The failure_detector_status bitmask in vehicle_status duplicates the
separate FailureDetectorStatus topic. Remove it and read directly from
the dedicated topic in failureDetectorCheck and HIGH_LATENCY2.
Extend the arm throttle safety check to all vehicle types including
rovers, which were previously excluded. Unify the two separate throttle
checks into a single evaluation at arm-time that accounts for vehicle
type and control mode: rovers require centered stick, climb-rate modes
require stick at or below center, and manual/stab/acro modes require
stick at bottom.
This is not only needed for engine warmup but in general, when the
vehicle is static on the ground, relying on fixed position to maintain a
valid global position estimate before takeoff, even when bumping it or
starting the engine.
PR #25799 added 'servo-launch-lock' to apply_identifiers (6 items) but
did not add a corresponding 6th entry to the 19 rule item arrays, causing
QGC to reject all servo-type rules with "unexpected num items expected: 6".
Remove the @volatile flag from ASPD_SCALE_1/2/3 so the estimated
airspeed scale persists across reboots and can be transferred between
vehicles of the same model. The scale is primarily determined by pitot
position on the airframe, not the individual sensor.
To avoid corrupting the param transfer hash with negligible changes
every flight, raise the save threshold from FLT_EPSILON to 3% relative
change, per dev-call consensus.
Supersedes #22760
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
After #25648, when performing RTL mission fast reverse, the vehicle would go to the waypoint before the previous one (i.e., two waypoints back). If the drone was already on its way to the first waypoint at that moment, it would even fly to the second waypoint first, and only then reverse back toward the takeoff point. This PR fixes that bug. #25648 was intended to address issues with NAV_CMD_CONDITION_GATE. The modification proposed in this PR also correctly bypasses NAV_CMD_CONDITION_GATE waypoints.
* sensors: add per-receiver GPS delay parameters
Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the
same device-ID matching pattern used for antenna offsets. Each receiver
can now have its own measurement delay relative to the IMU.
The delay is applied to timestamp_sample before blending. When PPS time
correction is active it takes priority over the parameter-based delay.
When a GPS driver already provides its own timestamp_sample the
per-receiver delay is not applied on top of it.
* fix(ekf2): remove EKF2_GPS_DELAY and perform param transation
* fix(param_translation): fix GPS param migration return values
Add missing return for EKF2_GPS_POS_Z and remove incorrect return for
EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED).
* fix(sensors,ekf2): rename pps_compensation and clarify delay default
* fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing
* fix(docs): migrate EKF2_GPS_DELAY param
* sensors: move GPS antenna offsets to per-receiver parameters
Move antenna position configuration from the single EKF2_GPS_POS_X/Y/Z
parameter set into per-receiver SENS_GPS{0,1}_OFF{X,Y,Z} parameters in
the sensors module. Each offset slot is matched to a physical receiver
by device ID (SENS_GPS{0,1}_ID), falling back to uORB instance index
when no IDs are configured.
The antenna offset is now carried through the SensorGps uORB message
and blended alongside other GPS states when multi-receiver blending is
active, so EKF2 receives the correct lever arm for whichever receiver
(or weighted combination) is selected.
- Add antenna_offset_{x,y,z} fields to SensorGps.msg
- Remove EKF2_GPS_POS_X/Y/Z params; EKF2 reads offset from gnssSample
- Add SENS_GPS{0,1}_ID and SENS_GPS{0,1}_OFF{X,Y,Z} params (module.yaml)
- Blend antenna offsets in GpsBlending (weighted average)
- Add unit tests for single, blended, and failover antenna offset cases
- Migrate params.c to module.yaml for the vehicle_gps_position module
* sensors: gps_blending: add asymmetric weight and fallthrough offset tests
Add two additional antenna offset test cases:
- dualReceiverAsymmetricWeightAntennaOffset: verify that unequal eph
values produce correctly skewed blend weights (0.8/0.2) and that the
output antenna offset reflects the weighted average
- blendingFallthroughAntennaOffset: verify that when blending is enabled
but can_do_blending evaluates false (eph=0), the non-blending path
correctly assigns the selected receiver's antenna offset
* feat(param_translation): translate EKF2_GPS_POS_ to SENS_GPS0_OFF_
* fix(msgs): proper formatting
* chore(msg): 0 if invalid/unknown
* fix(ROMFS): migrate EKF2_GPS_POS_ params
* fix(docs): migrate EKF2_GPS_POS_ params
* fix(blending): unsigned param
* Update msg/SensorGps.msg
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* fix(sensors/gps): remove 'values:' tag in module.yaml
* fix(sensors/gps): unsigned instance index
* fix(blending): restore const on gps_blend_states()
Move antenna offset blending into blend_gps_data() where the
weights are computed, keeping gps_blend_states() const.
* fix(sensors/gps): fix msg annotation and restore SENS_GPS_PRIME values
Remove incorrect @invalid NaN annotation from antenna offset fields
(0.0 default is correct, not a sentinel). Restore values tag for
SENS_GPS_PRIME so QGC shows a dropdown.
* fix(gps_blending): fix pre-existing bug to clear _gps_updated flags
The loop iterates over i but always clears gps_select_index. The intent is to clear
all updated flags, but only the selected one gets cleared (N times)
* test(gps_blending): add stale update flag regression test
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
Jacob Dahl