* docs(releases): draft v1.17.0 release notes
Drafts the v1.17.0 release notes based on commits in the
release/1.16..release/1.17 diff, with every PR citation verified as an
ancestor of release/1.17 and not shared with release/1.16.
Major Changes leads with the experimental MC Neural Network Control
mode and the on-device TFLM integration, the new Altitude Cruise mode
for multicopters, FW Takeoff improvements, FW and Rover ROS 2 Control
Interface setpoints, and the in-tree Zenoh middleware maturing toward
rmw_zenoh compatibility.
Hardware Support is reorganized into four sub-groups: New Flight
Controllers, New Build Targets for Existing Hardware, New CAN
Peripherals & Vehicle Platforms, and Existing Boards: Improvements.
The Simulation section is split into Gazebo and SIH sub-groups. The
ROS 2 / DDS section is split into uXRCE-DDS and Zenoh.
Posted on main as a draft to give docs maintainers visibility and
collect review feedback. Backport strategy to release/1.17 (alpha/beta
banner variant vs the stable banner variant on main) is a follow-up
discussion.
Also fixes a long-anchor scroll-restoration bug in
px4_ros2_control_interface.md by giving the FwLateralLongitudinal
heading an explicit short anchor (#fw-lateral-longitudinal-setpoint),
and updates the corresponding link in releases/main.md.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): address review on v1.17.0 notes
- Cross-link Altitude Cruise in the intro paragraph.
- Reframe MC Neural Network Control as an experimental test path
rather than first-class on-device inference; move it to the bottom
of Major Changes.
- Drop the redundant "opt-in" wording from the Zenoh Major Changes
bullet.
- Rewrite Upgrade Guide as a true upgrade procedure (actionable
numbered steps with what to do and why) following the v1.14 release
notes pattern instead of a flat parameter-delta list.
- Add the missing PR reference for the extended MISSION_CURRENT entry
(#25034, populating the MAVLink mavlink/mavlink#1869 fields).
- Dedupe Safety / Commander against Common: failsafe takeover,
Offboard-to-Position-without-RC, and motor-failure timeout checks
are now listed only once in Common.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* feat(gpsRedundancyCheck): add GPS redundancy failsafe with divergence check
- Monitors GPS count and triggers configurable failsafe (COM_GPS_LOSS_ACT) when count drops below SYS_HAS_NUM_GPS
- Tracks online (present+fresh) and fixed (3D fix) receivers separately; emits "receiver offline" vs "receiver lost fix"
- Detects position divergence between two receivers against combined RMS eph uncertainty plus lever-arm separation
- Pre-arm warns immediately; in-flight requires 2s sustained divergence to suppress multipath false alarms
- Adds GpsRedundancyCheckTest functional test suite
New parameters: SYS_HAS_NUM_GPS, COM_GPS_LOSS_ACT
* feat(sensor_gps_sim): publish second GPS instance using SENS_GPS1 lever arm params
When SENS_GPS1_OFFX or SENS_GPS1_OFFY is non-zero, publish a second sensor_gps instance offset by those values from the vehicle position.
fix(sensor_gps_sim): give second instance distinct device_id
Both simulated GPS instances previously shared the same device_id (address 0x00). This prevented testing the device-ID matching path in SITL since both slots would match the same receiver.
* refactor(gpsRedundancyCheck): address code review feedback
* refactor(gpsRedundancyCheck): address code review feedback
* docs: add GNSS check failsafe documentation
Update safety.md and releases/main.md to document the new GNSS check
failsafe (SYS_HAS_NUM_GNSS, COM_GPS_LOSS_ACT) introduced in PX4.
* docs(update): Subedit to taste
* refactor(gps): move GNSS redundancy detection into sensors module
Add GnssRedundancyStatus topic and GnssRedundancyMonitor in
vehicle_gps_position. Commander's gpsRedundancyCheck becomes a thin
consumer of the new topic. Detection lives with blending/fallback in
one module.
Also rename COM_GPS_LOSS_ACT -> COM_GNSS_LSS_ACT.
* docs(safety): clarify GNSS failsafe wording and rename COM_GNSS_LSS_ACT
* refactor(failsafe): consistent default case as fallback for existing option
* Rename COM_GNSS_LSS_ACT -> COM_GNSSLOSS_ACT
for readability
* fix(gnssRedundancyCheck): move logic back into the commander checks and various improvement suggestions
- Rename to GNSS instead of gps
- Use hysteresis
- Small logic refactorings
- Adapt unit tests to different interface
- User reporting on which GPS is offline or doesn't have a fix
* docs(gnssRedundancyCheck): simplify explanations
* refactor(gnssRedundancyCheck): update year numbers in copyright
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* SITL: mavlink bind to a specific interface using an environment variable PX4_NET_INTERFACE
Fixes issue #26384
* document the usage of PX4_NET_INTERFACE
* Improved Docs:
- Added new Environment Configuration subsection at the end of SITL Simulation
- Removed the old Bind MAVLink to Specific Network Interface subsection (content consolidated into the new section)
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* 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>
PX4BuildBot
Ramon Roche
Michael Fritsche
Hamish Willee
Gennaro Guidone
Salaheldin Hassan
Nick
Francesco P. Carmone
Matthias Grob
Vuk-SFL