* Applying PR #17084
* Comitting missing changes
* Adding incoming SETUP_SIGNING handling
* Adding proper message decoding for SETUP_SIGNING
* Adding persistance of sign key in chunks of 32 bits into parameters
* Allowing SETUP_SIGNING to be handled only on usb_uart
* Removing unused type and variable
* Changing the default for Mavlink Timestamp
* Fixing styling
* Merging
* Merging submodules
* Replacing parameters with sdcard storage for secured key and ts
* Fixing styles
* Isolating signing related items in separate class
* Adding new files
* Syncing with main
* Fixing styles
* Changing the signing logic to work only if key and ts properly initialized, adding store the ts on stop
* Updated submodules to latest versions
* Updated gz to proper version
* libfc-sensor-api to proper version
* libcanard to proper version
* Updated fuzztest to proper version
* Updated public_regulated_data_types to proper version
* Updated mip_sdk to proper version
* Updated pydronecan to proper version
* Updated rosidl to proper version
* Fixing styles
* Fixing cyclonedds version
* initializing sign control in the member declaration
* Update src/modules/mavlink/mavlink_main.h
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Fixing comments
* Fixing duplicate method
* Fixing defines
* Fixing styles
* Fixing the define errors
* replace duplicate logic with write_key_and_timestamp() function
* add docs
* Update docs/en/mavlink/message_signing.md
Co-authored-by: Julian Oes <julian@oes.ch>
* Update src/modules/mavlink/mavlink_sign_control.cpp
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Update src/modules/mavlink/mavlink_sign_control.h
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Update docs/en/mavlink/message_signing.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* rename to MAV_SIGN_CFG, fix copyright dates, fix docs SHA type, rename secrets file
* fix newlines
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
So transitions between stopped/not stopped respect the slew rate.
- Remove previous stopped motor handling in publish_actuator_controls
- Replace with handle_stopped_motors, called in Run() before slew
- Introduce ApplyNanToActuators in ControlAllocation to stop
- Refactor ice shedding slightly to fit new structure
On Linux targets with high-rate external sensor data (>1000Hz), all
sensor calibrations (gyro, accel, mag) can freeze PX4 by starving
other threads of CPU. Normal flight is unaffected — only calibration
triggers the problem.
Two compounding issues in the calibration worker threads:
1. calibrate_cancel_check() creates a new uORB::Subscription on every
call, which triggers getDeviceNodeLocked() — an O(n) linear strcmp
scan through all uORB nodes. In gyro/mag calibration this was called
on every sensor sample, consuming the majority of CPU in strcmp alone.
2. SubscriptionBlocking::updatedBlocking() returns immediately when data
is already available (it only blocks when no data is pending). With
continuous high-rate sensor data, the calibration loops never yield,
spinning at 100% CPU.
These problems are addressed with this patch as follows:
- Throttle calibrate_cancel_check() to once per 200ms in gyro
and mag calibration loops.
- Add 1ms px4_usleep() yield before updatedBlocking()/updateBlocking()
in all calibration loops (gyro, accel, mag, orientation detection).
This caps the effective loop rate at ~1000Hz — still far above what
calibration needs (250-750 samples).
- Force Commander main loop to sleep during calibration so it does not
compete with calibration worker threads for CPU.
Tested under Linux (x64, aarch64) both with RT and non-RT scheduling,
with sensor data arriving at ~3600Hz. Calibration completes normally
and no longer results in a deadlocked process.
In the CA_ICE_PERIOD param description, a '>' was at the start of a
line. This is interpredeted by markdown as a quotation type indented
block which applies not only to that line, but to all following ones.
Changing the line breaks to only occur after full stops fixes it.
* SIH: explicitly use local velocity for all aerodynamic calculations
no functional change
* SIH: add param & vars for wind and apparent vel
no functional change
* SIH: replace all relevant vels with apparent vel
Only places where _v_E is remaining:
- ecefToNed to calculate _v_N
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
and _v_N:
- ecefToNed
- print_status
- publish_ground_truth
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
which are all not relevant for aerodynamics.
* sih: wind review suggestions
* sih wind: switch direction to global wind source direction convention
* SIH: clean up variable declarations
* SIH: rename variables for consistency
* docs: SIH: document new wind parameters
* Release notes: note for SIH wind settings
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* navigator:MissionFeasibility rename checkFixedWindLandApproach() to checkFixedWingLandApproach()
Renames checkFixedWindLandApproach() to checkFixedWingLandApproach() to fix a typo in the function name.
This improves code readability and makes the function name consistent with the intended FixedWing landing approach logic, without changing behavior.
* navigator:MissionFeasibility rename checkFixedWindLandApproach() to checkFixedWingLandApproach()
Renames checkFixedWindLandApproach() to checkFixedWingLandApproach() to fix a typo in the function name.
This improves code readability and makes the function name consistent with the intended FixedWing landing approach logic, without changing behavior.
* heater: add multi-instance support, refactor parameter handling, remove legacy params file
This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.
Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure
This improves scalability and makes heater configuration consistent across setups with multiple sensors.
* Refactor heater configuration across multiple boards
- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.
* heater: fix missing HEATER1_OUTPUT_EN control
* heater: fix more missing HEATER1_OUTPUT_EN control
* heater: tidy config, docs, and instance handling
- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES
Note: drop intermediate/reverted change around the 'celsius' spelling.
* heater: refactor constructor to remove unused parameter and add instance name function
- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization
Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.
* format
* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO
* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency
* heater: add a TODO for px4io multi-instance
* heater: update missing GPIO_HEATER1_OUTPUT in sky-drones
* heater: fix multiple newlines at EOF (resolve CI check failure)
* heater: switch to PublicationMulti for heater_status and log multi-instance
- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")
This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Fix logic error where `mnt_mode_in` (value) was checked against `PARAM_INVALID`
instead of `param_handle`. This caused `param_get` to be called with an invalid
handle if the parameter was missing.
* mavlink: add GLOBAL_POSITION message handling
- Add handler for incoming GLOBAL_POSITION MAVLink messages
- Publish received positions to aux_global_position uORB topic
- Update GLOBAL_POSITION stream to use aux_global_position topic
* correctly handle multi AGP in mavlink pub
* move from GLOBAL_POSITION to GLOBAL_POSITION_SENSOR
* mavlink: update submodule to include GLOBAL_POSITION_SENSOR in common.xml
* AirspeedValidator, fix course over ground computation for NED frame
* fix potential out of bounds call
---------
Co-authored-by: jonas <jonas.perolini@rigi.tech>
Protobuf-generated code in gz_msgs triggers -Wdouble-promotion warnings
from the Abseil library. Since this is external code we cannot modify,
disable the warning for this specific target.
Fixes#26533
* removed commented out parts
* changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp
* Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email
* added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero.
* fixed constant roll/pitch to be 0.0 again
* added parameter for maximum distance between controlled des height and current height.
Added state observation to reset the desired height to current height when altitude mode is turned on.
* added first short descriptions of manual modes.
* update descriptions
* removed vector dependency
* feat: updated gz submodule
* fix: newline
* fix: gz submodule
---------
Co-authored-by: Pedro Roque <roque@caltech.edu>
Refactor auxiliary global position fusion to support multiple AGP
sources. Add AgpSourceControl manager class that routes AGP messages
to the correct AgpSource instance based on configured source IDs.
Only instantiate AgpSource slots that have a configured ID on boot.
Move AGP subscriptions to manager class for correct message routing.
Balduin