2f06f03728
calibration: mag: only allow mag calibration when at least one mag is available and enabled (i.e. not prio=0) ( #25714 )
2025-10-13 20:51:25 -08:00
2c62caeb7d
flight task auto: fix offtrack mission landing bug ( #25725 )
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During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.
2025-10-13 19:56:23 -08:00
54679f11d0
px_update_git_header: fix nuttx version detection ( #25742 )
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use fake nuttx version tag when the real one cannot be detected
2025-10-11 14:24:30 -08:00
96904636f3
commander: prevent setting nav_state to takeoff after disarming ( #25735 )
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* commander: prevent setting nav_state after disarming to takeoff
* wrap in function
2025-10-10 09:59:26 -08:00
b95784e804
Consume speedweight from FW longitudinal config ( #25709 )
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* Consume speedweight from longitudinal config
* Constrain speed weight
2025-10-10 10:00:43 -07:00
be29f647cb
logging: log sensor_baro with add_topic_multi
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Ensures external barometers (e.g., over UAVCAN) are also logged.
2025-10-06 10:19:01 +02:00
6be7abb13d
MicroStrain driver: Expanded aiding support ( #25673 )
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* External mag + Optical flow aiding
* Adding autostart
* global position eph fix
* write fix
* configureAidingSources split + frame fixes + params cleanup
* configureGnssAiding fix + params cleanup
* Redundant param removal
* External Heading fix
2025-10-03 19:13:04 -08:00
849819629a
dds: add adsb topic ( #25652 )
2025-10-03 19:01:40 +01:00
6e579cb75a
improve gnss altitude fusion starting logic
2025-10-03 10:11:41 +02:00
c2c721a2d6
* add gnss-fault flags to estimator-status msg
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* react to comments
2025-10-03 10:11:41 +02:00
3712af8b7f
* avoid gnss-based altitude reset in DR-mode
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* add hysteresis for re-enabling fusion
* disable lat/lon/vel fusion on gnss_hgt_fault
2025-10-03 10:11:41 +02:00
614e15d5f4
fw-autotune: detect and limit amplitude of ID maneuver
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Increases signal ampltiude on a 1Hz sin input until a target rate (R/P/Y = 0.8/0.5/0.5 rad/s) is reached. Identification signal is then scaled with this ampltitude instead of the user-defined parameter.
2025-10-02 15:17:40 +02:00
7565318107
Update MAVLink to latest ( #25692 )
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Co-authored-by: PX4BuildBot <bot@pixhawk.org >
2025-10-01 10:54:18 -08:00
a0810462fd
ManulControlSelector: initialize disabled such that it's obvious if paramter is not loaded correctly
2025-10-01 18:31:12 +02:00
661b0655dc
ManualControlSelector: unify validity conditions into one place
2025-10-01 18:31:12 +02:00
365525269e
ManualControlSelector: simplify prioritization logic
2025-10-01 18:31:12 +02:00
f1f3c81566
Update COM_RC_IN_MODE enum naming
2025-10-01 18:31:12 +02:00
acf5766f9c
commander_params: rewrite COM_RC_IN_MODE documentation
2025-10-01 18:31:12 +02:00
2c062a45ba
feat: expand to 4 modes with more priority options
2025-10-01 18:31:12 +02:00
25c66a7ee5
feat: extend COM_RC_IN_MODE 5 and 6 to source ID ascending and descending priority modes
2025-10-01 18:31:12 +02:00
6c69d86d7e
mission_base: on mission end, set loiter position from previous position type setpoint
2025-10-01 17:44:58 +02:00
f3b2599d33
ekf: range fusion: fix height ref ( #25654 )
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* ekf2: range height skip "unhealthy" samples, but respect timeout
- we should never directly use an "unhealthy" range finder sample for
state corrections or resets, but we also shouldn't immediately abort
active rng_hgt until the timeout has passed
* check starting_conditions_passing once
* ekf2: conditional range aid change height ref
---------
Co-authored-by: Daniel Agar <daniel@agar.ca >
2025-09-30 11:14:26 -08:00
e3309b9f87
ekf2: rng don't allow bad measurement in bad_acc_vertical ( #25636 )
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- if bad vertical acceleration is detected there's an emergency case
where rejected range finder observations are allowed to be used, but
this still can't happen if the sample itself is known to be bag
2025-09-30 11:14:04 -08:00
e59afce5db
Enable directly injecting motor failures using e.g. failure motor off -i 1
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Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.
2025-09-30 11:23:09 +02:00
786e0a12c2
FailureInjector simplification rework
2025-09-30 11:23:09 +02:00
cefa41f85c
failure command: fix array bound seg fault with e.g. failure motor -i 1
2025-09-30 11:23:09 +02:00
7f2a67a588
Commander: split out failure injection class into its own file
2025-09-30 11:23:09 +02:00
bacb30650c
uavcan: don't init ESC if UAVCAN_ENABLE isn't set for ESC
2025-09-29 15:40:33 -04:00
900a5ede01
ekf2: range height skip "unhealthy" samples, but respect timeout ( #25634 )
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* ekf2: range height skip "unhealthy" samples, but respect timeout
- we should never directly use an "unhealthy" range finder sample for
state corrections or resets, but we also shouldn't immediately abort
active rng_hgt until the timeout has passed
* check starting_conditions_passing once
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2025-09-29 11:23:37 -08:00
2b0ea50d16
mavlink: parameters: fix camera and cannode param message routing
2025-09-26 23:16:05 -08:00
7eec4c9814
ekf2: fix gravity aid src fused flag
2025-09-26 11:45:54 -04:00
469fe62166
logger: cleanup crypto defines
2025-09-25 15:10:21 -04:00
6f4e873bce
logger: only include crypto params if enabled
2025-09-25 15:10:21 -04:00
35f882cd3c
commander: accel cal rotate offsets and scales from body frame back into sensor frame before saving ( #25626 )
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- fixes https://github.com/PX4/PX4-Autopilot/issues/25606
2025-09-25 14:12:15 -04:00
a6f8b00a6a
ekf2: SensorRangeFinder purge unused Sensor interface
2025-09-25 14:07:43 -04:00
2347cb9e50
ekf2: SensorRangeFinder delete unused faulty flag
2025-09-25 11:29:54 -04:00
cbf39f5ceb
msg: AirspeedValidated - uorb topic to standard ( #25579 )
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* 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
e342640698
drivers/gps: warn if gps_inject_data publications have been missed
2025-09-24 22:11:49 -04:00
a5c4cc38ac
lightware_laser_i2c: add binary protocol support for SF30/d ( #25570 )
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Using the SF30/d with the legacy protocol caused a delay of the
measurements of ~1s. This is not the case with the binary protocol anymore.
The initialization sequence used for SF20/c did not work and is therefore
updated.
Tested on both SF20/c and SF30/d.
2025-09-24 16:17:25 -04:00
26760e3c2c
ekf2: reduce EKF2_MIN_RNG to 0.01 ( #25574 )
2025-09-24 15:27:24 -04:00
3925562ce6
commander: fix tune_control timestamp on initial publication
2025-09-24 10:55:32 -08:00
e71faf38a0
Septentrio GNSS resilience reporting ( #25012 )
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Co-authored-by: Tory9 <vvpost05@gmail.com >
2025-09-24 11:08:10 -04:00
9670eb69b3
commander: use double literals to avoid implicit conversion
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Fixes a CI failure for fuzzing and macos:
https://github.com/PX4/PX4-Autopilot/actions/runs/17906277709/job/50907922642
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/commander/Commander.cpp:471:37: fatal error: implicit conversion increases floating-point precision: 'float' to 'double' [-Wdouble-promotion]
470 | bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE,
| ~~~~~~~~~~~~~~~~~~~~
471 | 0.f, 0.f, heading, 0.f, 0.f, 0.f, heading_accuracy);
| ^~~
1 error generated.
2025-09-22 09:31:26 -07:00
d3acee315a
BAT: Consolidate the highest feasible number of batteries into just 3
2025-09-22 15:02:24 +02:00
f90d6c03fc
LOG: increase number of loggable batteries to 3
2025-09-22 15:02:24 +02:00
b081cf5c31
ucrxe_dds_client: Implement simple parameter-driven message namespace ( #25444 )
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* ucrxe_dds_client: Implement simple parameter-driven message namespace
* chore: remove change of parameter_reference.md
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
---------
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2025-09-20 16:32:00 +01:00
91fa0f4693
boards: ark x20 and f9p gps ( #25149 )
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* boards: ark x20 gps
* update startup
* fix cmake variants
* boards: ark f9p gps
* ark x20 gps add serial dma hrt call
* update gps submodule with x20 support
* update default constellations
* fix mag rotation
2025-09-19 10:06:03 -08:00
c06ba93175
mc-auto: handle EKF heading reset
2025-09-18 17:00:16 +02:00
82308da18d
ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE
2025-09-18 17:00:16 +02:00
eba0b99950
ekf2: remove unnecessary code
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The delta angles are now correctly accumulated in case
multiple resets are triggered during the same epoch
2025-09-18 17:00:16 +02:00
Marco Hauswirth