Add MAVLink stream that maps EstimatorFusionControl uORB message to
ESTIMATOR_SENSOR_FUSION_STATUS, exposing per-sensor intended/active
bitmasks to the GCS.
Split FusionSensor into available (CTRL param != disabled) and enabled
(runtime-toggleable). intended() = enabled && available. EKF core aid
sources now set available themselves and use intended() or _params
directly for CTRL-level checks. Remove drag/imu from FusionControl,
add aspd/rngbcn. Add AGP sourceFusingBitmask() for active-status.
The MPL3115A2 ADC conversion at OSR 2 (ratio 4) takes ~18ms. The
driver polls until the conversion completes, so the read time is at
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_TIME / 2.
The LPS25H one-shot measurement is integrated over a ~40ms window
(at 25Hz-equivalent internal averaging). The read time corresponds to
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_INTERVAL / 2.
The LPS22HB one-shot measurement is integrated over a ~40ms window
(at 25Hz-equivalent internal averaging). The read time corresponds to
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_INTERVAL / 2.
Same fix as MS5611: the MS5837 ADC conversion at OSR 1024 takes
~2.28ms, but the data is read after a 10ms scheduling delay. Correct
timestamp_sample by subtracting (CONVERSION_INTERVAL - CONVERSION_TIME/2)
from the read time.
The MS5611 ADC conversion at OSR 1024 takes ~2.28ms, but the data is
read after a 10ms scheduling delay. The current code timestamps the
read time, which is ~8.9ms after the true integration midpoint.
Correct timestamp_sample by subtracting the full offset
(CONVERSION_INTERVAL - CONVERSION_TIME/2) from the read time.
The BMP581 pressure measurement is integrated over a configurable
window (~23ms at 32x pressure / 2x temperature oversampling). The
read time corresponds to the end of the integration window, introducing
a systematic timing bias. Correct timestamp_sample to the midpoint by
subtracting measurement_time / 2.
The BMP280 pressure measurement is integrated over _measure_interval
(~43ms at 16x pressure / 2x temperature oversampling). The read time
corresponds to the end of the integration window, introducing a
systematic timing bias. Correct timestamp_sample to the midpoint by
subtracting measurement_time / 2.
Set all high_rate_sensors_topics to 100hz (10ms interval) and add
vehicle_air_data, vehicle_thrust_setpoint, estimator_aid_src_baro_hgt,
and vehicle_magnetometer.
The BMP388 pressure measurement is integrated over a configurable
window (e.g. 37ms at 16x oversampling). The previous code used the
read time as timestamp_sample, which is the end of the integration
window. Correct to the midpoint by subtracting half the measurement
time, with a guard against unsigned underflow.
* Swap joystick surge/heave mapping in manual, stabilized and acro modes to make it similar to position modes
* docs: update UUV/BlueROV2 modes and joystick mapping
* Document basic control axes and joystick mapping
Added basic control axes and stick mapping for BlueROV2.
* Fixed formatting issue
* Enhance clarity of control axes and stick mapping
Clarified descriptions of motion axes and joystick controls for BlueROV2.
The MAVLink standard defines ACTUATOR_OUTPUT_FUNCTION_MOTOR1=1..MOTOR16=16,
but PX4 internally uses OutputFunction::Motor1=101..Motor12=112. The DShot
driver only handled PX4 internal values (101+) and QGC legacy values (1101+),
so any standards-compliant GCS sending the MAVLink enum values would get
VEHICLE_CMD_RESULT_UNSUPPORTED back from MAV_CMD_CONFIGURE_ACTUATOR.
Add a mapping from MAVLink standard values (1-16) to PX4 internal values
(101-116) by adding 100, matching the existing QGC backwards-compat pattern.
* fix(commander): add tab character to critical system loss messages
* fix(commander): extend timeout for traffic avoidance system heartbeat check
* Commander: Only Warn the user about traffic avoidance system loss if COM_ARM_TRAFF is set
Signed-off-by: Claudio Micheli <claudio@auterion.com>
---------
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: Claudio Micheli <claudio@auterion.com>
GCC 14.3.0 emits `-Wstringop-overflow` when `RtcmTest::buildRawFrame()`
is optimized and inlined.
This change marks the helper `noinline` to keep it out of that optimization path.
Preserves the existing logic and only changes how the compiler emits the test helper.
Fixes https://github.com/PX4/PX4-Autopilot/issues/26875
Signed-off-by: Onur Özkan <work@onurozkan.dev>
When all subscription topics are commented out in dds_topics.yaml,
the build failed in two ways:
1. KeyError in generate_dds_topics.py when the subscriptions key is
absent from YAML — fixed by using dict.get() with fallback to
empty list, consistent with how subscriptions_multi is handled.
2. Unused variable errors (-Werror) in the generated dds_topics.h
when no subscriptions exist — fixed by guarding on_topic_update(),
time_offset_us, and uxr_set_topic_callback() with conditional
template blocks. Also marked create_data_reader() as
__attribute__((unused)) since it is only called from generated
subscription code.
Closes#26799
Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com>
* [feat] allowed to assign up to 16 ESC CAN
* Update EscStatus.msg
lowered down to 12 motors, hardware tested
* Update module.yaml
lowered down to 12 motors, hardware tested
---------
Co-authored-by: klelkov <kon.lelkov@yandex.ru>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Give the operator the optiont to configure a "Hold at position where
the data link was still coming through" by setting NAV_DLL_ACT to Hold
and the new param NAV_LTR_LAST_DL to 1.
Signed-off-by: Silvan <silvan@auterion.com>
Existing saved parameters store RC*_REV as float. The parameter
import system does strict type checking and would silently skip
these on firmware update. Add migration to preserve user settings.
Marco Hauswirth