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Author SHA1 Message Date
Matthias Grob 14cbcee49f CI: replace all usage of addnab/docker-run-action 
It's unmaintained and the docker version it uses is not supported anymore.
 2026-02-13 13:39:50 +01:00
Matthias Grob 87163c1578 uavcan esc: initializers cosmetics (#26470) 2026-02-12 18:22:19 -09:00
Matthias Grob 61a8ae80a6 FailureDetector: implement upper and lower current limit with offset 2026-02-09 18:08:26 +01:00
Matthias Grob f8329ff80d FailureDetector: rework motor status check 2026-02-09 18:08:26 +01:00
Matthias Grob b4b1b44c6a FailureDetector: consistent timestamp naming 2026-02-09 18:08:26 +01:00
Matthias Grob f5a56ae42f escCheck: rework online check to properly report offline ESCs 
previous to this
09d79b221f
set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set.

So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.
 2026-02-09 18:08:26 +01:00
Matthias Grob f9cdd095b8 gnss_checks: always run strict checks on ground 
With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air.
 2026-02-09 10:59:58 +01:00
Matthias Grob 61c990c5ee estimator_interface: remove unused getter 2026-02-09 10:59:58 +01:00
Matthias Grob 9be7585add SagetechMXS: remove two unused subscriptions (#26356) 
Randomly saw that there's a publication and subscription for the same topic and
it is in this case indeed useless.
 2026-01-27 11:48:23 -09:00
Matthias Grob cac3c3c133 boot script: start uavcan and zenoh before logger 
because they publish optional topics which need to be advertised before logger starts otherwise they do not get logged!
 2026-01-27 10:06:22 +01:00
Matthias Grob 7a6506f2dd rtl: redability suggestions from review, remove unused subscription 2026-01-23 17:16:42 +01:00
Matthias Grob 2239c10192 rtl: restructure findRtlDestination() to one flow 2026-01-23 17:16:42 +01:00
Matthias Grob 8117fce790 rtl: never set arbitrary yaw, initialize _destination and _last_position_before_link_loss with NAN 2026-01-23 17:16:42 +01:00
Matthias Grob 18c3d889fe rtl: keep rtl_status struct on stack 2026-01-23 17:16:42 +01:00
Matthias Grob 31c7d70342 rtl refactor: name destination "destination" 2026-01-23 17:16:42 +01:00
Matthias Grob 6386f10ba2 rtl: unify finding closest safe point and move finding the destination into the dedicated function returning the destination 2026-01-23 17:16:42 +01:00
Matthias Grob deb9a1ad4e rtl: remove duplication for safe landing only in setRtlTypeAndDestination() 2026-01-23 17:16:42 +01:00
Matthias Grob f685df32bc rtl refactor: make dependency of rtl_type in status clear 2026-01-23 17:16:42 +01:00
Matthias Grob 432b0e8c58 rtl: adhere to parameter member naming convention 2026-01-23 17:16:42 +01:00
Matthias Grob 473ef5fd06 uavcan: esc: fix actuator test on uavcan ESCs that consume ArmingStatus (#26255) 
* uavcan esc: remove unused includes

* uavcan arming_status: disarm when terminated

To stay consistent with kill.

* uavcan: publish armed during actuator tests to make it possible spinning motors
 2026-01-13 10:57:54 -09:00
Matthias Grob de49edc428 failsafe web simulation: end user friendly mode names + add Altitude cruise and External 1 2026-01-12 11:30:07 +01:00
Matthias Grob b5846fd8c2 Commander: unify RC loss and data link exception options 2026-01-12 11:30:07 +01:00
Matthias Grob 0e615816b3 commander/failsafe: fix user takeover not possible in fallback Land action when configured RTL is not possible 2026-01-09 10:10:23 +01:00
Matthias Grob 4cf4f82233 failsafe unit test: add cases for 1 allow taking over from degraded failsafes 2 not cause immediate takeover when failsafe happens because of mode switch 
The first test makes sure the user can take over when an RTL failsafe was triggered but degraded to a Land.

The second test rules out the easiest fix of removing the condition `_selected_action == selected_action` which causes the problem for test one but is there for a reason.
 2026-01-09 10:10:23 +01:00
Matthias Grob 3e425210e0 Hysteresis: enable initializing arrays with default constructor initial state false 2025-12-18 13:29:40 +01:00
Matthias Grob f25997a15b RoverLandDetector: move static hysteresis configuration to constructor 2025-12-18 13:29:40 +01:00
Matthias Grob e132568430 FixedWingLandDetector: remove useless 0 delay away from landed 2025-12-18 13:29:40 +01:00
Matthias Grob b0008e99ff generate_board_target_json: allow to specify individual targets or entire boards in filter 2025-12-05 08:47:11 -09:00
Matthias Grob f6de211a27 boards: skip resetting INA parameters to the same default value 2025-11-27 15:16:50 +01:00
Matthias Grob c8286d4bba Remove COM_RC_ARM_HYST 
I've never anyone seen change that value and break the familiar user experience.
 2025-11-26 09:58:19 -09:00
Matthias Grob 7b05a00db1 MS5837: correct unit conversion to Pascal 2025-11-13 15:52:00 -08:00
Matthias Grob b83f21ec6f temperature_calibration/baro: fix pressure unit 
It's Pascal, not Hectopascal since
0c31f63896
 2025-11-13 15:52:00 -08:00
Matthias Grob 05c79e23d5 SensorBaroSim: correcct comment, nothing in hPa 
This comment was forgotten in #20057
 2025-11-13 15:52:00 -08:00
Matthias Grob 363242972c process_sensor_caldata: correct pressure unit to Pascal instead of Hectopascal 
Barometeric pressure was changed to the SI unit Pascal instead of the non-SI unit Hectopascal/Millibar in
0c31f63896

This script stayed unchanged and suffers from assuming `sensor_baro.pressure` is still in the old unit which would be a 100 times smaller number.
 2025-11-13 15:52:00 -08:00
Matthias Grob ae03630570 uavcan: more efficient calculation of esc.RawCommand.cmd array size 2025-11-03 08:18:55 -09:00
Matthias Grob 540e80eb77 FilaureDetector: publish failure_detector_status in class and call that from commander 2025-10-23 09:23:45 +02:00
Matthias Grob 2adc36b2af FailureDetector: write out status veriable name for clarity 2025-10-23 09:23:45 +02:00
Matthias Grob 70eecf6070 FailureDetector: adhere to the parameter naming convention 2025-10-23 09:23:45 +02:00
Matthias Grob 65c5bd6906 Fix (dis)arm reason enumeration (#25766) 2025-10-20 09:12:36 -04:00
Matthias Grob 3e3bb82331 navigator: increase stack by 30 bytes (#25769) 2025-10-15 11:21:26 -08:00
Matthias GrobandHamish Willee 2cae8ee797 Improve documentation for motor failure injection and detection (#25756) 
* failure_injection: improve previously vague motor faulure

Reading it again I decided adding the sentance in 4d2170c13e is not clear enough.

* docs/safety: add a motor failure detection paragraph

The functionality is in my eyes pretty basic but so far completely undocumented so I went through the code and added a paragraph based on questions I received.

* Subedit

* Apply suggestion from @hamishwillee

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-10-15 11:05:33 +11:00
Matthias Grob babe094d06 FailureDetector: use robust timeout checks for motor failure detection (#25757) 2025-10-14 10:46:29 -08:00
Matthias Grob 7706aae67d mavlink_receiver: only switch outgoing MAVLink version to 2 if it was 1 before 
to avoid the message that comes with it being spammed.
 2025-10-14 18:38:02 +02:00
Matthias GrobandJacob Dahl 4842c542b8 rc_update: remove 1% deadzone for RC channels 1-8 (#25502) 
* rc_update: remove 1% deadzone for all channels

this should be handled higher level.

* Remove all references to the RC{n}_DZ parameters

Regular expression: RC.{0,2}_DZ

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-10-13 21:41:11 -08:00
Matthias GrobHamish WilleeJacob Dahl
 		12035682d7 Use MAVLink v1 only as opt-in (#25583) 
* Remove support for MAVLink 1

* Add back support for MAVLink 1 but don't default to it

* Update src/modules/mavlink/mavlink_params.c

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-10-13 20:58:34 -08:00
Matthias GrobandSilvan 33301764e4 Handle SYS_AUTOSTART 0 the same as no valid airframe being available (#25645) 
* ROMFS: do not exit airframe loading if SYS_AUTOSTART is 0

Do not treat 0 as a magic value that skips the aiframe loading.
Instead leave it tot he rc.autostart to load an airframe that if finds
appropriate (can be defined in external aiframe).

Signed-off-by: Silvan <silvan@auterion.com>

* ROMFS: adjust airframe load spacing and message/comment wording

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
 2025-10-13 20:56:27 -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
Matthias Grob 4d2170c13e docs/failure_injection: motor off requires CA_FAILURE_MODE to be set 2025-09-30 11:23:09 +02:00
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
Matthias Grob 053cc9aecc Fix newlines broken from #25499 66b07d8219 2025-09-26 14:01:55 +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
Matthias Grob 2bf9fce577 Sticks: globalize MPC_HOLD_DZ to MAN_DEADZONE 2025-09-18 15:50:10 +02:00
Matthias Grob 7b68c5dbfc parameters: remove parameters_injected.xml and support for it in the build system (#25549) 
This was apparently added 10 years ago to store metadata of UAVCAN components within the PX4 binary. The parameters in the xml are mostly early UAVCAN ESC parameters that are presumably out of date and not used. Also it does not scale to maintain metadata for all the possible UAVCAN components and it causes confusion when users read the metadata documentation because these parameters are not available in PX4. That's why I suggest to remove it.
 2025-09-11 10:47:45 -08:00
Matthias GrobandHamish Willee 63ec2f0406 docs/safety: clarification for position loss in manual position controlled flight 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-09-08 09:41:52 +02:00
Matthias Grob e0cdcdb436 Remove COM_POSCTL_NAVL 
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
 2025-09-08 09:41:52 +02:00
Matthias Grob 887ca6d497 ManualControlSelector: address invalid prioritized input and don't check if sample is from the future 2025-07-31 11:34:53 +02:00
Matthias Grob 461433d7f6 ManualControlSelector: is InputValid refactor with switch case for code readability 2025-07-31 11:34:53 +02:00
Matthias Grob a09352c079 ManualControl: add option to prioritize RC or MAVLink but with fallback 2025-07-31 11:34:53 +02:00
Matthias Grob b876aa5b45 ManualControlSelector: robust timeout check 2025-07-31 11:34:53 +02:00
Matthias GrobandJacob Dahl 6cf494dde1 Publish RTCM stream telemetry also for UAVCAN GNSS receivers (#25315) 
* uavcan gnss: publish rtcm instance and injection rate

* GPS drivers minor refactor (#25316)

* GPS drivers: adhere to message name based variable naming convention

* uavcan gnss: use matrix norm calculation

* GPS drivers: rate naming refactor and robust timeout checks

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-07-29 09:55:21 -08:00
Matthias Grob 79b46e08a8 Rename manual_lockdown to kill for clarity 2025-07-28 17:07:08 +02:00
Matthias Grob 32531c870e px4io: terminated -> termination 
fogotten to allign completely in the last step
 2025-07-28 17:07:08 +02:00
Matthias Grob 359cad3636 Add back original quadrotor X unit test cases from old multirotor mixer 2025-07-28 14:10:50 +02:00
Matthias Grob 88460db44a ControlAllocationSequentialDesaturation: improve unit test fixture in terms of parameter update and defaulting to no airmode 2025-07-28 14:10:50 +02:00
Matthias Grob 40e1e82cb0 ControlAllocationSequentialDesaturationTest: convert existing unit test cases to improved fixture 2025-07-28 14:10:50 +02:00
Matthias Grob a80e89255c ControlAllocationSequentialDesaturation: adopt improved unit test fixture 
This makes it much easier to go through allocation secnarios in one line with comprehensive numbers.
 2025-07-28 14:10:50 +02:00
Matthias Grob cd1bac0a55 ControlAllocationSequentialDesaturation: add unit tests 2025-07-28 14:10:50 +02:00
Matthias Grob 53efcbd2c2 control_allocation: Consistently replace with ActuatorVector alias for readability 2025-07-28 14:10:50 +02:00
Matthias Grob 6a3a0d136b ActuatorEffectiveness: add comments to EffectivenessUpdateReason 
from information previously only available in the commit message.
 2025-07-28 14:10:50 +02:00
Matthias Grob 37899269a8 control_allocator: fix PID dependency definition 2025-07-28 14:10:50 +02:00
Matthias Grob ef6866cd08 ControlAllocationSequentialDesaturationTest: fix include instead of duplicating definitions 2025-07-28 14:10:50 +02:00
Matthias Grob 4b4cc2164c Revert "Remove inclusion of rotors in library to enable test (#24286)" 
This reverts commit f7dadd9b89.
 2025-07-28 14:10:50 +02:00
Matthias Grob 930c0451b5 ActuatorEffectivenessRotorsTest: add Hexarotor X 2025-07-28 14:10:50 +02:00
Matthias Grob b9f7b8f705 commander failsafe: never override user intended termination + unit test 2025-07-28 11:36:21 +02:00
Matthias Grob 972acf0203 commander params: disable remaining flight time failsafe by default 
Currently if you configure a battery capacity the battery library calculates a remaining flight time and you by default get an RTL when the flight time - return time is running out.

Since the state of charge threshold based battery failsafes `COM_LOW_BAT_ACT` are disabled by default I was asked to also disable the flight time based failsafe to be consistent.
 2025-07-28 10:37:43 +02:00
Matthias Grob 200be07021 action_request: rename ACTION_TERMINATE to ACTION_TERMINATION for clarity 2025-07-25 13:01:25 -06:00
Matthias Grob 9d75bdbe62 IO: rename FORCE_FAILSAFE to TERMINATION for clarity 2025-07-25 13:01:25 -06:00
Matthias Grob 7fe78e184e Rename force_failsafe to termination for clarity 2025-07-25 13:01:25 -06:00
Matthias Grob 34dacffc4a Commander: shell command commander termination instead of lockdown on for clarity 2025-07-25 13:01:25 -06:00
Matthias Grob 539ef8b0d1 PositionControlTest: Additional test case velocity setpoint with invalid states (#25286) 2025-07-25 09:04:56 +02:00
Matthias Grob dbc36c9e3d commander params: Further clarify termination vs kill 2025-07-23 11:13:11 +02:00
Matthias Grob 6c5c88f72e Commander: only trigger MAVLink parachute on termination 
This can now be tested using the new termination RC switch.
 2025-07-23 11:13:11 +02:00
Matthias Grob 52e8a0a0db Add RC termination switch 2025-07-23 11:13:11 +02:00
Matthias Grob f9b811b0c5 Commander: add option to ignore manual control loss in external modes 2025-07-15 13:08:18 +02:00
Matthias GrobandHamish Willee 7d33df4650 Doc Orbit: update and clarify configurability and behavior around limits (#25208) 
* Doc Orbit: update and clarify configurability and behavior around limits

* run prettier

* Fix up link to table

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-07-15 12:29:29 +10:00
Matthias Grob a4115db669 FlightTaskOrbit: replace hardcoded 10m/s maximum speed with multicopter speed configuration (#25192) 2025-07-10 11:16:11 -08:00
Matthias Grob 140b426720 stylecheck script: improve bash consition because of error iwth newer terminal versionsstylecheck script: improve bash condition to avoid error with newer terminal versions (#25193) 2025-07-10 10:59:19 -08:00
Matthias Grob daa491dc19 rc_update: make payload power switch an optional 3-way switch 
to support 3 different power states for the payload.
 2025-06-30 16:50:28 +02:00
Matthias Grob 1bccd5557a rc_update: add unit tests for two way payload power switch 
with the intention to extend it to an optional 3 way switch.
 2025-06-30 16:50:28 +02:00
Matthias Grob 8e7c2ed440 rc_update: allow payload power switch to be used for other boards than ARK FPV 2025-06-30 16:50:28 +02:00