906b87581c
fix: revert debugging section of distance_sensor in dds-subscription ( #26643 )
2026-03-04 11:33:48 +01:00
7f5de5d141
uxrce_dds: support multi-instance uORB topics ( #26305 )
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uxrce_dds: improve DDS to uORB multi-instance routing and docs
* Route single DDS topic to multiple uORB instances via message field
* Document route_field → instance mapping
* Allow subscriptions_demux without route_field
* Rename subscriptions_demux → subscriptions_multi
* Update docs (ROS 2 wording, version tip, minor fixes)
2026-03-03 15:57:24 +01:00
d317113dc8
CI: enable clang-tidy bugprone-assignment-in-if-condition ( #26580 )
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* docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io >
CI: enable clang-tidy bugprone-assignment-in-if-condition
Signed-off-by: kuralme <kuralme@protonmail.com >
initialize and immediate assignments made one line
Signed-off-by: kuralme <kuralme@protonmail.com >
* two more initialization fix
Signed-off-by: kuralme <kuralme@protonmail.com >
---------
Signed-off-by: kuralme <kuralme@protonmail.com >
Co-authored-by: PX4BuildBot <bot@px4.io >
2026-02-27 00:04:45 -09:00
8a9be9a8f0
ekf2: update logger, mavlink, DDS, and replay for AuxGlobalPosition
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Update integrations to use the new AuxGlobalPosition message instead
of the VehicleGlobalPosition-based aux_global_position topic.
2026-02-20 17:43:45 +01:00
ce3e62841f
module_base: remove CRTP template pattern to reduce flash bloat ( #26476 )
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* module_base: claude rewrite to remove CRTP bloat
* module_base: apply to all drivers/modules
* format
* fix build errors
* fix missing syntax
* remove reference to module.h in files that need module_base.h
* remove old ModuleBase<T>
* add module_base.cpp to px4_protected_layers.cmake
* fix IridiumSBD can_stop()
* fix IridiumSBD.cpp
* clang-tidy: downcast static cast
* get_instance() template accessor, revert clang-tidy global
* rename module_base.h to module.h
* revert changes in zenoh/Kconfig.topics
2026-02-19 15:17:17 +13:00
0ef4f1b7bd
Add uxrce dds flow control flag ( #26209 )
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* added flow control bitfield
* shortened to 16 char param name length
* refactored changes for uxrce flow control param
* reverted additions to docs
* Update src/modules/uxrce_dds_client/module.yaml
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
---------
Co-authored-by: minotico <81227020-minotico@users.noreply.github.com >
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
2026-01-07 16:59:03 -09:00
ffc184fcf7
[uxrce_dds_client] Allow for arbitrary topic instances to be bridged ( #22350 )
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-11-18 23:24:35 +00:00
9276dc5abd
feat: add attitude and odometry pub rates limits ( #25792 )
2025-10-22 14:55:51 +02:00
6e8f61c551
various cmake fixes ( #25748 )
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- enable building in a cmake subdirectory:
- use consistent path to "etc" in build directory
- add a quick fix for mavlink inclusion with
`mavlink/<version>/mavlink.h`, presumably the problem does not
appear normally since somewhere the build root directory is added
to include paths.
- install gazebo config and plugins, the goal is to enable packaging of
PX4 sitl binaries.
- fix dependency on dds_topics.h generation in uxrce_dds_client:
*** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop.
https://github.com/PX4/PX4-Autopilot/issues/21788
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-10-17 11:11:00 -08:00
a64536802b
gz: fix gimbal yaw, add dds publisher ( #25754 )
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* gz: correct gimbal yaw
* uxrce_dds: add publisher /fmu/out/gimbal_device_attitude_status
* chore: use explicit ENU_to_NED rotation
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
* format
---------
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2025-10-14 11:45:43 -08:00
849819629a
dds: add adsb topic ( #25652 )
2025-10-03 19:01:40 +01:00
b081cf5c31
ucrxe_dds_client: Implement simple parameter-driven message namespace ( #25444 )
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* 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
2eac6cca38
dds_topics: accept landing_gear command from external modes ( #25496 )
2025-08-28 08:30:27 -08:00
a1bc09a6ad
rover: seperate speed control
2025-08-20 10:54:16 +02:00
600c717eb9
Add namespace support for uxrce-dds client during firmware upload ( #25291 )
2025-07-25 11:43:30 -08:00
4896099232
dds: rate_limit /fmu/out/wind to 1Hz
2025-07-14 16:12:00 +02:00
fcbe017221
dds: add Wind topic to dds bridge
2025-07-14 16:12:00 +02:00
90a4b4798d
rover: expose rover messages to DDS
2025-07-09 08:58:13 +02:00
17cadf7739
dds_topics: set more sensible ROS2 publication rate limits
2025-06-02 12:01:40 +02:00
e1167f0888
dds_topics: rate limit BatteryStatus ROS2 publication to 1 Hz
2025-05-27 13:21:56 +02:00
238dffcd1b
uxrce_client: add option to set polling rate limit per topic
2025-05-27 13:21:56 +02:00
ea94bc11eb
DDS topics: add FW highlevel interfaces
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Signed-off-by: Silvan <silvan@auterion.com >
2025-05-26 14:47:38 +02:00
134ee7b640
dds: clean up timesync
2025-05-23 11:30:55 +02:00
6fcfd5fac1
uxrce_dds_client: immediately create data writers on startup
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There is some race condition where in rare cases the topic publication
right after creating the writer did not get received on the ROS side.
This happens even with reliable QoS & reliable transport.
2025-04-04 09:12:53 +02:00
898d631b24
dds_topics: add vtol_vehicle_status
2025-03-27 09:29:54 +01:00
fdebdc447d
dds_topics: add home_position
2025-03-24 09:34:51 +01:00
b916a96e00
Remove uorb topics exclusively used for avoidance
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- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg
Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
430be08131
Add payload tx/rx timeouts to DDS
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* Add tx/rx timeouts
* Code style & tx default timeout
* Clarify TX/RX disable value
2025-02-14 14:54:42 +01:00
975ec30c9c
uxrce_dds_client: add DDS message versioning
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This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
2025-02-11 13:19:25 +01:00
ce64263ce7
publish validated airspeed topic ( #24302 )
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* publish validated airspeed topic
* fix typo
2025-02-07 14:44:48 +01:00
e7145e7b44
uxrce_dds_client: include distance sensor in dds_topics.yaml
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2024-12-17 22:28:40 -05:00
4d62522942
uxrce_dds_client: remove unused msgdir arg from script
2024-12-13 16:34:37 +01:00
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
a2156244d3
uxrce_dds_client: CMakeLists.txt cleanup
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- common variable for Micro-XRCE-DDS-Client
- don't mix tabs and spaces
- px4 module include all dependencies
2024-11-12 21:20:54 -05:00
fbbfcdb7a6
uxrce_dds_client - Fix nullptr access in certain cleanup situations ( #23913 )
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* Only close initialized objects
* Added err log in case of no ping
* Added err log in case of timesync timeout
2024-11-11 14:23:46 +01:00
224aef142c
Retry logic in uxrce_dds_client startup ( #23723 )
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* Added retries if uxrce_dds_client fails during setup
* Break timesync endless loop in case of agent reset
* ORB unsubscribe, to avoid too many open fails with multiple reconnects & format
* Added review feedback
2024-09-26 17:43:49 +02:00
33d99a13e8
differential: restructure and update module ( #23430 )
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* differential: rename module
* differential: restructure and update module
2024-08-07 09:53:37 +02:00
8070c70f2c
uxrce_dds_client: dds_topics.yaml add vehicle_land_detected
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- px4_msgs::msg::VehicleLandDetected has been added to dds_topics.yaml
2024-06-27 01:10:04 -04:00
17916b7fdc
uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream
2024-05-15 11:07:01 -04:00
5d025e6d3d
increased uxrce-dds stack size to prevent overflow
2024-05-07 21:13:58 -04:00
a1cce7e961
uxrce_dds_client: optimizations and instrumentation
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- skip ping session if data flowing bidirectionally
- add perf counters for loop time and interval
- skip blocking poll if there's input data to read
2024-03-12 16:22:26 -04:00
b115d3cd44
uxrce_dds_client: refactor init to retry indefinitely
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- move init from UxrceddsClient to init() method so that retry is
possible for both serial and UDP init
2024-03-12 16:22:26 -04:00
57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static ( #22815 )
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Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.
Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.
* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h
---------
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2024-03-08 16:28:24 -05:00
396ef222ee
DifferentialDrive: Rework structure
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3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
2024-02-12 14:29:10 +01:00
fc90e235f1
Rename differential drive setpoint topics
2024-02-12 14:29:10 +01:00
e457a5baed
Differential Drive Guidance: Add guidance
...
also add dependency on control allocation parameter CA_R_REV
Differential Drive Guidance: Added mission logic
Differential Drive Guidance
Differential Drive Guidance
Differential Guidance: Inlcude library
Differential Guidance: Compiles, does not work though
Differential Guidance: Works somewhat
Differential Guidance: Temp
Differential Guidance: Tuning
Differeital Drive Guidance: Remove waypoint mover
Differential Guidance: Fixed accuracy issue by converting from float to double
Differential Guidance: rebased on differentialdrive and improved waypoint accuracy
Temp
Differential Guidance: cleanup
temp
2024-02-12 14:29:10 +01:00
3de5c609a4
Differential Rover: PR fixes
2023-12-21 16:27:53 +01:00
1e7ce32480
Differential Rover: Added logging and dds topics
2023-12-21 16:27:53 +01:00
942b6700a1
dds_topics: export estimator_status_flags
2023-12-12 14:43:07 -05:00
fe7988672f
ekf2: auxiliary position fusion
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
Marco Hauswirth