Recommend setting SENS_GPS_PRIME to the moving base CAN node ID
when using dual antenna GPS heading. The rover receiver in a
moving baseline configuration can experience degraded navigation
rate and increased data latency when corrections are intermittent,
making the moving base the better primary position source.
* refactor(mixer_module): change MixingOutput to use float outputs
MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.
* fix(mixer_module): fix float safety issues
-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)
* refactor(mixer_module): float rounding suggestions
* fix(pwm_sim): fix inverted disarmed condition
* fix(mixer_module): more float rounding improvements
* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* fix(mathlib): rename euler312YawTest to match tested function
The test calls getEuler321Yaw() but was named euler312YawTest.
Fixes#22103
* test(mathlib): add unit test for getEuler312Yaw
The existing test was named euler312YawTest but actually tested
getEuler321Yaw. Rename it and add a proper test for getEuler312Yaw
that verifies the quaternion and DCM overloads agree, and that
312 and 321 yaw match for a pure-yaw rotation.
Fixes#22103
* fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name
VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which
does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN.
Fixes#26454
* fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN
These boards have a single sensor power rail that was incorrectly
named SENSORS4_EN (copy-paste from boards with 4 rails). Rename
to SENSORS_EN to match the actual hardware.
Boards with legitimately numbered rails (fmu-v6xrt, x25-evo,
x25-super) are not changed.
In dd2322d622, the local PressureToAltitude(pressure_pa, temperature)
was replaced with the shared getAltitudeFromPressure(pressure_pa,
pressure_sealevel_pa), but the call sites continued passing temperature
where sea-level pressure was expected. This caused the binary search to
never converge, hanging "commander calibrate baro" indefinitely.
The original function used measured temperature in its hypsometric
equation. The replacement uses standard atmosphere temperature (15C)
internally, which is sufficient since the calibration computes a
relative offset against GPS altitude.
- Pass kPressRefSeaLevelPa as the second argument instead of temperature
- Remove the now-unused temperature accumulation
- Replace unbounded while loop with iteration-capped for loop to prevent
hangs from float precision stalls, matching VehicleAirData.cpp
Subscription::update() already copies data into the destination buffer,
making the subsequent copy() call redundant. This eliminates an
unnecessary memcpy every cycle on the 400 Hz rate control loop.
Note that internally higher update rates are likely also not useful but this needs to be carefully checked with the interface. It seems like the ADSB driver keeps track of what to publish when which is not a scalable/well-testable solution.
Add a CITATION.cff file so GitHub shows a "Cite this repository"
button. Lists the project founder and "The PX4 Contributors",
linking to the Zenodo concept DOI (10.5281/zenodo.595432).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
- Use %*s in state_listing() to skip filepath that was parsed but never used
- Remove unused opendir()/closedir() in log_entry_from_id()
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
- Size LogEntry.filepath to PX4_MAX_FILEPATH instead of hardcoded 60 bytes
- Add width specifier to sscanf calls to prevent buffer overflow
- Move platform defines from .cpp to .h for reuse
- Add static_assert to enforce scanf width < buffer size at compile time
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
RunsOn v2.12.0 (March 6, 2026) removed v1 cache toolkit support,
causing the buildx GHA cache proxy to return 404 for v1 endpoints.
This has broken container builds on main since March 12.
Removing the explicit version=1 parameter lets buildkit auto-detect
the v2 protocol, which is the only version now supported by both
GitHub (since April 2025) and RunsOn.
First build after this change will have a cold cache.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The mavlink_tests module was deleted in 1009268d311 but several
references were left behind, breaking builds on all targets.
Removed:
- CMakeLists.txt: add_subdirectory(mavlink_tests)
- mavlink_ftp.cpp: #include of deleted mavlink_ftp_test.h
- mavlink_ftp.h: MavlinkFtpTest forward decl and friend class
- posix-configs/SITL/init/test/test_mavlink: dead init script
- sitl_tests.cmake: sitl-mavlink CTest target
- install-voxl.sh: px4-mavlink_tests symlink
Ref: https://github.com/PX4/PX4-Autopilot/issues/26738
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Reject Zenoh payloads that exceed the expected uORB topic size plus
CDR header (4 bytes), or that are too small to contain a valid CDR
header. This prevents a stack overflow from crafted network input
where z_bytes_len(payload) controls a VLA allocation.
Fixes GHSA-69g4-hcqf-j45p
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Use logical OR (||) instead of AND (&&) in _workWrite() and _workBurst()
session validation, matching the correct logic already used in _workRead()
and _workTerminate(). The AND operator allowed operations to proceed with
an invalid session ID as long as a valid file descriptor existed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Remove the old MAVLINK_FTP_UNIT_TEST infrastructure that has been dead
code for years (not enabled in any board config). This includes:
- src/modules/mavlink/mavlink_tests/ directory (test suite, CMakeLists)
- All #ifdef MAVLINK_FTP_UNIT_TEST blocks in mavlink_ftp.cpp
- set_unittest_worker() callback mechanism in mavlink_ftp.h
- Conditional uAvionix include in mavlink_bridge_header.h
The test suite will be ported to GTest as a follow-up.
Ref: https://github.com/PX4/PX4-Autopilot/issues/26738
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Add bounds checking in the CAN frame assembly loop to prevent a buffer
overflow when copying payloads into the Tattu12SBatteryMessage struct.
A crafted CAN frame with a corrupt payload_size could write past the
48-byte struct boundary. Also guard against payload_size of 0 which
would cause an unsigned integer underflow on the size_t subtraction.
Fixes GHSA-wxwm-xmx9-hr32
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Variable-length known packet types (CRSF_PACKET_TYPE_ELRS_STATUS,
CRSF_PACKET_TYPE_LINK_STATISTICS_TX, CRSF_PACKET_TYPE_MSP_WRITE)
bypassed the bounds check that exists for unknown packets. A crafted
packet with a large size field could overflow the 64-byte process_buffer
during QueueBuffer_PeekBuffer() in the CRC state.
Apply the same CRSF_MAX_PACKET_LEN bounds check to variable-length
known packets that already exists for unknown packets.
Fixes GHSA-mqgj-hh4g-fg5p
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Reject replies with length >= sizeof(BSTPacket) to prevent OOB read
in CRC calculation. Clamp dev_name_len to buffer size to prevent OOB
write during null termination.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
airframes.xml and all_events.json.xz on the px4-travis S3 bucket have
been stale since October 2025 because package_build_artifacts.sh had
wrong paths for both files after the migration from metadata.yml to
build_all_targets.yml.
- airframes.xml: SITL builds produce it under docs/, not at the build
root (only NuttX does that). Use explicit file checks to try both.
- all_events.json.xz: was copied flat into artifacts/$build_dir/ but
the _general section expected it under events/. Preserve the
subdirectory so the copy to _general/ actually finds the file.
- Remove duplicate cp lines that were misleadingly commented as
"ROS 2 msgs".
- Fail with an error when critical _general metadata files are missing
rather than silently producing incomplete artifacts.
Also uploaded fresh metadata to S3 manually to unblock Flight Review.
Fixes#26713
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
