* Remove `MPC_USE_HTE` and always use hover thrust for altitude control
Note the separate module can still be not run but I have not seen a case where the hover thrust estimate is not useful for altitude control hence I don't expect anyone to have the parameter disabled or planning on not running the module.
This parameter was used to experimentally introduce the hover thrust estimator. First it was just logging its status and you could opt in to use it:
f9794e99f8
but soon after it became the default and you had to opt out of using it:
a8063ac948
AFAIK we haven't seen problems requiring to disable it in the last 5 years and hence I suggest to remove the parameter to reduce the configuration space.
* Update src/modules/land_detector/MulticopterLandDetector.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* undo docs changes
* change redundant update() calls to copy()
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* ark fpv board_config: update battery ADC current filter time constant to 0.5s
* battery: add configurable voltage and current filter time constants
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
It was added at a time where the triplet target was directly fed as position setpoint to the controller.
Since the smoothing improvements to FlightTaskAuto(SmoothVel) and removing the previous "aggressive" FlightTaskAuto variant there should be no need anymore for this logic. It can sometimes lead to unexpected sideffects. E.g. the vehicle would suddenly change direction when exceeding some arbitrary threshold.
* FWModeManager: add option to set flag for disabling actuators during launch
Signed-off-by: Silvan <silvan@auterion.com>
* Allocation: add option to each control surface to be locked for launch
Signed-off-by: Silvan <silvan@auterion.com>
* FW rate control: reset integral while control surfaces are locked
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: mahima-yoga <mahima@auterion.com>
* feat: implement UAVCAN LED control for individual light control and assignment
* uavcan led: nit-picks from review
* uavcan led: reduce maximum number of lights
to avoid unused parameters
* uavcan led: simplify anticolision on check
* uavcan led: correctly map 8-bit RGB to rgb565
* Trim param name character arrays to 17
16 characters + \0 termination
* uavcan led: final nit-picks
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Rename ULogMessageInfoTest to ULogMessagesTest and add struct-level
coverage for every message type in the ULog spec:
- File header: magic bytes, size, field offsets
- Flag Bits ('B'): size, field offsets, flag masks
- Format ('F'): size, serialization
- Info ('I'): string, int32_t, and float value layouts
- Info Multiple ('M'): string layout, continuation flag, field offsets
- Parameter ('P'): int32_t and float value layouts
- Default Parameter ('Q'): size, type bits, field offsets
- Subscription ('A'): size, field offsets, serialization
- Unsubscription ('R'): size, serialization
- Data ('D'): size, field offset
- Logging ('L'): size, field offsets, serialization
- Logging Tagged ('C'): size, field offsets
- Sync ('S'): size, magic bytes
- Dropout ('O'): size, default msg_size, serialization
- Message header: size, field offsets, ULOG_MSG_HEADER_LEN
- Enum values: all 13 ULogMessageType codes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The 48-byte struct (6 Vector2f) is only read inside initializePattern,
so passing by value creates an unnecessary copy.
Fixes performance-unnecessary-value-param clang-tidy diagnostic.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Remove using-declarations for math::constrain, math::max, and
math::min that are never used — all call sites use the fully-qualified
form (e.g. math::constrain()).
Fixes misc-unused-using-decls clang-tidy diagnostic.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
FlightTaskManualAcceleration and FlightTaskOrbit both inherit from
FlightTaskManualAltitudeSmoothVel but were calling FlightTask and
FlightTaskManualAltitude respectively, skipping the intermediate
parent's overrides (smoothing velocity init, parameter chain).
Fix the DEFINE_PARAMETERS_CUSTOM_PARENT macro argument and the
activate() call to use FlightTaskManualAltitudeSmoothVel.
Fixes bugprone-parent-virtual-call clang-tidy diagnostic.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
clang-tidy flags the memcpy of vlen bytes as
bugprone-not-null-terminated-result because the destination buffer
region is left unterminated in memory.
Copy vlen + 1 bytes (including the source null terminator) so the
buffer is null-terminated in memory. The ULog msg_size is not
incremented for the extra byte — the null sits in the struct's
key_value_str padding and is never written to the log file, preserving
the ULog wire format which does not include a null terminator for
string values.
The bounds check (vlen < sizeof(msg) - msg_size) guarantees at least
one byte of headroom beyond vlen, so vlen + 1 is always within the
struct.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Add a gtest that validates the exact binary layout of INFO and
INFO_MULTIPLE messages against the ULog spec. This exercises the same
packing logic as write_info/write_info_multiple and will catch any
accidental changes to the wire format (e.g. including a null terminator
in msg_size).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Automatically generate the clang-tidy exclusion list from .gitmodules
so new submodules are excluded without manual intervention.
Changes:
- Makefile: Generate CLANG_TIDY_SUBMODULES from .gitmodules paths
- Makefile: Add CLANG_TIDY_EXCLUDE_EXTRA for manual exclusions:
- src/systemcmds/tests (test code, looser style allowed)
- src/examples (educational code, not production)
- src/modules/gyro_fft/CMSIS_5 (vendored ARM DSP library)
- Delete src/systemcmds/tests/.clang-tidy (stale since 2019)
- Delete src/modules/gyro_fft/CMSIS_5/.clang-tidy (redundant)
Rationale: Submodules and vendored code should be linted in their
upstream repositories, not here. This reduces noise and focuses
clang-tidy on code that PX4 maintainers actually edit.
Contributors adding vendored (non-submodule) third-party code should
add their path to CLANG_TIDY_EXCLUDE_EXTRA in the Makefile.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Extend the -Wno-asm-operand-widths workaround to include Linux aarch64
in addition to Apple Silicon. CMSIS DSP contains ARM Cortex-M specific
assembly that clang (but not gcc) warns about on 64-bit ARM platforms.
The assembly code is unused on POSIX builds - only the C fallback
implementations are executed in SITL.
This fixes clang-tidy CI failing on arm64 runners.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* 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
call into a new UORB COMMUNICATOR ICHANNEL shutdown interface if it has been configured, otherwise it
does nothing. This allows ICHANNEL implementations to pass on a shutdown indication to a remote processor.
Implemented the shutdown interface in the muorb module for VOXL flight controllers.
previous to this
09d79b221f
set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set.
So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.
With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air.
Eric Katzfey