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18214 Commits

Author SHA1 Message Date
Marco Hauswirth 7ee9ba0c48 * add failure injection with first simple usecase for sitl 
* add failure type 'drift' and failure-unit 'gps_alt'
 2025-10-03 10:40:54 +02:00
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 7f2a67a588 Commander: split out failure injection class into its own file 2025-09-30 11:23:09 +02:00
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
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
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 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
mahima-yoga a9720cf1ef FixedWingModeManager: use Sticks library 2025-09-18 15:50:10 +02:00
mahima-yoga a514289a68 Move Stick class into a globally available library 2025-09-18 15:50:10 +02:00
Pernilla 2cb97e79b9 FlightTaskManualAccelerationSlow: Acquire gimbal control until expected IDs are reported (#25565) 
* Acquire control until expected id s are reported

* require an updated message and allow release in case early exit of FlightTask

* FlightTask Gimbal: acquiring logic simplification suggestion

* formatting

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-09-18 11:09:09 +02:00
Pernilla 0c8f5ebc32 Navigator: delay neutral gimbal command (#25551) 
* Set gimbal neutral after delay
 2025-09-16 10:38:47 +02:00
Rowan Dempster d205d11c3d Recovering UTC timestamps from ULog without sensor_gps (#25534) 
* Added overloaded get_log_time util for fractional seconds

* Added write_info implementation for double info types

* Save boot time to .ulg via info message key boot_time_utc

* Changed time type from double to uint64_t, formatted

* Fixing get_log_time function doc
 2025-09-15 16:18:26 -08:00
Silvan db8a1f11a7 EstimatorCheck: fix reporting of low position accuracy failsafe 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-09-12 14:16:16 +02:00
jmackay2 8669947bcb Support Gazebo Jetty (#25521) 
* Support Gazebo Jetty

* Gazebo jetty cmake spelling fix

---------

Co-authored-by: jmackay2 <jmackay2@gmail.com>
 2025-09-11 19:30:27 -08:00