Reject pressure readings outside the sensor's operating range
(30-125 kPa) to detect I2C data corruption. When I2C transfers
complete successfully but return corrupted data, this check
prevents invalid samples from being published.
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
The failure_detector_status bitmask in vehicle_status duplicates the
separate FailureDetectorStatus topic. Remove it and read directly from
the dedicated topic in failureDetectorCheck and HIGH_LATENCY2.
* feat(pps_capture): allow selecting GPS receiver by device ID
Add PPS_CAP_GPS_ID parameter to select which GPS receiver's data
is used for PPS timestamp correlation. Matches by device ID rather
than uORB instance index, which avoids dependence on instance ordering.
When set to 0 (default), uses the first available instance for
backward compatibility.
* docs(pps_capture): document PPS_CAP_GPS_ID for multi-GPS setups
* fix(pps_capture): use GPS_MAX_RECEIVERS constant and mark PPS_CAP_GPS_ID reboot-required
Extend the arm throttle safety check to all vehicle types including
rovers, which were previously excluded. Unify the two separate throttle
checks into a single evaluation at arm-time that accounts for vehicle
type and control mode: rovers require centered stick, climb-rate modes
require stick at or below center, and manual/stab/acro modes require
stick at bottom.
This is not only needed for engine warmup but in general, when the
vehicle is static on the ground, relying on fixed position to maintain a
valid global position estimate before takeoff, even when bumping it or
starting the engine.
When a CRSF frame arrives with packet_size < 2 (PACKET_SIZE_TYPE_SIZE),
the subtraction `packet_size - PACKET_SIZE_TYPE_SIZE` underflows the
uint32_t working_segment_size to 0xFFFFFFFF. The subsequent overflow
check also wraps and fails to catch it. Since working_segment_size is
static, the parser is permanently stalled — no further CRSF messages
can be processed until reboot.
Validate packet_size >= PACKET_SIZE_TYPE_SIZE early, before any
subtraction, protecting both the known variable-length and unknown
packet branches in a single check.
Supersedes #26782 which only guarded the unknown-packet branch.
PR #25799 added 'servo-launch-lock' to apply_identifiers (6 items) but
did not add a corresponding 6th entry to the 19 rule item arrays, causing
QGC to reject all servo-type rules with "unexpected num items expected: 6".
Remove the @volatile flag from ASPD_SCALE_1/2/3 so the estimated
airspeed scale persists across reboots and can be transferred between
vehicles of the same model. The scale is primarily determined by pitot
position on the airframe, not the individual sensor.
To avoid corrupting the param transfer hash with negligible changes
every flight, raise the save threshold from FLT_EPSILON to 3% relative
change, per dev-call consensus.
Supersedes #22760
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Update the opencyphal/public_regulated_data_types submodule to latest
master which renames all .uavcan files to .dsdl, eliminating ~456
Nunavut deprecation warnings per build.
The N after MB was parsed as "play note 0" (rest) rather than "Music Normal" mode, since M already consumed B. Replacing it with a trailing P matches the ERROR_TUNE pattern and provides an intentional inter-repetition pause at the correct tempo.
After #25648, when performing RTL mission fast reverse, the vehicle would go to the waypoint before the previous one (i.e., two waypoints back). If the drone was already on its way to the first waypoint at that moment, it would even fly to the second waypoint first, and only then reverse back toward the takeoff point. This PR fixes that bug. #25648 was intended to address issues with NAV_CMD_CONDITION_GATE. The modification proposed in this PR also correctly bypasses NAV_CMD_CONDITION_GATE waypoints.
Jacob Dahl
Farhang
Jacob Dahl
Matthias Grob
bresch
ttechnick
murata,katsutoshi
asimopunov
Eurus
Silvan Fuhrer