* sensors: move GPS antenna offsets to per-receiver parameters
Move antenna position configuration from the single EKF2_GPS_POS_X/Y/Z
parameter set into per-receiver SENS_GPS{0,1}_OFF{X,Y,Z} parameters in
the sensors module. Each offset slot is matched to a physical receiver
by device ID (SENS_GPS{0,1}_ID), falling back to uORB instance index
when no IDs are configured.
The antenna offset is now carried through the SensorGps uORB message
and blended alongside other GPS states when multi-receiver blending is
active, so EKF2 receives the correct lever arm for whichever receiver
(or weighted combination) is selected.
- Add antenna_offset_{x,y,z} fields to SensorGps.msg
- Remove EKF2_GPS_POS_X/Y/Z params; EKF2 reads offset from gnssSample
- Add SENS_GPS{0,1}_ID and SENS_GPS{0,1}_OFF{X,Y,Z} params (module.yaml)
- Blend antenna offsets in GpsBlending (weighted average)
- Add unit tests for single, blended, and failover antenna offset cases
- Migrate params.c to module.yaml for the vehicle_gps_position module
* sensors: gps_blending: add asymmetric weight and fallthrough offset tests
Add two additional antenna offset test cases:
- dualReceiverAsymmetricWeightAntennaOffset: verify that unequal eph
values produce correctly skewed blend weights (0.8/0.2) and that the
output antenna offset reflects the weighted average
- blendingFallthroughAntennaOffset: verify that when blending is enabled
but can_do_blending evaluates false (eph=0), the non-blending path
correctly assigns the selected receiver's antenna offset
* feat(param_translation): translate EKF2_GPS_POS_ to SENS_GPS0_OFF_
* fix(msgs): proper formatting
* chore(msg): 0 if invalid/unknown
* fix(ROMFS): migrate EKF2_GPS_POS_ params
* fix(docs): migrate EKF2_GPS_POS_ params
* fix(blending): unsigned param
* Update msg/SensorGps.msg
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* fix(sensors/gps): remove 'values:' tag in module.yaml
* fix(sensors/gps): unsigned instance index
* fix(blending): restore const on gps_blend_states()
Move antenna offset blending into blend_gps_data() where the
weights are computed, keeping gps_blend_states() const.
* fix(sensors/gps): fix msg annotation and restore SENS_GPS_PRIME values
Remove incorrect @invalid NaN annotation from antenna offset fields
(0.0 default is correct, not a sentinel). Restore values tag for
SENS_GPS_PRIME so QGC shows a dropdown.
* fix(gps_blending): fix pre-existing bug to clear _gps_updated flags
The loop iterates over i but always clears gps_select_index. The intent is to clear
all updated flags, but only the selected one gets cleared (N times)
* test(gps_blending): add stale update flag regression test
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
Recommend setting SENS_GPS_PRIME to the moving base CAN node ID
when using dual antenna GPS heading. The rover receiver in a
moving baseline configuration can experience degraded navigation
rate and increased data latency when corrections are intermittent,
making the moving base the better primary position source.
* fix(mathlib): rename euler312YawTest to match tested function
The test calls getEuler321Yaw() but was named euler312YawTest.
Fixes#22103
* test(mathlib): add unit test for getEuler312Yaw
The existing test was named euler312YawTest but actually tested
getEuler321Yaw. Rename it and add a proper test for getEuler312Yaw
that verifies the quaternion and DCM overloads agree, and that
312 and 321 yaw match for a pure-yaw rotation.
Fixes#22103
* fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name
VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which
does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN.
Fixes#26454
* fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN
These boards have a single sensor power rail that was incorrectly
named SENSORS4_EN (copy-paste from boards with 4 rails). Rename
to SENSORS_EN to match the actual hardware.
Boards with legitimately numbered rails (fmu-v6xrt, x25-evo,
x25-super) are not changed.
In dd2322d622, the local PressureToAltitude(pressure_pa, temperature)
was replaced with the shared getAltitudeFromPressure(pressure_pa,
pressure_sealevel_pa), but the call sites continued passing temperature
where sea-level pressure was expected. This caused the binary search to
never converge, hanging "commander calibrate baro" indefinitely.
The original function used measured temperature in its hypsometric
equation. The replacement uses standard atmosphere temperature (15C)
internally, which is sufficient since the calibration computes a
relative offset against GPS altitude.
- Pass kPressRefSeaLevelPa as the second argument instead of temperature
- Remove the now-unused temperature accumulation
- Replace unbounded while loop with iteration-capped for loop to prevent
hangs from float precision stalls, matching VehicleAirData.cpp
Subscription::update() already copies data into the destination buffer,
making the subsequent copy() call redundant. This eliminates an
unnecessary memcpy every cycle on the 400 Hz rate control loop.
migrateFWFromRoot held the SD root directory open via opendir/readdir
while performing heavy file I/O (getFileInfo, copyFw, unlink) inside the
loop. Between readdir calls the FAT semaphore is released, allowing
other tasks (e.g. logger) to dirty the shared FAT sector cache. When
the next FAT operation needed a different sector, fat_fscacheflush
would write the dirty data followed by an immediate read — triggering
a write-busy to read transition in the SDMMC WRCOMPLETE path that
kills the SD card on STM32H7.
Split into two phases: first collect .bin filenames with the directory
open, then close it before doing any file I/O. This also fixes a
missing closedir on the mkdir error path and avoids modifying directory
entries (via unlink) while iterating them with readdir.
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.
* boards: cuav/x25-super: add multi-instance heater support
Restore heater support removed in #26621 using the generic
multi-instance heater driver from #26325. Defines HEATER_NUM 2
for the two IMU heater outputs (PB10, PE6).
* boards: cuav/x25-super: fix heater IMU IDs and temp from hw test
Update defaults per @cuav-chen2 hardware testing:
- HEATER1_IMU_ID: 2818066 (SCH16T)
- HEATER2_IMU_ID: 3014698 (IIM42653)
- HEATER2_TEMP: 65°C
* Update boards/cuav/x25-super/init/rc.board_defaults
* ManualControl: Payload Power Switch: default PAYLOAD_POWER_EN false if RC_MAP_PAY_SW is configured. Apply initial switch state for Payload Power
* make format
* ManualControl: init power_en in init()
* ManualControl: Apply payload power state on first switch receipt if not armed
* simplfy
* fix idefs
* simplify
* serial: add txSpaceAvailable function
* serial: txSpaceAvailable and bytesAvailable fixups
* msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id
* lib: gnss: add RTCM parsing library. Generated by Claude Code.
* gps: fix RTCM injection to use inject-before-read pattern as before. Add RTCM parser to frame-align injection. Drain GpsInjectData uORB queue into RTCM parser buffer and then inject. Add GPS_UBX_PPK parameter to enable MSM7 output from the GPS module (rather than the default of MSM4) which is required for PPK workflows.
* gps: replace PX4_WARN with perf counters
* uavcannode: publishers: MovingBaselineData: publish all GpsInjectData updates during BroadcastAnyUpdates. Check and report data loss via uorb generationcounter. Only registerCallback outside of the loop.
* remove unnecessary include
* msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id
* uavcan: gnss: MovingBaselineData subscriber for RTCM logging for PPK. Add uORB generation tracking to detect data loss on RTCM injection.
* add instance TODO
* mavlink: esc: fix ESC_STATUS and ESC_INFO message emission.
Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order.
* Update src/modules/mavlink/streams/ESC_STATUS.hpp
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* Update src/modules/mavlink/streams/ESC_INFO.hpp
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* remove dependency on mixer_module/output_functions.hpp
* add actuator function definitions to EscReport.msg
* clean up
* add missing header
---------
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.
* 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>
* dronecan: esc: change UAVCAN_ESC_IFACE to 2 to default to only outputting on CAN2
* revert param default and update docs
* Subedit
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* serial: nuttx: revert tcdrain back to fsync
* serial: do not print error on EAGAIN
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
* ekf: always publish baro and gnss bias even if zero
* [SQUASH] ekf2: simplify hgt bias publish
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem
* docs: add gazebo plugins doc
* add to sidebar and summary
* prettier and link to sources
* review feedback
* Minor subedit and crosslink
* Update docs/en/sim_gazebo_gz/plugins.md
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* adis16507: enhance driver to handle and recover from all failure modes
- Clean up driver
- Add optional hardware reset
- Fix scale and range for 125 deg/s variant
- Handle communication errors when read returns zeroes
- Improved perf counters
* change prints to PX4_DEBUG, define BURST_READ_CMD, do both soft and hard reset, use ScheduleNow instead of 1ms delay, change read/write stall period to SPI_STALL value
* gz: print version number in init, remove gst plugin spam, rename function
* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions
* format
* change gzerr to gzwarn
Jacob Dahl