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Author SHA1 Message Date
Peter van der Perk c1d15d0e09 Zenoh: use strncpy and bool 2025-08-22 08:22:59 +02:00
Peter van der Perk 8689c00be7 Zenoh: cleanup and review 2025-08-22 08:22:59 +02:00
Peter van der Perk 17e843a985 zenoh: remove MessageFormat since Zenoh RIHS01 already provides it 
RIHS01 has the same functionality and already provides type safety with
rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with
their own px4_msgs for a mismatch
 2025-08-22 08:22:59 +02:00
Peter van der Perk 44ff6d9c62 zenoh: exclude src/modules/zenoh/dds_topics.yaml from yaml check 2025-08-22 08:22:59 +02:00
Peter van der Perk 747bcc9db5 zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h 
Allows for re-use for later ROS2 Service / Zenoh queryable
 2025-08-22 08:22:59 +02:00
Peter van der Perk 9ffd31097d zenoh: Use CDRv1 to match ROS2 
Fixes various padding related serialization issues.
 2025-08-22 08:22:59 +02:00
Peter van der Perk f99759db87 zenoh: Fix status keyexpr printf 2025-08-22 08:22:59 +02:00
Peter van der Perk 231128c68e Zenoh set transport lease to 60000 to match ros2 2025-08-22 08:22:59 +02:00
Peter van der Perk 5622565eea Zenoh optimize memory usage and add optional publish on matching 2025-08-22 08:22:59 +02:00
Peter van der Perk 7887f16daa Update NuttX config for use with Zenoh 2025-08-22 08:22:59 +02:00
Peter van der Perk 0763bbe2cf Generate default Zenoh config from dds_topics.yaml 
For easy transition from uxrce to zenoh and a sane base config to begin with
 2025-08-22 08:22:59 +02:00
Peter van der Perk bac009c2b8 Enable Zenoh by default on big-flash targets 
These targets can easily support Zenoh by default eases adoption and testing
 2025-08-22 08:22:59 +02:00
Peter van der Perk ac2627cca9 rmw attachment serialization changes 
Use new atachment serialization format
Subscriber fix parsing payload and remove uorb publisher on destructor
 2025-08-22 08:22:59 +02:00
Peter van der Perk 61e2f566ca Zenoh config, lv and connection fixes 
Fixes a bug in the csv parsing
Use % for / seperators in ros2_lv
On startup retry connecting
 2025-08-22 08:22:59 +02:00
Peter van der Perk 3d30eaae5f Fix NuttX keepalive socketoption 2025-08-22 08:22:59 +02:00
Peter van der Perk e052f35664 zenoh: omit timestamp attachment 
This isn't needed for the rmw_zenoh zenohd configuration
 2025-08-22 08:22:59 +02:00
Peter van der Perk 2bc9cb4ead zenoh: implemement experimental liveliness to get ROS2 graph to work 2025-08-22 08:22:59 +02:00
Peter van der Perk 5211d9c92e zenoh: pubsub factory fix datatype naming convention 2025-08-22 08:22:59 +02:00
Peter van der Perk 575923b534 Zenoh: fix topic_name and datatype mapping 
Using substring was buggy instad we make dictionary based on datatypes and the get_topics function
 2025-08-22 08:22:59 +02:00
Peter van der Perk e37f20e94d zenoh: Don't use uORB o_name as type but check for parent type 
For example vehicle_local_position_groundtruth has ROS2 type
vehicle_local_position, so we've to use px4_msgs/VehicleLocalPosition as typename
 2025-08-22 08:22:59 +02:00
Peter van der Perk cb74cee970 zenoh: Increase CDR safety margin 
Figure out by trial and error with padding on vehicle_local_position
 2025-08-22 08:22:59 +02:00
Peter van der Perk 70536766db zenoh: Handle parsing errors in config 2025-08-22 08:22:59 +02:00
Peter van der Perk 40bba0069d zenoh: Fix handling for non-existing types 2025-08-22 08:22:59 +02:00
Peter van der Perk 35004e357c zenoh: Add px4_sitl_zenoh to cmake-variants.yaml 2025-08-22 08:22:59 +02:00
Peter van der Perk 923257779a zenoh: Default to 127.0.0.1 when using sitl/posix 
Also improve error message when connection failed
 2025-08-22 08:22:59 +02:00
Peter van der Perk a24b3a121c zenoh: Improve error message when there are no scouting results 2025-08-22 08:22:59 +02:00
Peter van der Perk 85cab5a4db sitl: autostart zenoh if enabled 2025-08-22 08:22:59 +02:00
Peter van der Perk 859ba81e33 Zenoh fix gcc/sitl compile errors 2025-08-22 08:22:59 +02:00
Peter van der Perk 4aff095f9b IDL 2 RIHS01 remove tempfile and print 2025-08-22 08:22:59 +02:00
Peter van der Perk 796efeebe7 Implement Domain id parameter and move gid to zenoh 2025-08-22 08:22:59 +02:00
Peter van der Perk 9d02698987 Update Zenoh for library and implement rmw_zenoh features 
New zenoh-pico library
Keyexpr instrospection
RIHS01 Types
 2025-08-22 08:22:59 +02:00
Peter van der Perk e1a7fbce71 Update cdrstream code generator including typehash 2025-08-22 08:22:59 +02:00
Peter van der Perk a87456b38b Update rosidl 
Adds support for typehashes
 2025-08-22 08:22:59 +02:00
Peter van der Perk 33a5122916 Update Zenoh-pico 2025-08-22 08:22:59 +02:00
Peter van der Perk aa15512762 fmu-v6xrt: Add V6XRT001 and V6XRT002 sensor set 2025-08-06 16:49:42 -04:00
Peter van der Perk d9bc3bc6bb fmu-v6xrt: Enable lis2dml and bmm350 magnetometer 2025-08-06 16:49:42 -04:00
Peter van der Perk 7687e6e33f dshot: Telem set baudrate before pin-swapping 
On IMXRT setbaudrate resets swap state
 2025-06-17 14:54:48 +02:00
Peter van der Perk 001efc1c0b Bosch: BMM350: Fix self-test on high ODR rate 
We've to wait for atleast 6000us before doing self-test
 2025-06-17 12:01:45 +02:00
Peter van der Perk 0369abd556 Add lark to python requirements for the rosidl parser 2025-06-16 12:41:48 -07:00
Peter van der Perk 0fe8738ed9 msp_osd: Add VTX config, stick commands and arming status 
- Adds MSPv1 rx parsing to fetch VTX config
 - Allows to inspect and change VTX channel through CLI
 - Forward MSP_RC for stick commands osd
 - Forward MSP_STATUS for arming status for PIT and LP mode
 2025-06-11 11:32:32 -04:00
Peter van der Perk b8fa208bb5 Update NuttX 
Fixes RT117X OCRAM M7 memory freeze
 2025-06-05 06:03:59 -07:00
Peter van der Perk 1656278b5e Update NuttX 2025-05-29 05:15:18 -04:00
Peter van der Perk 64b9b52eb4 tropic-community: Update PX4 config 2025-05-29 05:15:18 -04:00
Peter van der Perk a89ec34e95 tropic-community: Add DTCM to heap move vectors to ITCM 2025-05-29 05:15:18 -04:00
Peter van der Perk 65c180852f i2c_launcher: Dehardcode battery index 2025-05-22 12:09:05 -07:00
Peter van der Perk b35753ded9 mr-canhubk3: Enable navigator in default target 2025-03-20 11:45:26 +01:00
Peter van der Perk 64d8f9a3c6 cmake: for vscode launch fallback to gdb-multiarch 
Newer toolchains don't ship with arm-none-eabi-gdb hence we should use gdb-multiarch instead
 2025-02-03 23:12:30 -05:00
Peter van der Perk 92b1f51623 tropic: Fix runtime error on new GCC 2025-01-27 14:20:16 -05:00
Peter van der Perk dc3f6a1608 fmu-v6xrt: Fix runtime error on new GCC 
New GCC versions inline builtin function like memcpy. On the fmu-v6xrt we can't call the functions inside imxrt_ocram_initialize because the ram function still needs to be initialized.
This commit add a compile hint to not use builtins inside the imxrt_ocram_initialize function
 2025-01-27 14:20:16 -05:00
Peter van der Perk 7f5bf9cf86 ci: add nxp tropic and s32k344 fmu target 2024-11-07 21:33:59 -05:00
Peter van der Perk 80edb91c01 boards: tropic store param on sdcard 
Tropic doesn't have a mtd, store param on sdcard instead
 2024-11-06 17:28:35 -05:00
Peter van der Perk 5d29c7811b imxrt: tone_alarm: Add FlexPWM based Tone alarm driver 2024-11-06 17:28:35 -05:00
Peter van der Perk a7e4000861 rgbled_pwm: Change linker so we can make board specific override for led functionality 2024-11-06 17:28:35 -05:00
Peter van der Perk df54caba1e tropic: enable dshot 2024-11-06 17:28:35 -05:00
Peter van der Perk 8f2ede870e tropic: fix system power 2024-11-06 17:28:35 -05:00
Peter van der Perk 5bec4d7aae Initial support for Tropic VMU 2024-11-06 17:28:35 -05:00
Peter van der Perk c6e86fdea0 Add Tropic teensy loader upload support 2024-11-06 17:28:35 -05:00
Peter van der Perk 4ca3e1b6e6 mr_canhubk3: add netman in default.px4board 2024-07-24 11:39:44 -04:00
Peter van der Perk af36c0b6ec mr_canhubk3: generate mtd_net when file is missing 2024-07-24 11:39:44 -04:00
Peter van der Perk a99cc0a20b Remove unused kconfig symbol 2024-07-24 11:39:44 -04:00
Peter van der Perk 46e43ec725 Decouple filepaths from rcS/MTD 2024-07-24 11:39:44 -04:00
Peter van der Perk ac1effa32a fmu-v6xrt: MTD use full FRAM (32KB) 2024-07-05 10:25:08 -04:00
Peter van der Perk aa55a777ba Add px4_sitl_allyes to CI target 2024-06-17 15:04:31 -04:00
Peter van der Perk c22f725d85 fmu-v6xrt: Support RC telemetry 2024-06-03 08:31:18 -04:00
Peter van der Perk cd93e2982c dshot: telemetry esc_status use sequential numbering for each motor 
channel != telemetry_index, we've to count from 0 and increment for each enabled ESC
 2024-05-30 04:56:42 -04:00
Peter van der Perk 7982f54a6a dshot: refactoring 2024-05-30 04:56:42 -04:00
Peter van der Perk ff6966da57 imxrt: dshot fix erpm calculation by implementing 3-bit exponent and 9-bit period 2024-05-30 04:56:42 -04:00
Peter van der Perk 3874b4c55d imxrt: move flexio irq handler to itcm 2024-05-30 04:56:42 -04:00
Peter van der Perk 5d2fda6172 dshot: bdshot fix esc offline/online checks 2024-05-30 04:56:42 -04:00
Peter van der Perk 0e41f9730f imxrt: dshot improve state machine reduce's no response count 2024-05-30 04:56:42 -04:00
Peter van der Perk f3ef0d6610 dshot: fix clearing out esc status 2024-05-30 04:56:42 -04:00
Peter van der Perk e2969952d3 drivers: dshot: prepare to extend for bidrectional dshot 2024-05-30 04:56:42 -04:00
Peter van der Perk 2de0af52e8 px4_fmuv6xrt: bidirectional dshot driver 2024-05-30 04:56:42 -04:00
Peter van der Perk 6b0ac49daf hardfault_log: Add jump to 0x0 & write 0x0 faults 2024-05-17 14:43:23 -04:00
Peter van der Perk ebfa53286f dronecan: SocketCAN driver check size before copying 
Avoids memory corruption if we get packets to big
 2024-05-17 14:39:52 -04:00
Peter van der Perk 470bea9ba8 Update NuttX 
Fixes imxrt1170 mpu config for extra checks
 2024-05-17 14:32:43 -04:00
Peter van der Perk 253208fdd4 fmu-v6xrt: Add I2C driver launcher 2024-05-08 11:34:13 -04:00
Peter van der Perk 5789803665 fmu-v6xrt: Enable debug features for more verbose hardfault output 2024-05-08 06:14:24 -04:00
Peter van der PerkandDavid Sidrane f382e585e8 sd_bench: Add U option for forcing byte aligned 
Co-authored-by: David Sidrane <david.sidrane@nscdg.com>
 2024-05-02 12:33:25 -04:00
Peter van der Perk 500332e424 imxrt: flexpwm remove 1:1 mapping requirement 2024-04-27 07:57:32 -04:00
Peter van der Perk 7bfad2502b Update NuttX 2024-04-10 11:04:07 -04:00
Peter van der Perk 047e900c2a px4io: Fix dependency problem caused by #22957 2024-04-04 09:10:09 -04:00
Peter van der Perk a9ba0acb2a cmake: all allyes target for better CI coverage 
Currently only v6x-rt and SITL are supported
But targets with label allyes will try to enable all kconfig symbols
 2024-04-01 22:05:20 -04:00
Peter van der Perk 791d7894c8 modules: zenoh: remove broken serial config and update topics 2024-04-01 22:05:20 -04:00
Peter van der Perk f082de5db7 kconfig: Add dependencies 2024-04-01 22:05:20 -04:00
Peter van der Perk 8817f59108 v6x-rt: Split ITCM static and auto-generated functions 2024-04-01 22:05:20 -04:00
Peter van der Perk d5b66cac2c drivers: cyphal: Fix ARM/x86 printf werror portability error 2024-04-01 22:05:20 -04:00
Peter van der Perk fe8a5eae99 drivers: bmi088_i2c: Enforce I2C driver can only be used when SPI version isn't selected 
Solves multiple references compilation errors
 2024-04-01 22:05:20 -04:00
Peter van der Perk 127d74f2e1 drivers: vector: Fix PX4 SITL x86 compilation 2024-04-01 22:05:20 -04:00
Peter van der Perk 4889ac0ebb drivers: uavcan: fix werror uninitialized error 2024-04-01 22:05:20 -04:00
Peter van der Perk 650ea6ef4a drivers: transponder: don't free pre-allocated memory 2024-04-01 22:05:20 -04:00
Peter van der Perk 0c5b25efc5 systemcmds: reflect: write return needs to be used for werror checks 2024-04-01 22:05:20 -04:00
Peter van der Perk 05badb5d76 systemcmds: microbench: %s doesn't except nullptr use "null" instead 2024-04-01 22:05:20 -04:00
Peter van der Perk 54f044c04a examples: matlab_csv_serial: fix compilation 
Update uORB definition and sprintf float formatting
 2024-04-01 22:05:20 -04:00
Peter van der Perk daee37d377 drivers: tap_esc: fix Werror=maybe-uninitialized compilation 2024-04-01 22:05:20 -04:00
Peter van der Perk 461b146ba8 drivers: barometer: ms5837 fix compilation error 
Fixes MS5837.cpp:343:29: error: 'T' was not declared in this scope by using last temperature instead
 2024-04-01 22:05:20 -04:00
Peter van der Perk d1ae242a91 v6x-rt: fix rover build regression 2024-03-05 10:21:41 -05:00
Peter van der Perk 9cef834624 fmu-v6xrt: update px4board enables vtol 2024-03-05 08:18:44 -05:00
Peter van der Perk e0b49afe81 bmp388: Driver print out start BMP390 identifier when detected 2024-03-04 02:05:37 -05:00
Peter van der Perk efbbd64ec0 fmu-v6xrt: Increase lpwork stack size 2024-02-26 14:01:56 -05:00