* test: add StickYaw unit test for unaided_yaw NaN transition bug
Adds a functional gtest that verifies the yaw setpoint does not jump
discontinuously when unaided_yaw transitions from finite to NaN.
Reproduces the bug fixed in #25710.
* test(StickYaw): clarify unaided_yaw NaN root cause in test comment
NaN originates from corrupted IMU delta_angle propagating through
OutputPredictor::calculateOutputStates() Euler extraction.
* navigator:MissionFeasibility rename checkFixedWindLandApproach() to checkFixedWingLandApproach()
Renames checkFixedWindLandApproach() to checkFixedWingLandApproach() to fix a typo in the function name.
This improves code readability and makes the function name consistent with the intended FixedWing landing approach logic, without changing behavior.
* navigator:MissionFeasibility rename checkFixedWindLandApproach() to checkFixedWingLandApproach()
Renames checkFixedWindLandApproach() to checkFixedWingLandApproach() to fix a typo in the function name.
This improves code readability and makes the function name consistent with the intended FixedWing landing approach logic, without changing behavior.
* heater: add multi-instance support, refactor parameter handling, remove legacy params file
This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.
Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure
This improves scalability and makes heater configuration consistent across setups with multiple sensors.
* Refactor heater configuration across multiple boards
- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.
* heater: fix missing HEATER1_OUTPUT_EN control
* heater: fix more missing HEATER1_OUTPUT_EN control
* heater: tidy config, docs, and instance handling
- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES
Note: drop intermediate/reverted change around the 'celsius' spelling.
* heater: refactor constructor to remove unused parameter and add instance name function
- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization
Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.
* format
* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO
* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency
* heater: add a TODO for px4io multi-instance
* heater: update missing GPIO_HEATER1_OUTPUT in sky-drones
* heater: fix multiple newlines at EOF (resolve CI check failure)
* heater: switch to PublicationMulti for heater_status and log multi-instance
- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")
This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Fixes potential bug if unaided yaw becomes nan during execution:
if unaided yaw becomes nan during execution the yaw correction would jumpt to 0 causing a large jump in yaw
the change removes this jump by holding the current yaw correction instead
* Remove Python extra paths from settings.json
Removed Python extra paths from VS Code settings.
Fix logic error where `mnt_mode_in` (value) was checked against `PARAM_INVALID`
instead of `param_handle`. This caused `param_get` to be called with an invalid
handle if the parameter was missing.
* mavlink: add GLOBAL_POSITION message handling
- Add handler for incoming GLOBAL_POSITION MAVLink messages
- Publish received positions to aux_global_position uORB topic
- Update GLOBAL_POSITION stream to use aux_global_position topic
* correctly handle multi AGP in mavlink pub
* move from GLOBAL_POSITION to GLOBAL_POSITION_SENSOR
* mavlink: update submodule to include GLOBAL_POSITION_SENSOR in common.xml
* AirspeedValidator, fix course over ground computation for NED frame
* fix potential out of bounds call
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Co-authored-by: jonas <jonas.perolini@rigi.tech>
* fix(mathlib): correct MedianFilter comparator to satisfy strict-weak ordering
- Add explicit NaN handling before comparison operators
- NaN sorted to high end, ensuring finite values cluster at median index
- Guard NaN checks with if constexpr for non-floating-point types
- Replace float equality check with < and > to avoid -Wfloat-equal
Fixes#25917
* fix(mathlib): remove type_traits dependency in MedianFilter
Replace std::is_floating_point_v<T> with a self-contained template
specialization to avoid <type_traits> header, which is unavailable
on NuttX targets compiled with -nostdinc++.
* fixed formating
* test(mathlib): add majority-finite and majority-NaN window tests for MedianFilter
* Moved structs inside namespace math
* clean up
* add two more tests
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* lightware_grf_serial: disable flow control
This might fix serial comms with the Lightware sensor.
* update sf45 to disable hw flow control
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: dirksavage88 <dirksavage88@gmail.com>
long is a 32-bit signed integer, which means the maximum it will hold is 0x7FFFFFFF.
strtol is overflowing, resulting in clamping the value to LONG_MAX (or 0x7FFFFFFF) and returns that instead.
Fixes by using strtoul, which corrects the returned value.
Can be tested by building a UAVCAN Node on the tag v1.16.1, flashing and checking the value displayed in dronecan_gui_tool. Screenshot added for convenience.
Protobuf-generated code in gz_msgs triggers -Wdouble-promotion warnings
from the Abseil library. Since this is external code we cannot modify,
disable the warning for this specific target.
Fixes#26533
* removed commented out parts
* changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp
* Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email
* added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero.
* fixed constant roll/pitch to be 0.0 again
* added parameter for maximum distance between controlled des height and current height.
Added state observation to reset the desired height to current height when altitude mode is turned on.
* added first short descriptions of manual modes.
* update descriptions
* removed vector dependency
* feat: updated gz submodule
* fix: newline
* fix: gz submodule
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Co-authored-by: Pedro Roque <roque@caltech.edu>
Refactor auxiliary global position fusion to support multiple AGP
sources. Add AgpSourceControl manager class that routes AGP messages
to the correct AgpSource instance based on configured source IDs.
Only instantiate AgpSource slots that have a configured ID on boot.
Move AGP subscriptions to manager class for correct message routing.
Matthias Grob