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18232 Commits

Author SHA1 Message Date
Peter van der Perk
faee1da630
docs: Zenoh middleware guide (#25737) 2025-10-16 20:48:12 +11:00
Hamish Willee
104759b90c
Update mavlink with more PARAM_ERROR values (#25772) 2025-10-16 14:09:02 +11:00
Jacob Dahl
54866b886e
gz: fix gimbal message type (#25770) 2025-10-15 13:28:14 -08:00
Jacob Dahl
9c1f3306a4
mission: delay until: mark next setpoint invalid (#25728) 
Fixes bug with the NAV_CMD_DELAY where the copter would "pace" back and forth while waiting at the delay waypoint
 2025-10-15 13:21:28 -08:00
Matthias Grob
3e3bb82331
navigator: increase stack by 30 bytes (#25769) 2025-10-15 11:21:26 -08:00
Erkki Eilonen
f32c3024b8 gazebo: fix unused variables warning ([-Wunused-private-field]) 2025-10-15 11:32:16 -04:00
Erkki Eilonen
2297e66a9d gazebo: fix implicit conversion errors ([-Wdouble-promotion]) 2025-10-15 11:32:16 -04:00
Jacob Dahl
a64536802b
gz: fix gimbal yaw, add dds publisher (#25754) 
* gz: correct gimbal yaw

* uxrce_dds: add publisher /fmu/out/gimbal_device_attitude_status

* chore: use explicit ENU_to_NED rotation

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

* format

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2025-10-14 11:45:43 -08:00
Matthias Grob
babe094d06
FailureDetector: use robust timeout checks for motor failure detection (#25757) 2025-10-14 10:46:29 -08:00
Alexander Lerach
376f52f51d mavlink: add som/fmu config params 2025-10-14 19:14:41 +02:00
Matthias Grob
7706aae67d mavlink_receiver: only switch outgoing MAVLink version to 2 if it was 1 before 
to avoid the message that comes with it being spammed.
 2025-10-14 18:38:02 +02:00
Matthias Grob
4842c542b8
rc_update: remove 1% deadzone for RC channels 1-8 (#25502) 
* rc_update: remove 1% deadzone for all channels

this should be handled higher level.

* Remove all references to the RC{n}_DZ parameters

Regular expression: RC.{0,2}_DZ

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-10-13 21:41:11 -08:00
Matthias Grob
12035682d7
Use MAVLink v1 only as opt-in (#25583) 
* Remove support for MAVLink 1

* Add back support for MAVLink 1 but don't default to it

* Update src/modules/mavlink/mavlink_params.c

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-10-13 20:58:34 -08:00
Marco Hauswirth
2f06f03728
calibration: mag: only allow mag calibration when at least one mag is available and enabled (i.e. not prio=0) (#25714) 2025-10-13 20:51:25 -08:00
Jacob Dahl
2c62caeb7d
flight task auto: fix offtrack mission landing bug (#25725) 
During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.
 2025-10-13 19:56:23 -08:00
Mahima Yoga
96904636f3
commander: prevent setting nav_state to takeoff after disarming (#25735) 
* commander: prevent setting nav_state after disarming to takeoff

* wrap in function
 2025-10-10 09:59:26 -08:00
Jaeyoung Lim
b95784e804
Consume speedweight from FW longitudinal config (#25709) 
* Consume speedweight from longitudinal config

* Constrain speed weight
 2025-10-10 10:00:43 -07:00
mahima-yoga
be29f647cb logging: log sensor_baro with add_topic_multi 
Ensures external barometers (e.g., over UAVCAN) are also logged.
 2025-10-06 10:19:01 +02:00
QiTao Weng
849819629a
dds: add adsb topic (#25652) 2025-10-03 19:01:40 +01:00
Marco Hauswirth
6e579cb75a improve gnss altitude fusion starting logic 2025-10-03 10:11:41 +02:00
Marco Hauswirth
c2c721a2d6 * add gnss-fault flags to estimator-status msg 
* react to comments
 2025-10-03 10:11:41 +02:00
Marco Hauswirth
3712af8b7f * avoid gnss-based altitude reset in DR-mode 
* add hysteresis for re-enabling fusion
* disable lat/lon/vel fusion on gnss_hgt_fault
 2025-10-03 10:11:41 +02:00
mahima-yoga
614e15d5f4 fw-autotune: detect and limit amplitude of ID maneuver 
Increases signal ampltiude on a 1Hz sin input until a target rate (R/P/Y = 0.8/0.5/0.5 rad/s) is reached. Identification signal is then scaled with this ampltitude instead of the user-defined parameter.
 2025-10-02 15:17:40 +02:00
Hamish Willee
7565318107
Update MAVLink to latest (#25692) 
Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-10-01 10:54:18 -08:00
Matthias Grob
a0810462fd ManulControlSelector: initialize disabled such that it's obvious if paramter is not loaded correctly 2025-10-01 18:31:12 +02:00
Matthias Grob
661b0655dc ManualControlSelector: unify validity conditions into one place 2025-10-01 18:31:12 +02:00
Matthias Grob
365525269e ManualControlSelector: simplify prioritization logic 2025-10-01 18:31:12 +02:00
Matthias Grob
f1f3c81566 Update COM_RC_IN_MODE enum naming 2025-10-01 18:31:12 +02:00
Matthias Grob
acf5766f9c commander_params: rewrite COM_RC_IN_MODE documentation 2025-10-01 18:31:12 +02:00
Tobias Büchli
2c062a45ba feat: expand to 4 modes with more priority options 2025-10-01 18:31:12 +02:00
Tobias Büchli
25c66a7ee5 feat: extend COM_RC_IN_MODE 5 and 6 to source ID ascending and descending priority modes 2025-10-01 18:31:12 +02:00
Luka Filipović
6c69d86d7e mission_base: on mission end, set loiter position from previous position type setpoint 2025-10-01 17:44:58 +02:00
Jacob Dahl
f3b2599d33
ekf: range fusion: fix height ref (#25654) 
* ekf2: range height skip "unhealthy" samples, but respect timeout

 - we should never directly use an "unhealthy" range finder sample for
   state corrections or resets, but we also shouldn't immediately abort
   active rng_hgt until the timeout has passed

* check starting_conditions_passing once

* ekf2: conditional range aid change height ref

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2025-09-30 11:14:26 -08:00
Daniel Agar
e3309b9f87
ekf2: rng don't allow bad measurement in bad_acc_vertical (#25636) 
- if bad vertical acceleration is detected there's an emergency case
   where rejected range finder observations are allowed to be used, but
   this still can't happen if the sample itself is known to be bag
 2025-09-30 11:14:04 -08:00
Matthias Grob
e59afce5db Enable directly injecting motor failures using e.g. failure motor off -i 1 
Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.
 2025-09-30 11:23:09 +02:00
Matthias Grob
786e0a12c2 FailureInjector simplification rework 2025-09-30 11:23:09 +02:00
Matthias Grob
7f2a67a588 Commander: split out failure injection class into its own file 2025-09-30 11:23:09 +02:00
Daniel Agar
900a5ede01
ekf2: range height skip "unhealthy" samples, but respect timeout (#25634) 
* ekf2: range height skip "unhealthy" samples, but respect timeout

 - we should never directly use an "unhealthy" range finder sample for
   state corrections or resets, but we also shouldn't immediately abort
   active rng_hgt until the timeout has passed

* check starting_conditions_passing once

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2025-09-29 11:23:37 -08:00
airpixel-cz
2b0ea50d16
mavlink: parameters: fix camera and cannode param message routing 2025-09-26 23:16:05 -08:00
Daniel Agar
7eec4c9814 ekf2: fix gravity aid src fused flag 2025-09-26 11:45:54 -04:00
Daniel Agar
469fe62166 logger: cleanup crypto defines 2025-09-25 15:10:21 -04:00
Daniel Agar
6f4e873bce logger: only include crypto params if enabled 2025-09-25 15:10:21 -04:00
Jacob Dahl
35f882cd3c
commander: accel cal rotate offsets and scales from body frame back into sensor frame before saving (#25626) 
- fixes https://github.com/PX4/PX4-Autopilot/issues/25606
 2025-09-25 14:12:15 -04:00
Daniel Agar
a6f8b00a6a ekf2: SensorRangeFinder purge unused Sensor interface 2025-09-25 14:07:43 -04:00
Daniel Agar
2347cb9e50 ekf2: SensorRangeFinder delete unused faulty flag 2025-09-25 11:29:54 -04:00
Hamish Willee
cbf39f5ceb
msg: AirspeedValidated - uorb topic to standard (#25579) 
* AirspeedValidated - uorb topic to standard

* Apply suggestions from code review

* Update msg/versioned/AirspeedValidated.msg

* Fix up links to renamed uORB constants

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-09-25 11:02:02 +02:00
Jacob Dahl
26760e3c2c
ekf2: reduce EKF2_MIN_RNG to 0.01 (#25574) 2025-09-24 15:27:24 -04:00
Parkhb1106
3925562ce6
commander: fix tune_control timestamp on initial publication 2025-09-24 10:55:32 -08:00
Louis-max-H
e71faf38a0
Septentrio GNSS resilience reporting (#25012) 
Co-authored-by: Tory9 <vvpost05@gmail.com>
 2025-09-24 11:08:10 -04:00
Beat Küng
9670eb69b3 commander: use double literals to avoid implicit conversion 
Fixes a CI failure for fuzzing and macos:
https://github.com/PX4/PX4-Autopilot/actions/runs/17906277709/job/50907922642

/__w/PX4-Autopilot/PX4-Autopilot/src/modules/commander/Commander.cpp:471:37: fatal error: implicit conversion increases floating-point precision: 'float' to 'double' [-Wdouble-promotion]
  470 |                         bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE,
      |                                    ~~~~~~~~~~~~~~~~~~~~
  471 |                                                         0.f, 0.f, heading, 0.f, 0.f, 0.f, heading_accuracy);
      |                                                                                      ^~~
1 error generated.
 2025-09-22 09:31:26 -07:00