* boards: corvon 743v1 support (Docs and LED alignment)
This PR addresses #24769 by providing the required official documentation, while simultaneously aligning the board's LED semantics entirely with the PX4 standard.
Key Changes:
- Add complete corvon 743v1 hardware documentation and manufacturer link.
- Fix LED out-of-bounds bug and strictly align RGB states to Pixhawk standard (LED_BLUE=0, LED_RED=1, LED_GREEN=3).
- Update bootloader pin config (hw_config.h) to use red LED for boot/error, and update pre-built bootloader.bin.
* Prettier and file reduce
* docs: address reviewer feedback & board ID fix
* Apply suggestion from @hamishwillee
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs: resolve final reviewer feedback (PPM, Debug Port, Manufacturer List)
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
When a CRSF frame arrives with packet_size < 2 (PACKET_SIZE_TYPE_SIZE),
the subtraction `packet_size - PACKET_SIZE_TYPE_SIZE` underflows the
uint32_t working_segment_size to 0xFFFFFFFF. The subsequent overflow
check also wraps and fails to catch it. Since working_segment_size is
static, the parser is permanently stalled — no further CRSF messages
can be processed until reboot.
Validate packet_size >= PACKET_SIZE_TYPE_SIZE early, before any
subtraction, protecting both the known variable-length and unknown
packet branches in a single check.
Supersedes #26782 which only guarded the unknown-packet branch.
The flow output table shows forward movement producing +Y flow and
rightward movement producing -X flow, which confuses users whose sensors
have X-forward/Y-right coordinate systems. Add an info note explaining
that integrated flow values are angular rotations (radians) about the
body axes using the right-hand convention, which is why the axes are
cross-coupled with translational motion.
Add reusable skill definitions for common contributor workflows:
- commit: creates conventional commits with proper type(scope) format
- pr: creates PRs with conventional commit titles
- rebase-onto-main: handles rebasing onto main when parent branches
were squash-merged
Add a scalable .deb packaging framework for VOXL2, built on the
existing cmake/package.cmake CPack infrastructure. The framework
handles multi-processor boards by having the POSIX (_default) build
own the .deb and pull in the companion SLPI build's artifacts.
Board-specific files:
- cmake/package.cmake: CPack variable overrides (name, deps, version)
- cmake/install.cmake: install() rules for all .deb contents
- debian/postinst: px4-* symlinks, DSP signature, directory setup
- debian/prerm: service stop, symlink cleanup
- debian/voxl-px4.service: systemd unit (after sscrpcd)
Infrastructure changes:
- cmake/package.cmake: hook for board-specific CPack overrides
- platforms/posix/CMakeLists.txt: hook for board install.cmake
- Makefile: %_deb pattern rule (build _default, then cpack -G DEB)
- CI: auto-discover _deb targets, collect .deb artifacts, upload
to GitHub Releases
Future boards: add cmake/package.cmake + cmake/install.cmake and
CI discovers it automatically. No new file formats or tools needed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Read companion_targets files from board directories and exclude those
targets from CI grouped builds. The parent target builds them via
Make prerequisite, avoiding redundant CI jobs.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Add Makefile rules so that both `make modalai_voxl2` and
`make modalai_voxl2_default` build the SLPI DSP firmware first.
Add companion_targets file listing modalai_voxl2_slpi so CI knows
to exclude it from independent build groups.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Consolidate the VOXL2 SLPI (DSP) board from a separate directory into
the existing voxl2 board as a variant. Multi-processor SoCs like the
QRB5165 should use one board directory with multiple .px4board files
rather than separate directories per processor.
Changes:
- Add slpi.px4board (QURT/DSP) alongside default.px4board (POSIX/apps)
- Merge board_config.h with __PX4_QURT / __PX4_POSIX preprocessor guards
- Merge CMakeLists.txt with PX4_PLATFORM conditionals
- Split bus definitions into platform-specific files (i2c/spi_posix/qurt)
- Reorganize drivers into drivers/posix/ and drivers/qurt/ subdirectories
- Guard cmake/init.cmake and cmake/link_libraries.cmake for posix-only
- Update build and install scripts for new target names
- Delete boards/modalai/voxl2-slpi/ entirely
Build targets change:
- modalai_voxl2-slpi_default -> modalai_voxl2_slpi
- modalai_voxl2_default (unchanged)
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(ros): use matching branch for px4-ros2-interface-lib
When running on release branches, the ROS integration tests now
check if a matching branch exists in px4-ros2-interface-lib and
clone it instead of always using main. This prevents build failures
caused by uORB message divergence between main and release branches.
Fixes https://github.com/Auterion/px4-ros2-interface-lib/issues/184
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(ros): dispatch release branch creation to px4-ros2-interface-lib
Add a standalone workflow triggered by the create event that fires a
repository_dispatch to Auterion/px4-ros2-interface-lib when a
release/X.Y branch is created. Also supports manual workflow_dispatch.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci(ros): add empty permissions block to dispatch workflow
Fixes code scanning alert about missing GITHUB_TOKEN permissions.
This workflow only uses a PAT secret, not GITHUB_TOKEN, so no
permissions are needed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
There are many settings falling into the RC_* category
that definitely should be reset when e.g. placing the autopilot
into a new airframe.
And even for RC calibration values: it's not the worst
if those are newly calibrated after a reset. Or if they
are not expected to change one can bake them into the
airframe file.
Signed-off-by: Silvan <silvan@auterion.com>
PR #25799 added 'servo-launch-lock' to apply_identifiers (6 items) but
did not add a corresponding 6th entry to the 19 rule item arrays, causing
QGC to reject all servo-type rules with "unexpected num items expected: 6".
Remove the @volatile flag from ASPD_SCALE_1/2/3 so the estimated
airspeed scale persists across reboots and can be transferred between
vehicles of the same model. The scale is primarily determined by pitot
position on the airframe, not the individual sensor.
To avoid corrupting the param transfer hash with negligible changes
every flight, raise the save threshold from FLT_EPSILON to 3% relative
change, per dev-call consensus.
Supersedes #22760
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Update the opencyphal/public_regulated_data_types submodule to latest
master which renames all .uavcan files to .dsdl, eliminating ~456
Nunavut deprecation warnings per build.
The N after MB was parsed as "play note 0" (rest) rather than "Music Normal" mode, since M already consumed B. Replacing it with a trailing P matches the ERROR_TUNE pattern and provides an intentional inter-repetition pause at the correct tempo.
After #25648, when performing RTL mission fast reverse, the vehicle would go to the waypoint before the previous one (i.e., two waypoints back). If the drone was already on its way to the first waypoint at that moment, it would even fly to the second waypoint first, and only then reverse back toward the takeoff point. This PR fixes that bug. #25648 was intended to address issues with NAV_CMD_CONDITION_GATE. The modification proposed in this PR also correctly bypasses NAV_CMD_CONDITION_GATE waypoints.
Line 319 used nested quotes inside f-strings, a feature only available
in Python 3.12+. The CI Docker image (px4-dev-base-focal:2021-08-18)
runs Python 3.8, causing the "msg file docs" Jenkins stage to fail on
every main build since 6bf73d9d89.
Extract the join expressions into local variables to restore
compatibility with Python 3.8+.
* sensors: add per-receiver GPS delay parameters
Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the
same device-ID matching pattern used for antenna offsets. Each receiver
can now have its own measurement delay relative to the IMU.
The delay is applied to timestamp_sample before blending. When PPS time
correction is active it takes priority over the parameter-based delay.
When a GPS driver already provides its own timestamp_sample the
per-receiver delay is not applied on top of it.
* fix(ekf2): remove EKF2_GPS_DELAY and perform param transation
* fix(param_translation): fix GPS param migration return values
Add missing return for EKF2_GPS_POS_Z and remove incorrect return for
EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED).
* fix(sensors,ekf2): rename pps_compensation and clarify delay default
* fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing
* fix(docs): migrate EKF2_GPS_DELAY param
