src/modules/zenoh/dds_topics.yaml from yaml check
2025-08-22 08:22:59 +02:00
Peter van der Perk
747bcc9db5
zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h
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Allows for re-use for later ROS2 Service / Zenoh queryable
2025-08-22 08:22:59 +02:00
Benjamin Chung
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
Benjamin Chung
88c1412d25
Zenoh CLI improvements
2025-08-22 08:22:59 +02:00
Benjamin Chung
01bf700f3d
Fix dds topics naming
2025-08-22 08:22:59 +02:00
Benjamin Chung
0bb9e5952a
Pubsub constructor template fix
2025-08-22 08:22:59 +02:00
Benjamin Chung
70054fc567
Implement instance selection & pub/sub deletion for Zenoh
2025-08-22 08:22:59 +02:00
Benjamin Chung
7a98c87fcb
Copy the uxrce config for Zenoh
2025-08-22 08:22:59 +02:00
Benjamin Chung
80b5cf2ed7
Prevent conversion warnings from static integers in zenoh-pico
2025-08-22 08:22:59 +02:00
Peter van der Perk
9ffd31097d
zenoh: Use CDRv1 to match ROS2
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Fixes various padding related serialization issues.
2025-08-22 08:22:59 +02:00
Peter van der Perk
f99759db87
zenoh: Fix status keyexpr printf
2025-08-22 08:22:59 +02:00
Peter van der Perk
231128c68e
Zenoh set transport lease to 60000 to match ros2
2025-08-22 08:22:59 +02:00
Peter van der Perk
5622565eea
Zenoh optimize memory usage and add optional publish on matching
2025-08-22 08:22:59 +02:00
Peter van der Perk
7887f16daa
Update NuttX config for use with Zenoh
2025-08-22 08:22:59 +02:00
Peter van der Perk
0763bbe2cf
Generate default Zenoh config from dds_topics.yaml
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For easy transition from uxrce to zenoh and a sane base config to begin with
2025-08-22 08:22:59 +02:00
Peter van der Perk
bac009c2b8
Enable Zenoh by default on big-flash targets
...
These targets can easily support Zenoh by default eases adoption and testing
2025-08-22 08:22:59 +02:00
