* rover_mecanum: enable yaw control via MAVLink SET_POSITION_TARGET commands
* Maintain the original judgment conditions
---------
Co-authored-by: V <null>
The first test makes sure the user can take over when an RTL failsafe was triggered but degraded to a Land.
The second test rules out the easiest fix of removing the condition `_selected_action == selected_action` which causes the problem for test one but is there for a reason.
When position control is disabled, clear the setpoint properly to prevent stale values. This fixes a bug where switching to position mode in the same control loop as a hover thrust estimate update could fill up the velocity integrator.
* FwLateralLongitudinalControl: publish flight phase
* FwLateralLongitudinalControl: consolidate hrt_absolute_time calls
* FwLateralLongitudinalControl: Name time variables correctly
* FwLateralLongitudinalControl: pass current time as argument rather than class member
* FwLateralLongitudinalControl: use local position timestamp
This prevents PX4 from sending out the GPS_GLOBAL_ORIGIN message
immediately when a SET_GPS_GLOBAL_ORIGIN message arrives.
Instead, we apply the new origin in the EKF, and only then send out
the new origin, which is much more intuitive and doesn't confuse a user
of the API.
* reset by fusion:
* state correction with tiny observation variance
* covariance matrix upate with correct observation variance
* reset wind to 0 on hard-reset during global-position-reset
increase gate
* adjust unittest: velocity gets now reset on resetGlobalPosToExternalObservation
- avoids using invalid velocity estimate to reset wind
- do not set fusion flags if starting was impossible
- reset wind to 0 before resetting velocity using airspeed if wind data
is outdated
* driver: ist8310: add IST8310J device ID support and cross-axis compensation
IST8310J shares the same register map and initialization sequence as IST8310.
This change extends the existing IST8310 driver to:
- Accept the IST8310J device ID during probe and reset
- Load factory cross-axis calibration data from OTP
- Apply cross-axis compensation to raw magnetometer samples
The cross-axis compensation corrects factory axis misalignment only and
does not replace PX4 runtime magnetometer calibration.
Tested on Raspberry Pi using I2C with both IST8310 and IST8310J devices.
Signed-off-by: webbyeh <webbyeh@isentek.com>
* driver: ist8310: add IST8310J device ID support
IST8310J shares the same register map and initialization sequence as IST8310.
Factory cross-axis compensation support was evaluated but has been removed
in this revision due to flash size constraints on embedded targets. The
driver now focuses on device identification and stability, while relying on
the existing PX4 magnetometer calibration framework.
This commit also addresses review feedback by caching the WAI register value
to avoid redundant I2C reads during the reset wait state.
Tested on Raspberry Pi using I2C with both IST8310 and IST8310J devices.
Signed-off-by: webbyeh <webbyeh@isentek.com>
* Fix formatting issues in IST8310.cpp
---------
Signed-off-by: webbyeh <webbyeh@isentek.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* 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
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* basic working implementation
* first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks)
* removed unused imports
* changed module name from MCP to MCP230XX
* removed debug print statements
* adjusted auto start command of driver
* removed comments
* -added seperate main functions for both derivative modules (mcp23009 and mcp23017)
* compile common functions as shared library in src/lib/drivers
* fixed cleanup of modules
* ->unclean working version with shared common library
* used make format
* working & cleaned version
* -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously
-> Removed old mcap23009 calls and pin registrations
-> Adjusted GpioIn.msg to contain MAX_INSTANCES
* ->removed unused imports
->used make format
* Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x
* Fix: enabled platform_mcp_gpio in px4/fmu-v5x
* added depency to fmu-v5x
* Fix: removed new lines
* Fix: fixed linker errors
* removed unused linkage against mcp-library
* Made mcp start calls consistent for fmu-v5x and fmu-v6x
* moved logging of comm errors to read/write function directly
* added perf_count for sanity_check
* removed error message
* ensured member variables follow naming convention
* added retries to probe function
* simplyfied state-logic
* add break to terminate loop early
* ensured clean state when register_gpios() fails
* add registered-flag to pins
* used path from top dir instead of relative path in CMakeLists
* used constexpr to set parameters instead of calculating them at runtime
* style: used make format
* fix: corrected i2c_bus assignment
* style: init input of callbackhandler to 0
* fix: mark pin as registered if successful
* style: made arguments const type
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
* uavcan: collect node info and publish every second
* UORB: Add DeviceInformation Message
Format DeviceInformation.msg with standard comment spaces
* SENS: add getter for device_id
* UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information
* LOG: add deviceInformation
* MSG:BAT: fix comment to be inline with the max_instaces
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, Fixed bug with Powermonitor
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
* init: working towards dual-action ATMOS
* fix: update gz sim to latest
* fix: add motor number max fitting Actuator
* fix: revert non-necessary changes
* fix: ensure esc count does not exceed maximum number of ESCs
* fix: remove extra modules
* fix: sync submodules with remote
* fix: sync with main
* added vehicle command and support to remotely activate/deactivate the safety system (#26078)
* added print_status support for prearm safety status
* updated safety button to map to MAV_CMD_DO_SET_SAFETY_SWITCH_STATE = '5300'
* safety switch cmd: fixed incorrect catch-all and added commanded_state variable for easier reading
