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1128 Commits
Author SHA1 Message Date
Jacob Dahl ce3e62841f module_base: remove CRTP template pattern to reduce flash bloat (#26476) 
* module_base: claude rewrite to remove CRTP bloat

* module_base: apply to all drivers/modules

* format

* fix build errors

* fix missing syntax

* remove reference to module.h in files that need module_base.h

* remove old ModuleBase<T>

* add module_base.cpp to px4_protected_layers.cmake

* fix IridiumSBD can_stop()

* fix IridiumSBD.cpp

* clang-tidy: downcast static cast

* get_instance() template accessor, revert clang-tidy global

* rename module_base.h to module.h

* revert changes in zenoh/Kconfig.topics
 2026-02-19 15:17:17 +13:00
Jacob Dahl d5ddc9135d clang-tidy: fix issues (#26498) 2026-02-17 14:09:43 -09:00
Claudio ChiesMatthias GrobØyvind Taksdal StubhaugJacob Dahl
 		86e1356e0a Extend SENS_GPS_PRIME usage for UAVCAN GNSS devices (#26126) 
* UAVCAN: extent SENS_GPS_PRIME usage to UAVCAN GNSS devices

* use convenience function

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

* Update src/drivers/uavcan/sensors/gnss.cpp

Co-authored-by: Øyvind Taksdal Stubhaug <o_github@oystub.com>

* Apply suggestion from @MaEtUgR

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

* Fix type casting in GPS prime range check

* reverted parameter default

* UAVCAN: fix and improve device_id logic (#26135)

* UAVCAN: extent SENS_GPS_PRIME usage to UAVCAN GNSS devices

* use convenience function

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

* Update src/drivers/uavcan/sensors/gnss.cpp

Co-authored-by: Øyvind Taksdal Stubhaug <o_github@oystub.com>

* Apply suggestion from @MaEtUgR

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

* Fix type casting in GPS prime range check

* UAVCAN: fix and improve device_id logic

* Added bus information to more UAVCAN drivers

* Fix device_id registration in UavcanBarometerBridge

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Øyvind Taksdal Stubhaug <o_github@oystub.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Øyvind Taksdal Stubhaug <o_github@oystub.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2026-01-07 10:19:07 -09:00
Silvan a3694c84f4 PPS: remove redundant boolean literal to silence clang-tidy 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-11-17 12:02:31 -09:00
Marco HauswirthHamish WilleeSilvan Fuhrer
 		5eab16c17c PPS time corection capability for GNSS measurements (#25838) 
** add PPS time corection capability for GNSS measurements

* * add documentation
* add comment for 'future check'
* replace url with relative link
* Update docs/en/advanced/pps_time_sync.md

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* Subedit and add to sidebar
* Apply suggestions from code review
* Update docs/en/SUMMARY.md
* remove offset jump check, clean up
* add comment pps_compensation activation condition. move documentation to hardware integration

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-11-11 20:56:56 +01:00
Jukka Laitinen d5eea0dd92 sensors/VehicleImu: Don't set _backup_schedule_timeout_us shorter than normal scheduling interval 
With IMUs of higher report rate (e.g. ADIS16470), setting backup schedule timeout simply
to half of the ORB queue length may cause the backup firing before required updates are received.

Set backup schedule to queue length - 1 instead. Additionally, double-check that the backup
doesn't get too short after finding the largest integer multiple of gyro_integral_samples.

Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
 2025-10-31 16:21:08 -08:00
Marco Hauswirth a755dfa07f enable baro-gnss autocalibration by default (#25196) 2025-07-15 10:53:04 +02:00
Silvan FuhrerandRamon Roche e0663cd6ad Sensor params: improve board rotation parameter description and meta data (#25037) 
* Sensor params: add @decimals and @min, @max to SENS_BOARD_ params

Signed-off-by: Silvan <silvan@auterion.com>

* Sensor params: Improve parameter description

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
 2025-06-16 14:59:03 -08:00
Matthias Grob 6b2b20bd6e imu_gyro_parameters: lower default angular acceleration filter from 30Hz to 20Hz 
to avoid noise getting into the derivative term of the PID rate control loop on integration flights.
 2025-06-12 17:15:12 +02:00
Marco Hauswirth 8d3c94c947 Baro offset calibration based on GNSS height (#24859) 
* apply offset to baro sensors based on gnss measurements when gnss is selected as hgt-ref

* always calibrate baro with gnss if new param SENS_BAR_AUTOCAL is set accordingly

* always do baro-gnss calibration when AUTOCALIB is set, but ensure epv is small enough and gnss data is consistent with baro

* avoid update and reset in the same step

* minor change of constexpr usage
 2025-06-02 08:38:11 +02:00
Silvan 180658c5f9 sensors: display one decimal for params 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-04-25 15:21:19 +02:00
bresch 49624a6457 mag: synchronize calibration count with newly calibrated data 
The data contained a mix between the old and new calibration. This
caused the EKF to reset to an incorrect (intermediate) heading.
 2025-03-26 22:32:51 -04:00
Andy Wheatley ca2ed655b8 Allow negative differential pressure if parameter enabled (#24434) 2025-03-24 09:42:36 +01:00
Marco Hauswirth c6c0f2228b clean up 2025-03-12 08:52:39 +01:00
Marco Hauswirth 6112d59e58 do relative calibration of baros with 1s delay 2025-03-12 08:52:39 +01:00
Beniamino Pozzan 9198125ec5 Remove reboot_required from IMU_GYRO_* parameters (#24435) 
* fix: IMU_GYRO_* parameters do not requires reboot

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

* restore IMU_GYRO_RATEMAX reboot_required to true

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2025-03-03 12:33:02 -09:00
Marco Hauswirth d2cbe10243 Clean up temperature msg fields (#24272) 
* remove temp field from airspeed.msg, adjust temp selection

* temp-sensor hirarchy: airspeed, ext. baro, default value

* directly use diff-press or baro temp in true-airspeed  calc

* improve clarity

* add enum for temperature source in VehicleAirData.msg
 2025-02-18 13:23:10 +01:00
bresch e3fd50667d Mag cal: automatically disable internal mags if external ones are available 2025-02-14 16:12:20 +01:00
Marco Hauswirth de1ade8eb8 sensors/vehicle_air_data: only trigger the sensor fallback when the baro_fault flag switches from 0 -> 1 2025-02-06 23:47:32 -05:00
Marco Hauswirth 4df65c133e add cs_baro_fault to switch to fallback baro if available (#24260) 2025-01-28 10:37:16 +01:00
PavloZMNMathieu BrescianiSilvan Fuhrer
 		ee150a15b4 Optical Flow: add unit testes for only using downward distance sensor (#23266) 
* Test for Optical Flow checks correct camera position

* Formatting fixed

* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* For test GIVEN/WHEN/THEN added

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-22 11:58:07 +01:00
RomanBapst f36b45b2ff VehicleOpticalFlow: use 32bit integer for dt 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
RomanBapst 25e76883b7 Integrator: use 32bit integer to store dt to avoid overflow 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
Marco Hauswirth a191e1e14e always allow disabling uncalibrated baro (#23782) 
* always set baro calibration id and prio param

* change to ParametersSave

* only save baro calib param if not calibrated
 2024-11-20 14:05:46 +01:00
Silvan Fuhrer f9c4c8b22c VehicleIMU: move setting of _notify_clipping from constructor to ParametersUpdate() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-13 12:10:48 -05:00
bresch ea1a6a327c flow: add scale factor parameter 2024-11-13 10:28:29 -05:00
Nicolas MARTINandNicolas Martin d269ddfb49 sensors/vehicle_air_data: fix air data publication rate (#23717) 
Co-authored-by: Nicolas Martin <n.martin@elistair.com>
 2024-09-24 09:49:47 -04:00
Claudio Chies 1a4e8a7341 FLOW: PARAM: GCS Parameter readability 2024-08-26 16:09:21 +02:00
Marco Hauswirth 39abd87949 set best sensor to -1 after last sensor fails (#23425) 2024-07-24 11:24:07 +02:00
Daniel Agar c64104e9f1 sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) 
- this warning was to catch any potential errors in sensor selection
   relative to what's actually available, we don't need to complain
   about initial selection before the EKF selector is available
 2024-05-02 11:53:31 -04:00
Daniel Agar 1c741836c0 sensors/vehicle_imu: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 8b6c70e0f2 sensors/vehicle_angular_velocity: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 1fc38aab92 sensors/vehicle_air_data: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 2bf1eeb003 sensors/vehicle_acceleration: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar d96970a2b9 sensor/vehicle_magnetometer: sensor update loop limit iterations 
- place upper bound to prevent looping indefinitely (high publish rate, etc)
 2024-03-06 21:19:38 -05:00
Julian Oes 88b3316409 sensors/vehicle_imu: fix gyro clipping publication 
The IMU topic is not zeroed, and the clipping information was not
copied, so this field ended up being garbage.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-01-09 10:20:40 -05:00
bresch b8c81f6281 gps_blending: fallback to secondary if primary has no fix 2023-12-20 16:35:30 -05:00
bresch 094048ed04 gps_blending: fix selection rapid switching 
Once a timeout of the primary instance is detected, a fallback is only
allowed until the primary receiver is regained.
 2023-12-20 16:35:30 -05:00
oystub 24cee81279 gps_blending: output valid time_utc_usec 
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec

With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.

It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
 2023-12-13 11:14:00 -05:00
marcojob cf62dad28d sensors/VehicleAngularVelocity: fix force SensorSelectionUpdate 
- This fixes the force call on SensorSelectionUpdate
 - In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
 2023-12-12 20:56:59 -05:00
Matthias Grob 1c25d65a1e Add missing newline at the end of files 2023-12-01 13:11:00 -05:00
alexklimaj 59abab8379 sensors: add parameter to silence imu clipping 2023-11-28 11:57:14 -05:00
bresch 1c3a1183c8 ekf2-flow: refactor control logic 
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
 2023-11-21 21:56:34 -05:00
Roman BapstandThomas Stastny dd2322d622 Added PerformanceModel for fixed wing (#22091) 
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
 2023-11-21 17:13:50 +01:00
Roman Bapst ecb78ca207 new library for atmosphere calculations 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-10-21 12:25:45 -05:00
Mathieu BrescianiDaniel Agarbresch
 		d61743412c ekf2: fix flow gyro bias corrections (#22145) 
* ekf2-flow: fix flow gyro bias compensation
* ekf2-flow: apply flow gyro bias when used
* ekf2: log optical flow gyro bias
* ekf2: optical flow control always use provided flow gyro (with bias applied)
* ekf2-flow: log flow gyro and gyro reference
* ekf2-flow: support senrors with XY flow gyro

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
 2023-10-05 10:51:30 -04:00
Daniel Agar efbed3bfc1 sensors/vehicle_optical_flow: don't publish interval lower than configured rate 2023-09-18 12:46:39 -04:00
Mathieu BrescianiJunwoo HwangbreschDaniel Agar
 		6a58f6c7dc Enable arbitrary euler angle for Mag rotation CAL_MAGx_{ROLL,PITCH,YAW} 
- Enable arbitrary euler angle for Mag rotation
  - new CUSTOM rotation enum out of the normal enum range
 - mag_rot: automatically change to custom if euler rot is set
 - sensor_calibration: Magnetometer save custom rotation parameters
 - mag_cal: cross mention rotation parameters
  - This allows the user to see the RPY options when searching for the rotation parameter

---------

Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-08-26 14:52:39 -04:00
Daniel Agar 82962acd5c sensors/vehicle_magnetometer: add mag calibration PX4_DEBUG output 2023-07-26 12:42:51 -04:00
Sergei Grichine f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
 2023-07-13 07:50:09 +02:00