* refactor: use parseDefaultArguments
* style: reverted changes to docs (should be auto-generated)
* refactor: use parseDefaultArguments
* style: reverted changes to docs (should be auto-generated)
In the CA_ICE_PERIOD param description, a '>' was at the start of a
line. This is interpredeted by markdown as a quotation type indented
block which applies not only to that line, but to all following ones.
Changing the line breaks to only occur after full stops fixes it.
* SIH: explicitly use local velocity for all aerodynamic calculations
no functional change
* SIH: add param & vars for wind and apparent vel
no functional change
* SIH: replace all relevant vels with apparent vel
Only places where _v_E is remaining:
- ecefToNed to calculate _v_N
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
and _v_N:
- ecefToNed
- print_status
- publish_ground_truth
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
which are all not relevant for aerodynamics.
* sih: wind review suggestions
* sih wind: switch direction to global wind source direction convention
* SIH: clean up variable declarations
* SIH: rename variables for consistency
* docs: SIH: document new wind parameters
* Release notes: note for SIH wind settings
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
When the PI controller computed zero on-time (e.g. temperature already
above target), the heater was still momentarily turned on every cycle
before being immediately turned off. Skip the on/off toggle entirely
when the computed on-time is zero.
* fix(dataman_client): fail fast when dataman is unavailable
Check client_id before every DatamanClient operation to avoid waiting
for a response timeout when dataman was never running.
- Adds CLIENT_ID_NOT_SET guard to all sync and async methods
- Avoids cross-module linkage between dataman_client lib and dataman module
Supersedes #26128
* better init
* 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
---------
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
---------
Co-authored-by: Pedro Roque <roque@caltech.edu>
Nick