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Author SHA1 Message Date
Balduin 37a110f682 Ice shedding: rename variables for clarity 2026-01-23 16:02:06 +01:00
Balduin e0c0b2389e Ice shedding: hardcode maximum to de-risk setting param too high 2026-01-23 16:02:06 +01:00
Balduin 77fd817c78 Ice shedding: simplify logic by removing early returns 2026-01-23 16:02:06 +01:00
Balduin 4fa13c2422 Ice shedding: always update last ice shedding time 
This means that when the feature is enabled in flight, the slew rate is
correctly applied assuming that the previous value was 0
 2026-01-23 16:02:06 +01:00
Balduin 370c09b687 Ice shedding: move from ramp to actual slew rate 
and expose with another parameter
 2026-01-23 16:02:06 +01:00
Balduin cafd690de9 Ice shedding: disable feature if any upward motor has failed 2026-01-23 16:02:05 +01:00
Balduin 34fd9c4931 Ice shedding: expose configuration parameters 2026-01-23 16:02:05 +01:00
Balduin 32f21c2f4b Ice shedding: Add slew rate limit 
- Ramp up and down instead of spinning immediately
     - this reduces the adverse influence on FW attitude control
     - still stateless, cycle still starts at random phase
 - Tuck away in function
 - If not standard VTOL or tiltrotor, do nothing to de-risk unintended
   usage
 2026-01-23 16:02:05 +01:00
Balduin 4ee4ba0d5e Ice shedding: initial, very simple draft 
- overwrite the motor outputs of the disabled motors in
   ControlAllocator::publish_actuator_controls()
 - not yet configurable by any params
 - gives same output to all motors
     - risky if this produces torques already, which is the case:
	 - for tiltrotors, where only the back motor(s) spin(s) to de-ice
	 - for standard VTOL if the MC rotors are not exactly centered
	   around the CG
	 - for standard VTOL if any motor has failed
 2026-01-23 16:02:05 +01:00
bresch 5d5e1db97f ekf2: update change indicator 2026-01-23 14:46:08 +01:00
bresch d3da4fe608 ekf2 mag: clear mag_fault when healthy again 2026-01-23 14:46:08 +01:00
Jacob Dahl 76b58b6f0b remove unused CTestConfig.cmake (#26333) 2026-01-22 15:07:38 -09:00
Atsunori Saito 75d7395daa v6xrt: correct LED state read logic (#26316) 
Move negation to return value instead of GPIO map argument for proper active-low handling.
 2026-01-22 14:11:37 -09:00
David Meng 11f4d5c4e7 control_allocator: improve status output formatting (#26277) 2026-01-22 14:09:56 -09:00
Pernilla 522c15284f Gimbal: (#26331) 
* passing const reference instead to avoid the copy
* remove unused using declaration
 2026-01-22 14:02:03 -09:00
Dmitry PonomarevandAndrew Brahim 93ab802202 add ability to control uavcan hardpoint by MAV_CMD_DO_GRIPPER (#19124) 
* update uavcan hardpoint: add ability to use it via mavlink cmd and during mission and removed send_command() dedicated for usage via mavlink console

* uavcan hardpoint: allow gripper ID 0

---------

Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
 2026-01-22 16:43:18 -05:00
Jacob Dahl 3381b270ea uavcannode: add CANNODE_PUB_BAR and CANNODE_PUB_MAG parameters to optionally disable baro and mag data publication (#26324) 2026-01-22 09:59:59 -08:00
Julian Oes aed8a78c1d mavlink: accept broadcast commands (#26311) 
I think - per MAVLink spec - PX4 ought to accept broadcast commands
which are aimed at system ID 0, so anyone/all.
 2026-01-23 06:55:34 +13:00
Niklas Hauser 9cf07c2452 [logger] Ensure msg buffer is large enough for all uORB message headers 2026-01-22 17:58:04 +01:00
bresch 230276540f estimator_status_flags: remove useless logged flags 
Those flags are not so useful for log analysis and can be found in the
aid_src topics
 2026-01-22 17:58:04 +01:00
Silvan 52308735a7 px4/v6x: remove AUAV differential pressure to save flash 
Signed-off-by: Silvan <silvan@auterion.com>
 2026-01-22 15:14:54 +01:00
alexcekay b1c2820d69 gps: update drivers submodule 2026-01-22 15:02:30 +01:00
alexcekay 1df5e62cc3 gps: fix rate reading on UART 2026-01-22 15:02:30 +01:00
bresch 2ad25570ee do not check pointer validity before deleting 
Deleting a nullptr has no effect
(this addresses a clang-tidy error)
 2026-01-22 10:03:24 +01:00
tompsontan b8577c753f board:changed ap-h743r1 dma allocation and internal mag to qmc5883p. (#26112) 
*Mag Sensor changed in the docs and the board
*DMA Allocation changed for the board
 2026-01-22 01:06:51 -05:00
Baardrw c9e3118fea Driver: fix mb12xx driver set address feature (#26282) 
* fixed set_address function
 2026-01-22 00:45:45 -05:00
William Reynaldi SolichinJulian OesJacob DahlJacob Dahl
 		55e0810d8d Expose u-blox min elevation, min SNR and DGNSS timeout parameters RTK Fix Improvements (#25720) 
* Exposing u-Blox min CNO, min elevation, and DGNSS timeout for RTK Fix Improvement

* update gps submodule

---------

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2026-01-21 14:50:36 -09:00
Alexander Lerach 4ac7853479 auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… (#25925) 
* auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module

* auterion autostarter: Enable on v6s, robustify error handling

* review comments
 2026-01-21 19:05:09 +01:00
Jacob Dahl 06db25c078 boards: remove CONFIG_COMMON_OPTICAL_FLOW from all non-CANnode hardware (#26315) 2026-01-21 10:51:09 -05:00
EurusandEurusAkai 5635d639fe rtl_mission_fast: supplement to #24115 (#26199) 
Co-authored-by: EurusAkai <1826983968@qq.com>
 2026-01-21 09:49:31 +01:00
Jacob Dahl bbce142129 boards: ark_pi6x: add rover target (#26296) 2026-01-20 13:35:42 -09:00
Julian Oes 475715818b Tools: fix make format (#26298) 
These two submodules were touched when they shouldn't be.
 2026-01-19 17:23:06 -09:00
Julian Oes 02103b9100 mavlink: fix deadlock on USB disconnect/reconnect (#26297) 
Commit 5fe82aa added mutex protection in ~Mavlink() to fix a race
condition when start_helper() deleted an instance without holding the
mutex. However, this caused a deadlock because stop_command() and
destroy_all_instances() already hold mavlink_module_mutex when calling
delete, and the mutex is non-recursive.

Fix by moving instance cleanup to the callers:
- All callers now hold the mutex and remove the instance from
  mavlink_module_instances BEFORE calling delete
- The destructor no longer touches mavlink_module_instances
- Event handoff remains in destructor (works because `this` is already
  removed from the list when destructor runs)

This hopefully fixes the original race condition while avoiding the
deadlock that caused USB mavlink to hang on reconnect.
 2026-01-19 12:25:50 -09:00
mahima-yoga 25de111a4a FWModeManager: improve fixed-wing landing flare stability 
- Ramp pitch_min and pitch_max from current pitch to flare minimum
- Ramp throttle from current setpoint to idle
 2026-01-19 17:58:20 +01:00
mahima-yoga 9169f9cd44 Revert "FWModeManger: remove throttle spike during flaring by waiting with height rate change" 
This reverts commit 259e7d1d53.
 2026-01-19 17:58:20 +01:00
Alexander Lerach 273766a4ea drivers: auav, read sensor eeprom to get cal range (#26294) 
* drivers: auav, read sensor eeprom to get cal range

* added review feedback
 2026-01-19 15:21:18 +01:00
Ryan Johnston f98fdbc452 FW Takeoff: fix loiter altitude not set in some cases 
* Fix Takeoff mode to respect MIS_TAKEOFF_ALT

Takeoff mode never transitions to hold after takeoff alt.

* style: run make format
 2026-01-16 17:32:15 +01:00
jonas edc2536bdd move EKF2 ring buffer to the lib folder 2026-01-16 11:51:37 +01:00
Silvan e90f8b500f v5: remove UUV to save flash 
Signed-off-by: Silvan <silvan@auterion.com>
 2026-01-16 11:33:45 +01:00
Pernilla fbdc31b60c gimbal: add filter 2026-01-16 11:33:45 +01:00
Pernilla 392002f671 gimbal-bug-fix: store angle setpoints for next iteration 2026-01-16 11:33:45 +01:00
Pernilla c0c7f6ec40 gimbal: report relative and absolute angles 2026-01-16 11:33:45 +01:00
Pernilla 8c5c4a0504 gimbal: update gz gimbal 2026-01-16 11:33:45 +01:00
Pernilla 0da6efa52d gimbal: remove offset as it should be accounted for in PWM driver 2026-01-16 11:33:45 +01:00
Pernilla 9de10d672c gimbal: mavlink streamed angular ranges should be radians 2026-01-16 11:33:45 +01:00
Pernilla 0fa5a83409 gimbal: account for non zero symmetrical angular ranges 2026-01-16 11:33:45 +01:00
Pernilla aed175451a gimbal: add pitch stabilization 2026-01-16 11:33:45 +01:00
Kimminkyu df42ef84f1 Update NuttX fmu-v6x config use with Zenoh (#26213) 2026-01-15 11:40:09 -09:00
Baardrw fe30ef7f16 GZ: Update GZMixingInterfaceESC to support more than 8 ESCs (#25081) 
* Changed GZMixingInterfaceESC to GZMixingInterfaceMotor
- GZMixingInterfaceMotor checks if there are more than 8 motors configured if its less than 8 it behaves exactly the same as GZMixingInterfaceESC, else it behaves as a PWM motor interface
- This change allows drones with more than 8 motors to be simulated by Gazebo

Fixes #25080

* code quality fix

* Changed GZMixingInterfacMotor back to GZMixingInterfaceESC and changed variable names to match ESC terminology

* formatting issue resolved

* updated interface to support 16 ESCs, allowing the first 8 to report telemetry

* rebased
 2026-01-15 10:37:35 -09:00
Beniamino Pozzan 0b834dd0e7 docs(uxrce_dds): add docs for UXRCE_DDS_FLCTRL (#26242) 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2026-01-15 00:51:35 -09:00