ec436d3be3
Enable selectively disabling sensors in the Gazebo bridge. ( #25484 )
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* Initial plan
* Add configurable sensor subscription parameters
Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com >
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Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com >
Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com >
2025-08-26 10:00:47 -08:00
6ec8dec63a
commander: add valid_registrations_mask to ArmingCheckRequest.msg
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This allows external modes to individually check if they are flagged as
invalid/unresponsive.
Previously this was done only based on whether or not ArmingCheckRequest
was received, which does not work when multiple modes are running.
2025-08-26 14:38:05 +02:00
edfcdaa008
commander: check for stale arming_check_reply messages
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based on the message timestamp.
Previously it was possible to run into the following case:
- 2 external modes are registered (running inside the same ROS node)
- they time out due to the micro xrce agent being blocked for some reason
- PX4 removes them
- the latest arming check replies still arrive to PX4
- the application restarts
- the first mode gets registered
- PX4 handles the previous arming check reply, and clears
waiting_for_first_response, which reduces the timeout
- the second mode registers and as part of that checks for message
compatibility. This takes ~1s, triggering a timeout of the first mode
2025-08-26 14:38:05 +02:00
a1ee9eb2c4
mavlink: remove streams from LOW_BANDWIDTH that are deprecated
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Signed-off-by: Silvan <silvan@auterion.com >
2025-08-25 17:34:34 +02:00
4a697d0191
ekf2: stop GNSS altittude and velocity aiding when gnss_fault is set
2025-08-25 10:22:23 +02:00
dd09cdf986
Commander: remove HIL_STATE_ON from arming lockdown
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Removing this from the boolean allows users to send pwm values in SIH.
2025-08-25 09:28:43 +02:00
4a5eabb61e
rover: constrain update steps
2025-08-22 12:13:01 +02:00
248f113141
rover: improve hold position logic ( #25466 )
2025-08-22 12:10:16 +02:00
c1d15d0e09
Zenoh: use strncpy and bool
2025-08-22 08:22:59 +02:00
8689c00be7
Zenoh: cleanup and review
2025-08-22 08:22:59 +02:00
17e843a985
zenoh: remove MessageFormat since Zenoh RIHS01 already provides it
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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
747bcc9db5
zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h
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Allows for re-use for later ROS2 Service / Zenoh queryable
2025-08-22 08:22:59 +02:00
c41216376a
Add an explicatory comment to Zenoh publisher's handling of the uOrb topic number (or lack thereof)
2025-08-22 08:22:59 +02:00
88c1412d25
Zenoh CLI improvements
2025-08-22 08:22:59 +02:00
01bf700f3d
Fix dds topics naming
2025-08-22 08:22:59 +02:00
70054fc567
Implement instance selection & pub/sub deletion for Zenoh
2025-08-22 08:22:59 +02:00
7a98c87fcb
Copy the uxrce config for Zenoh
2025-08-22 08:22:59 +02:00
80b5cf2ed7
Prevent conversion warnings from static integers in zenoh-pico
2025-08-22 08:22:59 +02:00
9ffd31097d
zenoh: Use CDRv1 to match ROS2
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Fixes various padding related serialization issues.
2025-08-22 08:22:59 +02:00
f99759db87
zenoh: Fix status keyexpr printf
2025-08-22 08:22:59 +02:00
231128c68e
Zenoh set transport lease to 60000 to match ros2
2025-08-22 08:22:59 +02:00
5622565eea
Zenoh optimize memory usage and add optional publish on matching
2025-08-22 08:22:59 +02:00
0763bbe2cf
Generate default Zenoh config from dds_topics.yaml
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For easy transition from uxrce to zenoh and a sane base config to begin with
2025-08-22 08:22:59 +02:00
ac2627cca9
rmw attachment serialization changes
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Use new atachment serialization format
Subscriber fix parsing payload and remove uorb publisher on destructor
2025-08-22 08:22:59 +02:00
61e2f566ca
Zenoh config, lv and connection fixes
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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
3d30eaae5f
Fix NuttX keepalive socketoption
2025-08-22 08:22:59 +02:00
e052f35664
zenoh: omit timestamp attachment
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This isn't needed for the rmw_zenoh zenohd configuration
2025-08-22 08:22:59 +02:00
2bc9cb4ead
zenoh: implemement experimental liveliness to get ROS2 graph to work
2025-08-22 08:22:59 +02:00
5211d9c92e
zenoh: pubsub factory fix datatype naming convention
2025-08-22 08:22:59 +02:00
e37f20e94d
zenoh: Don't use uORB o_name as type but check for parent type
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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
cb74cee970
zenoh: Increase CDR safety margin
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Figure out by trial and error with padding on vehicle_local_position
2025-08-22 08:22:59 +02:00
70536766db
zenoh: Handle parsing errors in config
2025-08-22 08:22:59 +02:00
40bba0069d
zenoh: Fix handling for non-existing types
2025-08-22 08:22:59 +02:00
923257779a
zenoh: Default to 127.0.0.1 when using sitl/posix
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Also improve error message when connection failed
2025-08-22 08:22:59 +02:00
a24b3a121c
zenoh: Improve error message when there are no scouting results
2025-08-22 08:22:59 +02:00
859ba81e33
Zenoh fix gcc/sitl compile errors
2025-08-22 08:22:59 +02:00
4aff095f9b
IDL 2 RIHS01 remove tempfile and print
2025-08-22 08:22:59 +02:00
796efeebe7
Implement Domain id parameter and move gid to zenoh
2025-08-22 08:22:59 +02:00
9d02698987
Update Zenoh for library and implement rmw_zenoh features
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New zenoh-pico library
Keyexpr instrospection
RIHS01 Types
2025-08-22 08:22:59 +02:00
e1a7fbce71
Update cdrstream code generator including typehash
2025-08-22 08:22:59 +02:00
a87456b38b
Update rosidl
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Adds support for typehashes
2025-08-22 08:22:59 +02:00
33a5122916
Update Zenoh-pico
2025-08-22 08:22:59 +02:00
b53ecf7f68
uavcan: increase battery filter sample interval to 500ms ( #25454 )
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Fixes issue #25430
Co-authored-by: Lasse Järvelä <lasse.jarvela@iceye.com >
2025-08-21 19:19:52 -07:00
785ea1a137
ubx: add new mode for GCS usage
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* ubx: add new mode for GCS usage
* use head ref
2025-08-21 15:45:40 +02:00
8e5cd59502
rover: fix setpoint generation
2025-08-21 13:33:19 +02:00
df11aa1d69
fix commander: handle mode executor correctly on disarm
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There were a number of cases where the state was not correct or not as
desired after disarming, when running an external mode 'MyMission' with
executor:
- run MyMission, which triggers Hold, then Land
- before: Mode: Hold, executor_in_charge: 1
- after: Mode: MyMission, executor_in_charge: 1
- run MyMission, then user switches to RTL
- before: Mode: MyMission, executor_in_charge: 0
- after: Mode: MyMission, executor_in_charge: 1
- run MyMission, then while in Hold mode, low battery failsafe (RTL)
- before: Mode: Hold, executor_in_charge: 1
- after: Mode: MyMission, executor_in_charge: 1
- run MyMission, then stop external mode (terminate the process)
- before: Mode: (mode not available), executor_in_charge: 0
- after: Mode: Hold, executor_in_charge: 0
This case is unchanged:
- run MyMission, then low battery failsafe (RTL)
- before: Mode: MyMission, executor_in_charge: 1
- after: Mode: MyMission, executor_in_charge: 1
2025-08-21 10:06:30 +02:00
a1bc09a6ad
rover: seperate speed control
2025-08-20 10:54:16 +02:00
71b8e299fd
MAV_CMD_REQUEST_MESSAGE support for MESSAGE_INTERVAL ( #25460 )
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* MAV_CMD_REQUEST_MESSAGE support for MESSAGE_INTERVAL
* Default should be -1 for stream
* Format
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Co-authored-by: PX4BuildBot <bot@pixhawk.org >
2025-08-20 15:07:44 +10:00
b3c7667f41
Fw rate controller: enable yaw rate controller when feeding in yaw rate setpoints outside of manual control ( #25457 )
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Signed-off-by: Silvan <silvan@auterion.com >
2025-08-19 18:41:49 +02:00
333b77cb38
fw_mode_manager: fixed altitude hold for auto fixed-bank loiter ( #25456 )
2025-08-19 17:05:13 +02:00
Davide Iafrate