1260 Commits

Author	SHA1	Message	Date
Vuk-SFL	0ffc7f0f8a	feat(zenoh): add support for configuring zenoh publisher options (#27157) ... * feat(zenoh): add support for configuring zenoh publisher options Add zenoh parameters for common default options for all publishers. Options exposed are reliability, priority, congestion control and is_express Allow override of common publisher options for specific publisher through its config: config fille supports additional row where multiple options can be specified with csv string Expose config options through zenoh config add publisher. Allow options per publisher to be specified for default config in zenoh/dds_topics.yaml * fix(zenoh): Put individual zenoh publisher config override feature under config option ZENOH_PUB_OPTION_OVERRIDE Enabled ZENOH_PUB_OPTION_OVERRIDE on targets with enough flash memory * fix(zenoh): added publication options for default publications in dds_topics.yaml Rare messages that are important to arive: set as reliable, enabled express and with blocking congesiton control Fast vehcile position messages that can impact control decision making: set as best enabled express and with drop congestion control * docs(zenoh) : added documentation for zenoh publisher options usage * docs(docs): Link to params --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-05-01 09:29:17 +02:00
Matthias Grob	ffef31fb06	fix(commander): Remove COM_IMB_PROP_ACT (#27260) ... and hardcode the default warning. The feature can still be disabled by setting FD_IMB_PROP_THR to zero.	2026-04-30 23:40:55 +02:00
Julian Oes	1a3d232e7b	fix(bootloader): remove broken PROTO_SET_DELAY boot-delay feature (#27081) ... The bootloader boot-delay feature has been mechanically broken on every modern FMU board since the STM32F7/H7 transition. It has three independent bugs that prevent it from ever working: 1. Offset mismatch: BOOT_DELAY_ADDRESS is hardcoded to 0x1a0, but the NuttX vector table is 504 B (F76x) to 664 B (H743) long. The linker places _bootdelay_signature at ALIGN(32) past end of vectors (e.g. 0x2a0 on CubeOrange), never at 0x1a0. The bootloader reads random exception_common pointers in place of the magic and never matches BOOT_DELAY_SIGNATURE1/2. Verified on CubeOrange with objdump of cubepilot_cubeorange_default.elf. 2. Flash cache never flushes: fc_write() stores arbitrary writes in cache line 1 and only flushes on a very specific condition tied to the sequential firmware upload flow. A standalone write during PROTO_SET_DELAY is cached forever. fc_read() then returns the cached value, so the post-write verify lies and the bootloader reports success. Nothing ever reaches flash. 3. H7 write granularity: the STM32H7 flash controller requires a full 32-byte program cycle per write. Single 32-bit writes from flash_func_write_word() would not be accepted by the controller even if they reached it. The feature has been silently dead on every H7/F7 FMU board for years and no one noticed, which is strong evidence nothing actually depends on it. Rather than fix it (which would mean rewriting PROTO_SET_DELAY, the flash cache path, and the H7 flash programming path), remove it. Changes: - bl.c: PROTO_SET_DELAY case now immediately NACKs (goto cmd_bad) so clients that still send the command get a clear rejection instead of the previous silent fake-success. The opcode stays in the protocol enum for backwards compatibility. - bl.h: drop BOOT_DELAY_SIGNATURE1/2 and BOOT_DELAY_MAX. - stm/stm32_common/main.c, nxp/imxrt_common/main.c: drop the startup boot-delay sig check block. - image_toc.c: decouple find_toc() from BOOT_DELAY_ADDRESS. BOARD_IMAGE_TOC_OFFSET is now the required define when BOOTLOADER_USE_TOC is enabled. The body is wrapped in #ifdef BOOTLOADER_USE_TOC and falls back to a stub returning false when the TOC is not in use (no upstream board currently enables it). - Linker scripts: strip EXTERN(_bootdelay_signature) and the FILL/. += 8 block from all 142 affected .ld files across boards/. - hw_config.h: strip the #define BOOT_DELAY_ADDRESS and its comment block entry from all 48 affected boards. - Tools/px4_uploader.py, Tools/teensy_uploader.py: remove --boot-delay, set_boot_delay(), and SET_BOOT_DELAY client-side counterpart. Smoke-built on cubepilot_cubeorange_default and cubepilot_cubeorange_bootloader; no link errors, no unresolved symbols, flash usage unchanged. Tested: - New BL, new FW - Old BL, old FW - Old BL, new FW - New BL, old FW	2026-04-29 13:04:03 +12:00
zebulon-86	d439ae9e28	feat(boards/px4_fmu-v6c): add support for LSM6DSV16X (#26951) ... * feat(drivers): add ST LSM6DSV16X IMU driver Add a new SPI driver for the ST LSM6DSV16X 6-axis IMU with FIFO-based accel, gyro, and temperature acquisition. The driver supports continuous FIFO mode with tagged sample parsing, DRDY interrupt triggering via FIFO threshold, and dynamic watermark configuration based on the selected sample rate. It also falls back to scheduled polling when a GPIO interrupt is not available. To improve robustness, the driver periodically validates critical register settings and limits FIFO draining per cycle. Tested on Pixhawk6C with ground testing and flight validation. * feat(boards/px4_fmu-v6c): add LSM6DSV16X support for Pixhawk6C Enable the ST LSM6DSV16X as an alternative probe-based IMU on Pixhawk6C. The sensor is configured on SPI1 with chip-select PC13 and shares the same CS and DRDY lines as the ICM42688P across all supported hardware revisions. Board startup first probes the ICM42688P and then the LSM6DSV16X, so only the IMU populated on a given board is started. This change enables the LSM6DSV16X driver in the board configuration, registers the device type in `spi.cpp`, and adds board sensor probing for the new IMU. Use rotation `-R 26` (`ROTATION_PITCH_180_YAW_90`) to match the sensor orientation on the Pixhawk6C PCB. * fix(drivers/lsm6dsv): address review comments - add missing #include <cstddef> for size_t - check FIFO status transfer() return value - fix FIFO word count to sample period conversion (DIFF_FIFO reports words, not sample periods; each sample period is 2 words) - fix drv_sensor.h macro alignment (spaces to tab) * drv_sensor: move LSM6DSV devtype into IMU range * fmu-v6c: use quiet LSM6DSV fallback probe	2026-04-15 20:04:00 -07:00
Farhang	e9a8bc804b	feat(boards): fmu-v6x: reduce I2C4 GPIO speed from 50MHz to 25MHz (#26434) ... * fmu-v6x: reduce I2C4 GPIO speed from 50MHz to 25MHz Lower the I2C4 SCL/SDA GPIO slew rate to 25MHz to improve signal integrity and reduce EMI on the I2C4 bus. * Overriding speed bits Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2026-04-15 12:23:51 -08:00
Jacob Dahl	beeb168273	chore(boards): remove redundant TEMPERATURE_COMPENSATION=n from board configs (#27080) ... MODULES_TEMPERATURE_COMPENSATION defaults to n in Kconfig, so explicit =n and "is not set" entries are unnecessary. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-04-13 12:57:08 -08:00
Andrew Brahim	f0453f5694	fix(temperature_compensation): remove temp compensation from enclosed autopilots (#27015) ... * fix(temperature_compensation): remove temp compensation from enclosed autopilots Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fix(temperature_compensation): remove from 3dr/mro Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fix(temperature_compensation): remove manually from 6x default kconfig Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fix(temperature_compensation): remove from modalai fc-vx boards Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fix(temperature_compensation): remove from all other boards Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * Update boards/px4/sitl/default.px4board --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-04-13 12:46:00 -04:00
Jacob Dahl	61f08771a7	fix(boards): trim unused EKF2 features on flash-constrained F4 targets (#26928) ... Disable EKF2 fusion features with no corresponding hardware: - px4_fmu-v2: optical flow, range finder (~17 KB saved) - mamba-f405-mk2: optical flow, range finder, external vision, aux global position, aux velocity, baro compensation, drag fusion (~42 KB saved)	2026-03-31 23:10:13 -08:00
Ramon Roche	4f2918ee3b	feat(sim): add SIH SITL build target and multi-instance args ... - Add boards/px4/sitl/sih.px4board disabling Gazebo bridge/msgs/plugins - Update sitl_multiple_run.sh to accept model and build target arguments - Add openjdk@17 to macOS setup script for jMAVSim display-only mode Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-31 17:01:10 -06:00
Jacob Dahl	ba5b96edbe	fix(boards): correct GPIO_VDD_3V3_SENSORS_EN macro name (#26751) ... * fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN. Fixes #26454 * fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN These boards have a single sensor power rail that was incorrectly named SENSORS4_EN (copy-paste from boards with 4 rails). Rename to SENSORS_EN to match the actual hardware. Boards with legitimately numbered rails (fmu-v6xrt, x25-evo, x25-super) are not changed.	2026-03-16 14:51:47 -08:00
Jacob Dahl	b8610ca6f4	fix(nxp/linker): remove deprecated function signatures	2026-03-13 17:46:31 +01:00
CaFeZn	963a776fa6	feat(heater): Add multi-instance support for heaters (#26325) ... * heater: add multi-instance support, refactor parameter handling, remove legacy params file This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs. Main changes: - Add support for multiple heater instances - Refactor parameter handling to use per-instance parameters - Remove the legacy parameter file and migrate to the updated parameter structure This improves scalability and makes heater configuration consistent across setups with multiple sensors. * Refactor heater configuration across multiple boards - Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency. - Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros. - Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup. - Ensured all affected board configurations are updated to maintain functionality with the new heater definitions. * heater: fix missing HEATER1_OUTPUT_EN control * heater: fix more missing HEATER1_OUTPUT_EN control * heater: tidy config, docs, and instance handling - Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT - Improve HEATER${i}_IMU_ID description and instance-related logging/behavior - Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES Note: drop intermediate/reverted change around the 'celsius' spelling. * heater: refactor constructor to remove unused parameter and add instance name function - Remove unused ModuleParams argument from Heater constructor - Add heater_instance_name() helper to provide per-instance work queue task names - Use instance-specific parameter lookup (HEATER{n}_*) during initialization Use heater_instance_name() to label each instance (heater_1/2/3) in work queue. Also drop unused ModuleParams argument from constructor and keep per-instance parameter handle lookup in initialization. * format * board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO * heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency * heater: add a TODO for px4io multi-instance * heater: update missing GPIO_HEATER1_OUTPUT in sky-drones * heater: fix multiple newlines at EOF (resolve CI check failure) * heater: switch to PublicationMulti for heater_status and log multi-instance - Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting. - Updated logged_topics.cpp to use add_optional_topic_multi("heater_status") This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs. --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-03-02 12:13:08 -09:00
Matthias Grob	62f5f5267e	Land detector: Remove LNDMC_TRIG_TIME parameter (#25251) ... * LandDetector: remove unused LNDMC_TRIG_TIME parameter * LandDetector: remove unnecessarily complicated global set_hysteresis_factor() function * Apply suggestions from code review Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Apply suggestions from code review * remove param --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-02-19 11:17:03 -09:00
Matthias Grob	977777f40a	FlightTaskAuto: refactor triplet subscription naming	2026-02-18 17:05:03 +01:00
Matthias Grob	d0004403a3	FlightTaskAuto: remove offtrack logic ... It was added at a time where the triplet target was directly fed as position setpoint to the controller. Since the smoothing improvements to FlightTaskAuto(SmoothVel) and removing the previous "aggressive" FlightTaskAuto variant there should be no need anymore for this logic. It can sometimes lead to unexpected sideffects. E.g. the vehicle would suddenly change direction when exceeding some arbitrary threshold.	2026-02-18 17:05:03 +01:00
Aaron1356	066e8f7fea	Adding Light Ware GRF Serial Driver (#26404) ... * Creating a base for grf lidar * Serial Drive is working, need to work out distance publish * WIP Getting Range Data in cm * Working Rand Distance Values for GRF 250 and GRF500 * Review Changes * Compiler fixes * Update to date * small update * Fix typo and remover unused libs * removing unused enum * Update to the Documentation * Fiving scaling issue * update to the logic * [Feature] Adding I2C driver for the GRF250 and GRF500 models (#26425) * Adding the GRF I2C driver * I2C Driver Working * Removing a lot of unnecessary code * fixing names * Changing the i2c Driver to be in the lightware laser * remove the old driver * formatting fix * Adding Ligthware GRF to documentation * Update to the Documentation * Ensuring sample_perf ends * Updating Docs * uavcannode: implement hardpoint commands (#26334) * implement cannode hardpoint commands Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * add hardpoint sub to ark cannode, simplify handling of hardpoint broadcast Signed-off-by: dirksavage88 <dirksavage88@gmail.com> --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * voxl_esc: Limit frequency of UART passthru writes to 20Hz * voxl2_io: Added UART passthru * docs: update link for px4 ros2 interface lib python api docs * estimator_interface: remove unused getter * gnss_checks: always run strict checks on ground With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air. * ekf2 unit-tests: adapt to strict GNSS checks on ground * escCheck: rework online check to properly report offline ESCs previous to this 09d79b221f set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set. So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`. * FailureDetector: consistent timestamp naming * FailureDetector: rework motor status check * FailureDetector: implement upper and lower current limit with offset * Update src/modules/commander/failure_detector/FailureDetector.cpp Prevent Buffer overflow * Update Format * Subedit * Shrink and rename image * Apply suggestion from @hamishwillee Sounds good Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Apply suggestion from @hamishwillee More universal approach Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update to the Documentation * FailureDetector: rework motor status check * FailureDetector: implement upper and lower current limit with offset * Subedit * docs: update parameter reference metadata * Remove pregenerated files - that should all be tidied up next time this runs * remover GRF parameters * Documentation updates * Fixing Merge Conflicts * remove @ * Undo Changes to parameter_reference * remove the code that will be autogen-ed * Update the Camake File --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Matthias Grob <maetugr@gmail.com> Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com> Co-authored-by: Nick <145654544+ttechnick@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2026-02-16 16:34:48 -05:00
Julian Oes	6ef0e57eeb	boards: remove unused IMU sensors from 6X ... It turns out ICM20602 and ICM20948 are not actually started/probed on the px4/v6x platform. We should be able to remove them without repercussions and save some flash.	2026-02-11 08:31:55 +01:00
Atsunori Saito	75d7395daa	v6xrt: correct LED state read logic (#26316) ... Move negation to return value instead of GPIO map argument for proper active-low handling.	2026-01-22 14:11:37 -09:00
Silvan	52308735a7	px4/v6x: remove AUAV differential pressure to save flash ... Signed-off-by: Silvan <silvan@auterion.com>	2026-01-22 15:14:54 +01:00
Alexander Lerach	4ac7853479	auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… (#25925) ... * auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module * auterion autostarter: Enable on v6s, robustify error handling * review comments	2026-01-21 19:05:09 +01:00
Jacob Dahl	06db25c078	boards: remove CONFIG_COMMON_OPTICAL_FLOW from all non-CANnode hardware (#26315)	2026-01-21 10:51:09 -05:00
Silvan	e90f8b500f	v5: remove UUV to save flash ... Signed-off-by: Silvan <silvan@auterion.com>	2026-01-16 11:33:45 +01:00
Kimminkyu	df42ef84f1	Update NuttX fmu-v6x config use with Zenoh (#26213)	2026-01-15 11:40:09 -09:00
Jonas Eschmann	db2c6b2abe	feature: Integrating the RAPTOR foundation policy (#26082) ... * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme updating gitignore * fixing format and declaring submodules as cmake dependencies * adding uORB message documentation * fixing comment alignment * Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead) * bump RLtools; relax timing thresholds and adding real world readme * smooth traj tracking performance * Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification * More ideomatic way of setting the path to the policy checkpoint * Reset trajectory_setpoint on raptor mode activation * Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance * stable flight * Update msg/versioned/RaptorInput.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * adopting message formatting conventions * sort raptor.px4board * Archiving RegisterExtComponentRequestV1.msg * Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2 * fixing formatting * making internal reference configurable via command * RAPTOR docs wip * raptor internal reference documentation * Finishing RAPTOR docs first draft * adding logging instructions * Fixing missing command documentation test error * fixing format * adding motor layout warning * raptor minimal subedit - prettier, images etc * Improve intro * Fix up Neural_Networks version * Mentioning "Adaptive" in the RAPTOR documentation's title * Adding clarifications about the internal reference trajectory generator * Removing "foundation policy" wording * Fixing new-line check * Removing redundant (evident through directory hierarchy) raptor_ from filenames * Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic * Fix to standard structure * Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table * Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status * Trivial layout and wording fixes * fixing docs error --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-01-14 09:47:47 -08:00
Alexander Lerach	cb6bdee4c2	boards: v6x, remove MS5611 driver to save flash (#26138)	2025-12-17 09:57:34 -09:00
Phil-Engljaehringer	3438d593a1	drivers: MCP23009 & MCP23017 shared code base (#25924) ... * Implemented driver for MCP23017 * fixed compatability with mcp23009. (naming of instantiated GPIO-Devices) * removed some comments * removed even more comments * commented out instatntiation of driver since it will not be used with v6x * removed last useless comments * re-activated gpio_mcp23009 driver, removed useless comments and empty lines * removed empty lines at the end of mcp23017.cpp * removed empty line * Implemented driver for MCP23017 * fixed compatability with mcp23009. (naming of instantiated GPIO-Devices) * removed some comments * removed even more comments * commented out instatntiation of driver since it will not be used with v6x * removed last useless comments * re-activated gpio_mcp23009 driver, removed useless comments and empty lines * removed empty lines at the end of mcp23017.cpp * removed empty line * basic working implementation * first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks) * removed unused imports * changed module name from MCP to MCP230XX * removed debug print statements * adjusted auto start command of driver * removed comments * -added seperate main functions for both derivative modules (mcp23009 and mcp23017) * compile common functions as shared library in src/lib/drivers * fixed cleanup of modules * ->unclean working version with shared common library * used make format * working & cleaned version * -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously -> Removed old mcap23009 calls and pin registrations -> Adjusted GpioIn.msg to contain MAX_INSTANCES * ->removed unused imports ->used make format * Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x * Fix: enabled platform_mcp_gpio in px4/fmu-v5x * added depency to fmu-v5x * Fix: removed new lines * Fix: fixed linker errors * removed unused linkage against mcp-library * Made mcp start calls consistent for fmu-v5x and fmu-v6x * moved logging of comm errors to read/write function directly * added perf_count for sanity_check * removed error message * ensured member variables follow naming convention * added retries to probe function * simplyfied state-logic * add break to terminate loop early * ensured clean state when register_gpios() fails * add registered-flag to pins * used path from top dir instead of relative path in CMakeLists * used constexpr to set parameters instead of calculating them at runtime * style: used make format * fix: corrected i2c_bus assignment * style: init input of callbackhandler to 0 * fix: mark pin as registered if successful * style: made arguments const type --------- Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-12-17 17:48:30 +01:00
Jacob Dahl	c726c7e4f4	px4: v6x: mavlink-dev: remove UXRCE DDS client to free up flash (#26131)	2025-12-17 14:17:57 +13:00
Farhang	38eaa8b1d3	Add UAVCAN interfaces numbers board default (#26066)	2025-12-11 08:43:07 -05:00
Matthias Grob	f6de211a27	boards: skip resetting INA parameters to the same default value	2025-11-27 15:16:50 +01:00
Peter van der Perk	85916b8946	Update V6X-RT bootloader .bin file (#26007) ... #25998 Addition required bin update	2025-11-27 08:59:21 -05:00
Peter van der Perk	4498475515	fmu-v6x: zenoh config set CONSTRAINED_FLASH ... Fixes flash overflow with zenoh target on fmu-v6x	2025-11-21 10:10:32 -09:00
Julian Oes	c89667d911	boards: add MAVLink development targets ... These targets can be used to test MAVLink messages in the development.xml dialect.	2025-11-20 23:23:40 -09:00
Julian Oes	fa7ffa423c	boards: remove MAVLink development dialect ... We should not build and release with the MAVLink development dialect because messages in development.xml can change at any time and break things. Instead we should prototype and test things using specific mavlink-dev targets.	2025-11-20 23:23:40 -09:00
Jacob Dahl	0e7f980c76	v6c: neural: remove INS drivers to save flash	2025-11-13 09:13:39 -09:00
TedObrien	b5c3c11622	MCP9808: Disable by default on v6x to save flash	2025-11-06 10:00:26 -09:00
TedObrien	a94ee4382b	MCP9808: Create driver for MCP9808 temperature sensor	2025-11-06 10:00:26 -09:00
Alexander Lerach	e8fbc30cf6	boards: add auterion v6x target	2025-10-14 19:14:41 +02:00
Peter van der Perk	edc7a2bb80	fmu-v6xrt: Add DTCM to heap (#25733) ... Move ramvectors from DTCM to ITCM, this seems to better in general. Also ITCM is marked as RO so is safer anyhow, now that DTCM is fully unused we add DTCM region of 256kB to memory allocator. Increases usable memory from 1536kB to 1792kB and decrease system load a bit since DTCM is faster	2025-10-10 09:46:26 -08:00
Jacob Dahl	4766f3c1d3	board: px4_fmu-v6x: remove land detector and landing target estimator from uuv and spacecraft targets (#25688)	2025-09-30 21:50:32 -08:00
Claudio Chies	b730acfc76	BOARDS: MISC: remove "auto-generated" for files which are not autogenerated anymore	2025-09-22 15:02:24 +02:00
Claudio Chies	d3acee315a	BAT: Consolidate the highest feasible number of batteries into just 3	2025-09-22 15:02:24 +02:00
Peter van der Perk	7887f16daa	Update NuttX config for use with Zenoh	2025-08-22 08:22:59 +02:00
Peter van der Perk	bac009c2b8	Enable Zenoh by default on big-flash targets ... These targets can easily support Zenoh by default eases adoption and testing	2025-08-22 08:22:59 +02:00
Peter van der Perk	aa15512762	fmu-v6xrt: Add V6XRT001 and V6XRT002 sensor set	2025-08-06 16:49:42 -04:00
Peter van der Perk	d9bc3bc6bb	fmu-v6xrt: Enable lis2dml and bmm350 magnetometer	2025-08-06 16:49:42 -04:00
Alexander Lerach	900f108a2e	auterion pm: add eeprom-based pm selection	2025-08-05 08:30:13 -07:00
Ramon Roche	0cddd3dfb0	drivers: disable INS by default (#25303) ... * drivers: disable INS by default With the growing number of INS drivers some targets are running out of flash and its becoming challenge to keep them under the limit. Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Update boards/nxp/tropic-community/default.px4board Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update boards/px4/fmu-v6xrt/default.px4board Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-07-31 11:42:21 -08:00
Alexander Lerach	2ecc7226e6	common_rc: enable on v5x/v6x/v6s, disable rc_input	2025-07-30 15:09:39 +02:00
Silvan Fuhrer	edfcbc7c9b	boards: remove duplicated enabling of AUX_GLOB_POS ... EKF2_AUX_GLOBAL_POSITION is y by default. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-28 09:42:30 +02:00
Sindre Meyer Hegre	3be0cb077c	Neural Control Mode (#24366) ... * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-07-25 09:42:12 -08:00