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28548 Commits

Author SHA1 Message Date
JoelJ18
6be7abb13d
MicroStrain driver: Expanded aiding support (#25673) 
* 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
QiTao Weng
849819629a
dds: add adsb topic (#25652) 2025-10-03 19:01:40 +01:00
Marco Hauswirth
6e579cb75a improve gnss altitude fusion starting logic 2025-10-03 10:11:41 +02:00
Marco Hauswirth
c2c721a2d6 * add gnss-fault flags to estimator-status msg 
* react to comments
 2025-10-03 10:11:41 +02:00
Marco Hauswirth
3712af8b7f * avoid gnss-based altitude reset in DR-mode 
* add hysteresis for re-enabling fusion
* disable lat/lon/vel fusion on gnss_hgt_fault
 2025-10-03 10:11:41 +02:00
mahima-yoga
614e15d5f4 fw-autotune: detect and limit amplitude of ID maneuver 
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
Hamish Willee
7565318107
Update MAVLink to latest (#25692) 
Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-10-01 10:54:18 -08:00
Matthias Grob
a0810462fd ManulControlSelector: initialize disabled such that it's obvious if paramter is not loaded correctly 2025-10-01 18:31:12 +02:00
Matthias Grob
661b0655dc ManualControlSelector: unify validity conditions into one place 2025-10-01 18:31:12 +02:00
Matthias Grob
365525269e ManualControlSelector: simplify prioritization logic 2025-10-01 18:31:12 +02:00
Matthias Grob
f1f3c81566 Update COM_RC_IN_MODE enum naming 2025-10-01 18:31:12 +02:00
Matthias Grob
acf5766f9c commander_params: rewrite COM_RC_IN_MODE documentation 2025-10-01 18:31:12 +02:00
Tobias Büchli
2c062a45ba feat: expand to 4 modes with more priority options 2025-10-01 18:31:12 +02:00
Tobias Büchli
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
Luka Filipović
6c69d86d7e mission_base: on mission end, set loiter position from previous position type setpoint 2025-10-01 17:44:58 +02:00
Jacob Dahl
f3b2599d33
ekf: range fusion: fix height ref (#25654) 
* 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
Daniel Agar
e3309b9f87
ekf2: rng don't allow bad measurement in bad_acc_vertical (#25636) 
- 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
Matthias Grob
e59afce5db Enable directly injecting motor failures using e.g. failure motor off -i 1 
Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.
 2025-09-30 11:23:09 +02:00
Matthias Grob
786e0a12c2 FailureInjector simplification rework 2025-09-30 11:23:09 +02:00
Matthias Grob
cefa41f85c failure command: fix array bound seg fault with e.g. failure motor -i 1 2025-09-30 11:23:09 +02:00
Matthias Grob
7f2a67a588 Commander: split out failure injection class into its own file 2025-09-30 11:23:09 +02:00
Jacob Dahl
bacb30650c
uavcan: don't init ESC if UAVCAN_ENABLE isn't set for ESC 2025-09-29 15:40:33 -04:00
Daniel Agar
900a5ede01
ekf2: range height skip "unhealthy" samples, but respect timeout (#25634) 
* 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
airpixel-cz
2b0ea50d16
mavlink: parameters: fix camera and cannode param message routing 2025-09-26 23:16:05 -08:00
Daniel Agar
7eec4c9814 ekf2: fix gravity aid src fused flag 2025-09-26 11:45:54 -04:00
Daniel Agar
469fe62166 logger: cleanup crypto defines 2025-09-25 15:10:21 -04:00
Daniel Agar
6f4e873bce logger: only include crypto params if enabled 2025-09-25 15:10:21 -04:00
Jacob Dahl
35f882cd3c
commander: accel cal rotate offsets and scales from body frame back into sensor frame before saving (#25626) 
- fixes https://github.com/PX4/PX4-Autopilot/issues/25606
 2025-09-25 14:12:15 -04:00
Daniel Agar
a6f8b00a6a ekf2: SensorRangeFinder purge unused Sensor interface 2025-09-25 14:07:43 -04:00
Daniel Agar
2347cb9e50 ekf2: SensorRangeFinder delete unused faulty flag 2025-09-25 11:29:54 -04:00
Hamish Willee
cbf39f5ceb
msg: AirspeedValidated - uorb topic to standard (#25579) 
* 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
Daniel Agar
e342640698 drivers/gps: warn if gps_inject_data publications have been missed 2025-09-24 22:11:49 -04:00
Beat Küng
a5c4cc38ac
lightware_laser_i2c: add binary protocol support for SF30/d (#25570) 
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
Jacob Dahl
26760e3c2c
ekf2: reduce EKF2_MIN_RNG to 0.01 (#25574) 2025-09-24 15:27:24 -04:00
Parkhb1106
3925562ce6
commander: fix tune_control timestamp on initial publication 2025-09-24 10:55:32 -08:00
Louis-max-H
e71faf38a0
Septentrio GNSS resilience reporting (#25012) 
Co-authored-by: Tory9 <vvpost05@gmail.com>
 2025-09-24 11:08:10 -04:00
Beat Küng
9670eb69b3 commander: use double literals to avoid implicit conversion 
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
Claudio Chies
d3acee315a BAT: Consolidate the highest feasible number of batteries into just 3 2025-09-22 15:02:24 +02:00
Claudio Chies
f90d6c03fc LOG: increase number of loggable batteries to 3 2025-09-22 15:02:24 +02:00
H S Helson Go
b081cf5c31
ucrxe_dds_client: Implement simple parameter-driven message namespace (#25444) 
* 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
Alex Klimaj
91fa0f4693
boards: ark x20 and f9p gps (#25149) 
* 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
bresch
c06ba93175 mc-auto: handle EKF heading reset 2025-09-18 17:00:16 +02:00
bresch
82308da18d ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE 2025-09-18 17:00:16 +02:00
bresch
eba0b99950 ekf2: remove unnecessary code 
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
bresch
361d66bb44 ekf2: add reporting of gnss_vel status flag 2025-09-18 17:00:16 +02:00
Silvan Fuhrer
d2e4d85bce Add Altitude Cruise mode 
-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-09-18 15:50:10 +02:00
Matthias Grob
5c5bf0b83d Remove parameters MPC_{XY/Z/YAW}_MAN_EXPO and use default value instead 2025-09-18 15:50:10 +02:00
Matthias Grob
5b94557310 Sticks: change internal order and sign of stick positions 2025-09-18 15:50:10 +02:00
Matthias Grob
234e4688b0 Sticks: calculate expo only upon getter call 2025-09-18 15:50:10 +02:00
Matthias Grob
2e910fe185 FlightTask{Altitude+Orbit}: use getter for specific stick value instead of entire array 2025-09-18 15:50:10 +02:00