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Author SHA1 Message Date
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
Jacob Dahl b5bf28c204 platform: serial: add bytesAvailable() function 2025-07-29 09:07:03 -08:00
bresch 61e741e7d0 FlightTask manual acc: handle ekf position reset properly 2025-07-29 14:29:19 +02:00
bresch b740a43b3d ekf2: reset manual position update through fusion 
This provides a position reset-like behavior while still updating the
correlated states through fusion of position information.
 2025-07-29 14:29:19 +02:00
bresch 582b8f0a2b ekf2: allow manual position reset when horizontal aiding is active 
This allows the pilot to override position esitmates manually
 2025-07-29 14:29:19 +02:00
bresch 646133a4bf AGP: format enum names 2025-07-29 14:29:19 +02:00
bresch 0b2e4f1ab6 ekf-agp: add reset mode behavior 2025-07-29 14:29:19 +02:00
GuillaumeLaine 2106c6ca82 fix(msg): bump VehicleLocalPosition version which was previously modified 2025-07-29 13:29:45 +02:00
mahima-yoga e4ffed099c msg: add Wind.msg to versioned messages 
Was added as a default DDS topic recently.
 2025-07-29 11:54:04 +02:00
Jacob Dahl 344064f941 astyle: exclude tflite_micro (#25327) 2025-07-29 10:22:25 +02:00
MDLZCOOL bab6dc2ac6 fix(lib/perf): Fully reset mean and M2 in perf_counter 2025-07-28 22:28:38 -08:00
Jacob Dahl 42ef7a4f9a ark: fpv: enable payload deliverer module (#25322) 2025-07-28 14:03:30 -06:00
Jacob Dahl 463ddcab86 payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s 2025-07-28 11:25:17 -08:00
Jacob Dahl 8d4993e654 ark: v6x: enable payload deliverer 2025-07-28 11:25:17 -08:00
Jacob Dahl 75acb13c36 ark: v6x: encrypted: remove FW and VTOL modules to save flash (#25319) 2025-07-28 11:08:03 -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
Silvan Fuhrer 82569aad8d PositionSetpoint.msg: define range of loiter_radius 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-28 10:57:56 +02:00
Silvan e0a35b21a8 Navigator: fix param description of NAV_LOITER_RAD 
Account for negative=CCW.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-28 10:57:56 +02:00
Silvan 63f9acfa84 Navigator: loiter direction check: use -FLT_EPS instad of <0 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-28 10:57:56 +02:00
Silvan 85ccc064bd FW Mode Manager: handle loiter radius and direction correctly if not from position_sp 
In that case we take radius and direction from the param NAV_LOITER_RAD,
CCw if negative.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-28 10:57:56 +02:00
Silvan 44be2a3f91 Navigator: add get_default_loiter_CCW() to get loiter direction 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-28 10:57:56 +02:00
Silvan 9f83ccfca7 Navigator: in get_default_loiter_rad return absolute of NAV_LOITER_RAD 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-28 10:57:56 +02:00
Silvan 431f507d29 Navigator: rename get_loiter_radius to get_default_loiter_rad 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-28 10:57:56 +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
mahima-yoga f66192326c commander: only clear hold delay when failsafes are being deferred 2025-07-28 09:48:34 +02:00
Silvan Fuhrer edfcbc7c9b boards: remove duplicated enabling of AUX_GLOB_POS 
EKF2_AUX_GLOBAL_POSITION is y by default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-28 09:42:30 +02:00
Hamish Willee bae1b25b0c Run make format 2025-07-28 12:50:08 +12:00
Hamish Willee 01abe35563 MAV_CMD_DO_SET_MODE - add support 2025-07-28 12:50:08 +12:00
E-Krantz 600c717eb9 Add namespace support for uxrce-dds client during firmware upload (#25291) 2025-07-25 11:43:30 -08:00
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
Sindre Meyer HegrePedro RoqueHamish WilleeRamon Roche
 		3be0cb077c Neural Control Mode (#24366) 
* Add tflm to px4 with module

 - Add TensorFlow Lite Micro(TFLM) as a library in px4
 - Make a module that uses neural network inference for control, which uses TFLM for inference
 - Make board config files for PX4 with neural module

* Added neural flight mode

* Add posibility to read of inference times

* Fix comments from review:

- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup

* Add tflm to px4 with module

 - Add TensorFlow Lite Micro(TFLM) as a library in px4
 - Make a module that uses neural network inference for control, which uses TFLM for inference
 - Make board config files for PX4 with neural module

* Added neural flight mode

* Add posibility to read of inference times

* Remove auto start

* Add logging from neural control module

* Fix automatic startup to only be when module is included

* Switch to flight mode registration

* Add docs

* Change min/max/coeff to actual parameters

* add figures to neural network docs

* Switch to e2e network

* Remove toolchain changes and replace with instructions in docs

* Get ready for merge after toolchain upgrade

* switch back to submodule

* Try to figure out cmake

* Get CI working with new toolchain

* Remove fork dependency

* Finalize PR

* fix toolchain inclusion

* Fix ctype_base.h include

* Cleanup includes for TFLM

* Remove redundant std

* Update FW module names in board files

* Fix docs

* Remove cstdlib copy

* Copy header from nuttx

* Prettier, markup, layout

* NeuralControl.msg - update uorb comments to current standard

* Add description to neural topic

* Fix typo

* Typo

* TFLM and Module utitlities

* Neural networks top level

* Update docs

* Add manual control

* Update docs

* Revert the manual control attempt

* Update docs/en/advanced/nn_module_utilities.md

* Add posibility to set trajectory setpoint with manual control

---------

Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
 2025-07-25 09:42:12 -08:00
Alexander Lerach 132f7e9e0d cdcacm_autostart: add low bandwidth profile (#25302) 2025-07-25 09:26:51 -08:00
Sandesh Sharma 959587d2c9 fix: let UXRCE DDS agent IP to be set via parameter in SITL (#25231) 
* Read XRCE_DDS IP from ENV

* just remove the -h flag from the launch command

* add 127.0.0.1 as default IP

* add default value for IP
 2025-07-25 15:10:02 +02:00
Matthias Grob 539ef8b0d1 PositionControlTest: Additional test case velocity setpoint with invalid states (#25286) 2025-07-25 09:04:56 +02:00