publish platform position on uOrb topic.

reused SensorGps.msg with new topic platform_gps_position. Currently only latitude_deg, longigude_deg and altitude_ellipsoid are set. check out with listener platform_gps_position.
Moving platform: random rocking motion
2026-06-01 20:50:04 +08:00 · 2025-03-05 08:57:37 +01:00 · 2025-03-03 14:52:33 +01:00 · 2025-03-03 10:37:33 +01:00 · 2025-02-28 16:56:54 +01:00 · 2025-02-28 10:21:01 +01:00
407 changed files with 13552 additions and 8789 deletions
@@ -96,6 +96,6 @@ jobs:
          platforms: |
            linux/amd64
          provenance: mode=max
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
@@ -1,5 +1,10 @@
 name: FLASH usage analysis

+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
 on:
  push:
    branches:
@@ -0,0 +1,52 @@
+name: ROS Translation Node Tests
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+defaults:
+  run:
+    shell: bash
+jobs:
+  build_and_test:
+    name: Build and test
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {ros_version: "humble", ubuntu: "jammy"}
+          - {ros_version: "jazzy", ubuntu: "noble"}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+    steps:
+      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.config.ros_version }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      # Workaround for https://github.com/actions/runner/issues/2033
+      - name: ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Check .msg file versioning
+        if: github.event_name == 'pull_request'
+        run: |
+          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
+
+      - name: Build and test
+        run: |
+          ros_ws=/ros_ws
+          mkdir -p $ros_ws/src
+          ./Tools/copy_to_ros_ws.sh $ros_ws
+          cd $ros_ws
+          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
+          source ./install/setup.sh
+          ./build/translation_node/translation_node_unit_tests
@@ -75,7 +75,7 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
+	branch = moving_platform_world
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
 	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
@@ -235,9 +235,9 @@ pipeline {
              sh('rm -f px4_msgs/srv/*.srv')
              sh('rm -f px4_msgs/srv/versioned/*.srv')
              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
              sh('rm -rf px4_msgs')
@@ -0,0 +1,42 @@
+Maintainers
+===========
+
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+
+**Active Maintainers**
+
+| Name                    | Sector | GitHub | Chat | email
+|-------------------------|--------|--------|------|----------------
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+
+
+**Documentation Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+
+**Release Managers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+
+**Retired Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+|  |  |  |
@@ -404,7 +404,7 @@ check_newlines:

 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
 .PHONY: rostest python_coverage

 tests:
@@ -457,10 +457,6 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test

-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
-
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
@@ -44,30 +44,9 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
-| Boat | x |
-
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).

 ## Supported Hardware

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,8 +31,4 @@
 #
 ############################################################################

-px4_add_library(RoverAckermannGuidance
-	RoverAckermannGuidance.cpp
-)
-
-target_include_directories(RoverAckermannGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+add_subdirectory(init.d)
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,9 +31,6 @@
 #
 ############################################################################

-px4_add_library(bezier
-		BezierQuad.cpp
-		BezierN.cpp
+px4_add_romfs_files(
+	rcS
 )
-
-px4_add_unit_gtest(SRC BezierNTest.cpp LINKLIBS bezier)
@@ -0,0 +1,68 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Try to mount the microSD card.
+#
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? = 0 ]
+then
+	echo "SD card mounted at /fs/microsd"
+else
+	echo "No SD card found"
+fi
+
+unset R
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default COM_OBS_AVOID 1
@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
@@ -19,7 +19,6 @@ param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1

 # Commander Parameters
-param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -11,29 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_DECEL 10
-param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
-param set-default RD_YAW_RATE_P 0.25
-param set-default RD_YAW_RATE_I 0.01
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_SPEED 2
-param set-default RD_MAX_THR_SPD 2.15
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
-param set-default RD_MAX_YAW_RATE 180
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_MAX_YAW_ACCEL 1000

-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 120
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
@@ -11,23 +11,33 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Rover parameters
 param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 3
-param set-default RA_MAX_DECEL 6
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_LAT_ACCEL 4
-param set-default RA_MAX_SPEED 3
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MAX_THR_SPEED 3.1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 360
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 3
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
+param set-default RO_SPEED_P 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -39,8 +39,6 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
@@ -337,6 +337,11 @@ then
 	payload_deliverer start
 fi

+if param compare -s ICE_EN 1
+then
+	internal_combustion_engine_control start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -21,26 +21,37 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels

-# Rover parameters
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 3
-param set-default RD_MAX_DECEL 4
-param set-default RD_MAX_JERK 5
-param set-default RD_MAX_SPEED 1.6
-param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
-param set-default RD_MAX_YAW_ACCEL 600
-param set-default RD_MAX_YAW_RATE 250
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0.01

-# Pure pursuit parameters
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 4
+param set-default RO_JERK_LIM 5
+param set-default RO_MAX_THR_SPEED 1.9
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 600
+param set-default RO_YAW_DECEL_LIM 600
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 1.6
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 1
@@ -14,24 +14,33 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults

 param set-default BAT1_N_CELLS 3
-
-# Rover parameters
 param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_DECEL 10
-param set-default RA_MAX_JERK 20
-param set-default RA_MAX_LAT_ACCEL 3
-param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MAX_THR_SPEED 2.8
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 270
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 20
+param set-default RO_MAX_THR_SPEED 2.8
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 0
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1

 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -16,6 +16,7 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_pos_control start
+fw_lat_lon_control start
 airspeed_selector start

 #
@@ -28,6 +28,7 @@ fi
 fw_rate_control start vtol
 fw_att_control start vtol
 fw_pos_control start vtol
+fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -555,6 +555,11 @@ else
 		payload_deliverer start
 	fi

+	if param compare -s ICE_EN 1
+	then
+		internal_combustion_engine_control start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -136,9 +136,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_atomic_bitset(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))

-    def test_bezier(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
-
    def test_bitset(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))

@@ -8,10 +8,12 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
+    -path msg/translation_node -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
    -path src/drivers/uavcan/libdronecan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -0,0 +1,76 @@
+#! /bin/bash
+# Copy a git diff between two commits if msg versioning is added
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+BASE_COMMIT="$1"
+HEAD_COMMIT="$2"
+if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
+then
+  echo "Usage: $0 <base_commit> <head_commit>"
+  exit 1
+fi
+
+failed=0
+
+# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
+modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+for file in ${modified_files}
+do
+  if [[ "$file" == msg/versioned/*.msg ]]; then
+    echo "Modified msg file: ${file}"
+    # A modified versioned .msg file requires:
+    # - Incrementing the version
+    # - An old .msg version exists
+    # - A translation header exists and is included
+
+    # Ignore changes to comments or constants
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    if [ "${content_a}" == "${content_b}" ]; then
+      echo "No version update required for ${file}"
+      continue
+    fi
+
+    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
+    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+
+    # Check that the version is incremented
+    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
+      echo "ERROR: Missing version update for ${file}"
+      failed=1
+    else
+      if [ $((new_version-old_version)) -ne 1 ]; then
+        echo "ERROR: Version not incremented by +1 for ${file}"
+        failed=1
+      fi
+    fi
+
+    # Check that an old version exists
+    filename=$(basename -- "$file")
+    filename="${filename%.*}"
+    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
+    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
+      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
+      failed=1
+    fi
+
+    # Check that a translation header got added by checking for a modification to all_translations.h
+    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
+    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
+      echo "ERROR: missing modification to translations/all_translations.h"
+      failed=1
+    fi
+  fi
+done
+
+if [ ${failed} -ne 0 ]; then
+  echo ""
+  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
+  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
+  exit 1
+fi
@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
    group = None

    if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("performance-test.px4board") or \
        px4board_file.endswith("bootloader.px4board"):
        kconf.load_config(px4board_file, replace=True)
    else: # Merge config with default.px4board
@@ -0,0 +1,33 @@
+#! /bin/bash
+# Copy msgs and the message translation node into a ROS workspace directory
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+WS_DIR="$1"
+if [ ! -e "${WS_DIR}" ]
+then
+	echo "Usage: $0 <ros_ws_dir>"
+	exit 1
+fi
+WS_DIR="$WS_DIR"/src
+if [ ! -e "${WS_DIR}" ]
+then
+	echo "'src' directory not found inside ROS workspace (${WS_DIR})"
+	exit 1
+fi
+
+cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
+cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
+PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
+if [ ! -e "${PX4_MSGS_DIR}" ]
+then
+  git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
+  rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
+  rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
+  rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
+fi
+cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
+cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
+cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv
@@ -47,6 +47,7 @@ CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"

 docker run -it --rm -w "${SRC_DIR}" \
+	--user="$(id -u):$(id -g)" \
 	--env=AWS_ACCESS_KEY_ID \
 	--env=AWS_SECRET_ACCESS_KEY \
 	--env=BRANCH_NAME \
@@ -54,7 +55,6 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--env=CI \
 	--env=CODECOV_TOKEN \
 	--env=COVERALLS_REPO_TOKEN \
-	--env=LOCAL_USER_ID="$(id -u)" \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
@@ -74,6 +74,7 @@ exception_list_sitl = [
    'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
    'SYSTEMCMDS_DMESG', # Not supported in SITL
    'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+    'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]

@@ -708,7 +708,7 @@ class uploader:
                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144

                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
+                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
        else:
            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
            # have the silicon errata and therefore need to flash px4_fmu-v2
@@ -1,6 +1,5 @@
 #!/bin/bash

-echo "[docker-entrypoint.sh] Starting entrypoint"
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
@@ -17,17 +16,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

-echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-
-	# run as user
-	# exec gosu user "$@"
-	exec "$@"
-else
-	exec "$@"
-fi
+exec "$@"
@@ -116,6 +116,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		binutils-dev \
 		bison \
 		build-essential \
+		curl \
 		flex \
 		g++-multilib \
 		gcc-arm-none-eabi \
@@ -42,6 +42,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -47,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -7,7 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default GPS_1_GNSS 63
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -3,6 +3,7 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 pwm_out start
@@ -48,6 +48,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -150,8 +150,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -35,6 +35,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -32,7 +32,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTID=0x003A
 CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -76,7 +76,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTID=0x003A
 CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 tone_alarm start
@@ -43,6 +43,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -31,6 +31,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,6 +43,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -51,6 +51,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -51,6 +51,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -49,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -50,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -47,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -102,8 +102,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -33,6 +33,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -39,6 +39,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -42,6 +42,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -45,6 +45,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -124,8 +124,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -129,8 +129,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -51,6 +51,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -31,6 +31,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -34,6 +34,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -33,6 +33,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -40,6 +40,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -41,6 +41,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -39,6 +39,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -50,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -41,6 +41,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -139,8 +139,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -13,6 +13,7 @@ CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -47,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Balduin	6cf119535d	publish platform position on uOrb topic. reused SensorGps.msg with new topic platform_gps_position. Currently only latitude_deg, longigude_deg and altitude_ellipsoid are set. check out with listener platform_gps_position.	2025-03-05 08:57:37 +01:00
Balduin	ca051a46db	Moving platform: random rocking motion More realistic than plain constant movement. Implemented with white noise, low pass filter & feedback term ensuring we stay close enough to upright. Tuning knobs maybe not very intuitive at the moment. There are: - update rates alpha_v, alpha_w (bigger = faster movement) - amplitudes ampl_v, ampl_w (bigger = larger movement) - feedback gains pos_gains, attitude_gain (bigger = smaller movement) maybe we could remove the redundance between the latter two? Also: - overload setPlatformVelocity for different inputs - don't set aircraft pose at all (make sure with environment variable that it is on platform) - platform height = 2m defined in sdf file - rename pose -> navsat to be more precise - gz submodule update. heavier platform & initial pose.	2025-03-03 14:52:33 +01:00
Balduin	eef6da16d6	move platform to own world in Tools/simulation/gz submodule. for now I am pointing it to the PR branch moving_platform_world which contains the moving_platform world. The world contains the platform so we remove the platform definition and the code that added it dynamically. Also the env var GZ_MOVING_PLATFORM is now gone -- world name can be set with existing env var PX4_GZ_WORLD.	2025-03-03 10:37:33 +01:00
Balduin	adabdf42d0	moving platform: enable movement We now have setPlatformVelocity, which commands a velocity command to the platform. The platform handles it with the gz::sim::systems::VelocityControl plugin. We could also set the velocity once and forget about it (has no effect if doing it directly after creating it though, need to wait a bit, 2 seconds worked). But by setting it constantly we can easily change to more realistic boat-like movement.	2025-02-28 16:56:54 +01:00
Balduin	4ee8f58646	set pose of platform only updates slowly, fails often, aircraft stays in place if pose changes discontinuously. need to set velocity.	2025-02-28 10:21:01 +01:00
Balduin	a4894bde07	move platform sdf into string rather than untracked sdf file in gz submodule.	2025-02-28 09:12:15 +01:00
Balduin	10b2321e87	toggle platform with environment var	2025-02-27 17:20:29 +01:00
Balduin	4b4876128d	moving platform in gazebo: first steps the good: - we have a platform in gazebo, created dynamically from GZBridge. - it has a NavSat sensor, with a working callback on the PX4 side, GZBridge::platformNavsatCallback. From there we can publish the info as uOrb and do what we want with it. the bad: - the platform doesn't move yet the ugly: - the platforms sdf file is currently untracked in the Tools/simulation/gz submodule. Without this the commit here is useless. Need to find a sensible spot for it.	2025-02-27 15:35:48 +01:00
mahima-yoga	c19544fad3	dds-topics: add vtol_vehicle_status message, remove vehicle_air_data.	2025-02-25 14:37:19 +01:00
Silvan Fuhrer	d333661fdc	Merge branch 'main' into pr-fw_ctrl_api	2025-02-24 16:39:56 +01:00
Marco Hauswirth	689db41c57	ci: flash test adjust permissions for downstream forks (#24404 ) adds "contents: read" to permissions to enable clones on private forks of PX4 again. (#24404)	2025-02-24 07:33:54 -08:00
Silvan	bc433aa3fd	boards: disable CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL for spacecraft Signed-off-by: Silvan <silvan@auterion.com>	2025-02-24 16:18:26 +01:00
Alexander Lerach	2356cb973f	Performance & testing targets * Added minimal configs for performance testing * Rename recovery to performance * added mfg_cfg * fix params & don't inherit from default * rename performance -> performance-test --------- Co-authored-by: Igor-Misic <igy1000mb@gmail.com>	2025-02-24 16:02:46 +01:00
Ted	35d96d57f9	control_allocator: Added linearization feature for 4 servo swash plates to prevent binding (#23961 ) * control_allocator: Added linearization feature for heli swashplates to help prevent servo binding * Apply suggestions from code review Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> * update description of CA_LIN_SERVO parameter * update variable name * add missing semi-colon * fix variable referenced before assignment * add missing indentation Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> * removed param unnecessary param * removed whitespace * remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description. * remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup. * added comment and fixed spelling mistake * fix spelling mistake * fix formatting * reduce CA_MAX_SVO_THROW short description length to stop test failure * ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature * remove NAN check. --------- Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-02-24 12:17:11 +00:00
Jacob Dahl	73b51242c8	nuttx: h7: eth: add checks for PHYID in stm32_phyinit arch: stm32h7: Add support for dual bank flash memory	2025-02-22 08:46:12 -05:00
Jacob Dahl	11704985f3	ci: add write permissions for flash_analysis workflow (#24393 )	2025-02-21 15:18:56 -08:00
Hamish Willee	4ea7de449a	InternalCombustionEngineControl - doc corrections (#24359 ) * InternalCombustionEngineControl - doc corrections * Update InternalCombustionEngineControl.cpp	2025-02-21 08:34:08 +11:00
Silvan Fuhrer	24da87db12	FW Position Control: keep flaps in landing config during abort if below AIRSPD_MIN (#23877 ) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-02-20 09:28:27 +01:00
Silvan Fuhrer	29317d90c3	RPM capture: improve description of param RPM_CAP_ENABLE (#24368 ) * RPM capture: improve description of param RPM_CAP_ENABLE --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-02-20 09:19:43 +01:00
GuillaumeLaine	44d5bfc42c	Tools: in px4_msgs copy versioned msgs to common root folder	2025-02-20 07:42:18 +01:00
GuillaumeLaine	86bfac7c8f	fix Jenkins: add copy safeguard and copy to unified folder	2025-02-20 07:42:18 +01:00
Jacob Dahl	1db50cb331	mavlink: add missing fields for DISTANCE_SENSOR	2025-02-19 12:11:42 -05:00
Julian Oes	786c2a7f39	drivers/imu/invensense/mpu6000: include cstdlib for size_t	2025-02-19 12:09:54 -05:00
Jacob Dahl	af311c8d45	gz: update submodule	2025-02-19 12:08:40 -05:00
Eric Katzfey	98ceb0ce79	voxl_esc: Added GPIO control feature voxl_esc: Removed obsolete modal_io_data UORB topic	2025-02-19 11:00:15 -05:00
Eric Katzfey	73dbecadf1	Qurt: changed the mutex for I2C for the Qurt platform from a single mutex to one for each bus. (#23531 )	2025-02-19 10:59:45 -05:00
Silvan Fuhrer	bc742b05f0	Merge branch 'main' into pr-fw_ctrl_api	2025-02-19 15:54:26 +01:00
chfriedrich98	04a3c4af20	Differential Rover: Refactor and clean up, align with Ackermann rover(#24318 ) * differential: refactor code architecture * Offboard fix * fix accel/decel slew rate	2025-02-18 18:26:38 +01:00
Silvan Fuhrer	3c129aefa1	Add IC engine control module (#24055 ) Internal combustion engine control module. New actuator functions and RPM based start/restart logic. Not enabled by default. --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Pernilla <pernilla@auterion.com>	2025-02-18 17:15:32 +01:00
Perre	412d4390a6	MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal (#24242 ) * Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off * Increase queue length to avoid automatically unadvertise queued publications with queue length 1 * Improve readability --------- Co-authored-by: Pernilla <pernilla@auterion.com>	2025-02-18 14:38:11 +01:00
bresch	5e06ab1430	ekf-agp: do not reset to AGP if GNSS fusion is active	2025-02-18 14:35:10 +01:00
Silvan Fuhrer	3be8b680f6	msg_translation: Add vehicle_status_v1 translation Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan Fuhrer	662c66e546	VehicleStatus: bump VERSION to 1 after removal of avoidance_system_required Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan Fuhrer	3119510f25	Remove health_component::avoidance Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Matthias Grob	ed9111ec49	Remove obstacle avoidance test with Gazebo classic and ROS 1	2025-02-18 14:33:16 +01:00
Matthias Grob	0b370ab5d3	Remove obstacle avoidance MAVLink Heartbeat check	2025-02-18 14:33:16 +01:00
Silvan	04cd247c90	FlightTaskAuto: remove isTargetModified() As it is no longer needed w/o avoidance. Signed-off-by: Silvan <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan	a1ff1d8372	tests: remove test_bezier Signed-off-by: Silvan <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan	b916a96e00	Remove uorb topics exclusively used for avoidance - TrajectoryBezier.msg - TrajectoryWaypoint.msg - VehicleTrajectoryBezier.msg - VehicleTrajectoryWaypoint.msg Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream. Signed-off-by: Silvan <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan	b7b6d45e18	lib: remove bezier Signed-off-by: Silvan <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan	b34a5eb6f7	PositionControllerStatus: remove unused fields Remove yaw_acceptance and altitude_acceptance_radius fields as they were only filled by now removed avoidance controller. Signed-off-by: Silvan <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Silvan	1f2dba68d2	remove avoidance library and logic Signed-off-by: Silvan <silvan@auterion.com>	2025-02-18 14:33:16 +01:00
Marco Hauswirth	d2cbe10243	Clean up temperature msg fields (#24272 ) * remove temp field from airspeed.msg, adjust temp selection * temp-sensor hirarchy: airspeed, ext. baro, default value * directly use diff-press or baro temp in true-airspeed calc * improve clarity * add enum for temperature source in VehicleAirData.msg	2025-02-18 13:23:10 +01:00
Daniel Agar	90b2290700	Tools: docker_run.sh fix entrypoint as user - modern docker can specify the user at runtime (--user)	2025-02-18 00:26:06 -05:00
Daniel Agar	38de04a53a	Tools/setup/ubuntu.sh: add curl for NXP mr-canhubk3 build (#24346 )	2025-02-17 20:06:24 -08:00
Jacob Dahl	46609d5e6c	voxl: document enable_debug command (#24353 )	2025-02-17 19:55:24 -08:00
Daniel Agar	e12c3c00a4	control_allocator: param update avoid temporary - this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive	2025-02-17 14:35:15 -05:00
Ramon Roche	024dd701fb	readme: update maintainers information (#24305 ) * creates new maintainers file per oss best practices * adds Pedro as Space maintainer	2025-02-17 11:11:37 -08:00
RomanBapst	55be9648e8	improved handling of control limits Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-17 14:35:32 +03:00
mahimayoga	6003696b40	dds: add Wind, AirspeedValidated and VehicleAirData messages.	2025-02-17 14:35:32 +03:00
dirksavage88	01549a5832	fix to kconfig newline Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-02-14 15:50:43 -05:00
dirksavage88	5ffa69ff54	fix newline in module.yaml Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-02-14 15:50:43 -05:00
Eric Katzfey	b0eb639587	voxl2_io: Updated to latest version from ModalAI fork - Updated to the latest version of the voxl2_io driver from the ModalAI fork. - Moved to the platform independent Serial driver - Added voxl2_io driver to the SLPI DSP build	2025-02-14 14:33:38 -05:00
alexklimaj	fd5bb9e69c	uavcannode rangefinder: only publish reading too far or too close if less than or greater than. Not equal to.	2025-02-14 14:26:39 -05:00
Marco Hauswirth	61d595dc64	reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement	2025-02-14 17:10:14 +01:00
bresch	fe5c887895	mag check: do not require mag 0 sys_has_mag defines the required number of mags; if one mag is needed, it can be any instance, not necessarily mag 0	2025-02-14 16:12:20 +01:00
bresch	e3fd50667d	Mag cal: automatically disable internal mags if external ones are available	2025-02-14 16:12:20 +01:00
Alexander Lerach	430be08131	Add payload tx/rx timeouts to DDS * Add tx/rx timeouts * Code style & tx default timeout * Clarify TX/RX disable value	2025-02-14 14:54:42 +01:00
Alexander Lerach	f2471861a3	Fix GPS RTCM instance selection	2025-02-14 09:39:59 +01:00
Eric Katzfey	eb18edf5eb	Don't allow spacecraft module parameters for VOXL 2 builds (#24336 ) - VOXL 2 builds use DISABLE_PARAMS_MODULE_SCOPING for parameters. The new spacecraft module has duplicate symbols with the control_allocator module and so this kills the VOXL 2 build	2025-02-14 00:49:09 -05:00
Alex Klimaj	a151d85a1c	ARK Cannodes disable mag bias estimator by default (#24327 )	2025-02-13 14:29:21 -09:00
Beat Küng	96461cdd7d	ci: ignore changes to comments or constants in versioned message check These can be changed without version increment	2025-02-13 13:02:39 +01:00
Jacob Dahl	b77797b490	tools: px_uploader.py: change RuntimeErorr to printf warning for fw_maxsize greater than fw_maxsize (#24321 )	2025-02-12 15:28:40 -09:00
Ramon Roche	195961ae83	ci: only push dev container on commit to main	2025-02-12 12:02:11 -05:00
Jacob Dahl	8acac41163	ark: pi6x: fix CDCACM_PRODUCTID (#24320 )	2025-02-12 09:48:04 -07:00
Alex Klimaj	98cba19f50	esc_battery: report temperature Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-02-11 21:17:53 -05:00
Beat Küng	b96b4fb68d	ci: run ROS humble + jazzy for translation node	2025-02-11 13:19:25 +01:00
Beat Küng	5a2fc5ef79	ci: check if a versioned .msg file is changed, a new version is added as well	2025-02-11 13:19:25 +01:00
Beat Küng	947cc7bcbe	ci: run unit tests for ros translation node	2025-02-11 13:19:25 +01:00
Beat Küng	f6bfa9812e	msg: add message translation node for ROS	2025-02-11 13:19:25 +01:00
Beat Küng	975ec30c9c	uxrce_dds_client: add DDS message versioning This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message contains a MESSAGE_VERSION field (and the version is non-zero).	2025-02-11 13:19:25 +01:00
Silvan Fuhrer	136f9f48fc	FW Position controller: transform RWTO_PSP to rad when used (#24312 ) Signed-off-by: Silvan <silvan@auterion.com>	2025-02-11 12:12:11 +01:00
RomanBapst	2b75d2e738	run fog check independently from stuck check Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-11 09:08:25 +01:00
RomanBapst	8cedef2dc4	further cleanup Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-11 09:08:25 +01:00
RomanBapst	2c4d38e303	fixed mistake Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-11 09:08:25 +01:00
RomanBapst	806500fc4a	further improve logic Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-11 09:08:25 +01:00
RomanBapst	73ade6d05c	range finder: remove potential deadlock Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-11 09:08:25 +01:00
RomanBapst	35da86c85a	improve unit tests for range fog detection Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-11 09:08:25 +01:00
alexklimaj	8576b49e49	make format: ignore libuavcan	2025-02-10 21:18:15 -05:00
Alexander Lerach	047578a844	Disarm PWM ESCs before reboot	2025-02-10 18:16:48 +01:00
chfriedrich98	55f51d7e7e	ackermann: refactor code architecture	2025-02-10 15:54:24 +01:00
RomanBapst	954cef1f50	range finder: remove potential deadlock Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-07 16:40:04 +03:00
RomanBapst	d49ce204f7	improve unit tests for range fog detection Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-07 16:39:33 +03:00
RomanBapst	677c9c7029	Merge branch 'pr-fw_ctrl_api' of github.com:PX4/PX4-Autopilot into pr-fw_ctrl_api	2025-02-06 17:10:38 +03:00
RomanBapst	08e909ac72	publish default control limits once Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-06 17:10:08 +03:00
mahimayoga	f2a613207d	dds: add fw control api's to DDS topics yaml	2025-02-06 15:00:22 +01:00
RomanBapst	2d67e8cf81	removed some dead code Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-06 11:18:32 +03:00
RomanBapst	63b972e5f4	logger: log control limits Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-06 11:17:47 +03:00
RomanBapst	d72d899b98	fw_lat_lon_control: use control flags to determine when to run Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-02-04 14:17:43 +03:00
RomanBapst	37fe25570d	Merge branch 'main' of github.com:PX4/PX4-Autopilot into pr-fw_ctrl_api	2025-02-04 11:10:04 +03:00
RomanBapst	67ac275a19	fixed typo Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-23 16:40:00 +03:00
RomanBapst	e02c64c98f	addressed review comments Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-23 16:37:50 +03:00
RomanBapst	e4c620fcdc	enable fw lateral longitudinal board for every required board Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-14 11:40:32 +03:00
RomanBapst	df9bee4d9b	added documentation to control topics Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-09 10:33:18 +03:00
RomanBapst	daa6b1aa57	refactored fixed wing position control module to use new API Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-08 15:40:34 +03:00
RomanBapst	6b9ac65408	added new module for fixed wing lateral and longitudinal control Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-08 15:40:34 +03:00
RomanBapst	a9337c5565	refactored npfg into smaller classes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-08 15:40:34 +03:00
RomanBapst	d8c9ffeea4	added messages for lateral and longitudinal control setpoints and corresponding limits Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-08 15:40:34 +03:00