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49 Commits

Author SHA1 Message Date
Michael Schaeuble
d97a8d7d3b mode: control auto set home from an external mode 
The mode executor can run land mode which updates the home position to the landing location. This
can be not the desirable behavior and the home position should stay at the original location.

A flag is added to the configuration overrides to control if the home position is updated or not.
 2025-11-26 10:16:54 +01:00
Michael Schaeuble
a2299b02c8 modes: make available modes user selectable with a registration option 
Some modes should only be run within the context of a mode executor and the user should not be able
to select them in the GCS. With this change, the external component registration request can be
used to set if a mode is selectable or not.
 2025-11-26 10:04:53 +01:00
Jacopo Panerati
6901bc6a01
VTOL Takeoff: Use VehicleCommand specified heading for VTOL transition (#24040) 
* Use VehicleCommand heading for VTOL transition

* options for param2 of vehicle_cmd_nav_vtol_takeoff
 2025-11-25 09:46:48 +01:00
Matthias Grob
65c5bd6906
Fix (dis)arm reason enumeration (#25766) 2025-10-20 09:12:36 -04:00
Hamish Willee
4dab1108c3
VehicleOdometry.msg - clarify frames (#23444) 2025-10-01 10:03:09 +10:00
Hamish Willee
cbf39f5ceb
msg: AirspeedValidated - uorb topic to standard (#25579) 
* AirspeedValidated - uorb topic to standard

* Apply suggestions from code review

* Update msg/versioned/AirspeedValidated.msg

* Fix up links to renamed uORB constants

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-09-25 11:02:02 +02:00
Claudio Chies
d3acee315a BAT: Consolidate the highest feasible number of batteries into just 3 2025-09-22 15:02:24 +02:00
Hamish Willee
799f910ca9
uORB message layout fixes (#25581) 
* uORB message layout fixes

* Apply suggestions from code review

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-09-19 09:06:01 +10:00
bresch
82308da18d ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE 2025-09-18 17:00:16 +02:00
Silvan Fuhrer
d2e4d85bce Add Altitude Cruise mode 
-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-09-18 15:50:10 +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
Hamish Willee
8eb1c6063e
Fix up uorb message spacing to add whitespace (#25421) 
* Fix up uorb message spacing for already updated messages

* Apply suggestions from code review

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-08-14 19:39:52 +10:00
mahima-yoga
a55f3afc14 docs: Clarify difference between Wind.msg and AirspeedWind.msg 2025-08-06 11:34:29 +02:00
GuillaumeLaine
2106c6ca82 fix(msg): bump VehicleLocalPosition version which was previously modified 2025-07-29 13:29:45 +02:00
mahima-yoga
e4ffed099c msg: add Wind.msg to versioned messages 
Was added as a default DDS topic recently.
 2025-07-29 11:54:04 +02:00
Julian Oes
2c97a875bf commander/mavlink: use home attitude, not only yaw 
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.

Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).

This time including the message versioning and translation.
 2025-07-20 07:51:14 +12:00
Silvan Fuhrer
35a3f519f2 Revert "commander: publish full home attitude, not only yaw (#19717)" 
This reverts commit 6855aa57c4879bb5c67298f3ce1f738118fbafa0.
 2025-07-15 09:24:55 +02:00
Julian Oes
6855aa57c4
commander: publish full home attitude, not only yaw (#19717) 
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.

Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
 2025-07-09 14:43:31 -08:00
Matthias Grob
eccfb18b51 battery_status message: remove serial_number which is now in battery_info message 2025-06-17 09:05:22 +02:00
Pedro Roque
6d15019717
feat: spacecraft tooling for commander and VehicleStatus (#24716) 
* feat: spacecraft tooling for commander and VehicleStatus

* fix: format

* fix: remove iostream

* feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

feat: spacecraft tooling for commander and VehicleStatus

fix: format

fix: remove iostream

feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* feat: update mavlink to latest

* fix: get away without specifying spacecraft vehicle

* fix: removed unnecessary definition

* fix: format
 2025-06-12 21:48:48 +02:00
Hamish Willee
e6e42fa043
BatteryStatus.msg - docs update (#24789) 
* BatteryStatus.msg - docs update
* Update msg/versioned/BatteryStatus.msg
* Units/enum/range before description
* Update msg/versioned/BatteryStatus.msg
* Apply suggestions from code review

Co-authored-by: Matthias Grob <maetugr@gmail.com>

* MOve MAX_INSTANCES to top

* Fix up full stops

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-06-12 16:06:13 +02:00
Hamish Willee
3b35676afe Update ActuatorServos.msg - remove terminating full stops. 2025-06-12 18:46:29 +10:00
Hamish Willee
b0d48ce786 unit/range first 2025-06-12 18:46:29 +10:00
Hamish Willee
f014bea723 ActuatorServos.msg - uORB docs 2025-06-12 18:46:29 +10:00
Hamish Willee
a9e67d4142 Remove field terminating full stops 2025-06-12 18:45:01 +10:00
Hamish Willee
46f3e2ea71 units/range first 2025-06-12 18:45:01 +10:00
Hamish Willee
dd1b435460 Update msg/versioned/ActuatorMotors.msg 2025-06-12 18:45:01 +10:00
Hamish Willee
9e07813005 Update msg/versioned/ActuatorMotors.msg 
Co-authored-by: PX4 Build Bot <bot@px4.io>
 2025-06-12 18:45:01 +10:00
Hamish Willee
80b1f5532b Update msg/versioned/ActuatorMotors.msg 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-06-12 18:45:01 +10:00
Hamish Willee
3de41e1847 Update msg/versioned/ActuatorMotors.msg 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-06-12 18:45:01 +10:00
Hamish Willee
828b6f5232 ActuatorMotors.msg - uORB docs 2025-06-12 18:45:01 +10:00
Beat Küng
50626f6848 VehicleStatus.msg: restore VEHICLE_TYPE_* indexes 
This was changed in 7cb6464cfb0207d8 and broke flight review
(https://github.com/PX4/flight_review/issues/310)
 2025-06-11 11:24:47 -04:00
Hamish Willee
48c54afc85 ArmingCheckXxxx.msg - uorb docs 2025-06-05 17:56:30 +10:00
Roman Bapst
b26dd4d3f3
Commander: Introduce global_position_relaxed (#24280) 
To separate accuracy requirements for VTOL hover and cruise.

- global_position_relaxed refers to having a valid horizontal velocity aid source 
in the estimator and a set global reference position, but poses no requirements 
on the accuracy of the provided position estimate. 
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, 
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
 2025-05-28 08:16:10 +02:00
mahima-yoga
8a5e5a411a msgs: Clean up message definitions and descriptions 
- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers
 2025-05-26 14:47:38 +02:00
Silvan
3e3f10f5bc VehicleAttitudeSetpoint.msg: remove reset_integral and fw_control_yaw_wheel 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Hamish Willee
b4b3c2a4a1
VehicleCommand.msg - update to new docs standards (#24855) 2025-05-24 16:03:04 +10:00
Marco Hauswirth
5842c991ec AirspeedSelector: add synthetic airspeed option 
Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
 2025-05-02 13:37:18 +02:00
Hamish Willee
9cf3e83197
VehicleCommand.msg - takeoff & global position (#24574) 
* VehicleCommand.msg - takeoff & global position

* Apply suggestions from code review

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg
 2025-05-01 18:37:46 +10:00
Silvan Fuhrer
69b7a21f02
AirspeedValidated: add VERSION (#24620) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-28 12:15:00 +01:00
Silvan Fuhrer
a127a8293a VehicleStatus.msg: make clear that vehicle_status should refer to current locomotion method 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Silvan Fuhrer
7cb6464cfb VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Silvan Fuhrer
49a84f38a2 VehicleStatus.msg: remove unused VEHICLE_TYPE_AIRSHIP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Sebastian Domoszlai
b5f37c9fa6
Simplify Battery-related Enum Naming (#24265) 
* Simplify battery-related enum naming

* Fix mistakenly removed string in enum names

* Fix missing renamings

* Update outdated file

* msg: Increase battery_status version since the enum naming was changed

* Revert message version increase

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-28 11:42:40 -09:00
Silvan Fuhrer
662c66e546 VehicleStatus: bump VERSION to 1 after removal of avoidance_system_required 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan Fuhrer
3119510f25 Remove health_component::avoidance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
1f2dba68d2 remove avoidance library and logic 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Marco Hauswirth
4a5aa1e947
Fix max-hagl restriction to position/altitude control (#23667) 
* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
 2025-01-20 15:50:21 +01:00
GuillaumeLaine
4fe7d713d3 msg: introduce message versioning 2024-12-13 16:34:37 +01:00