2950 Commits

Include renames

Author	SHA1	Message	Date
3 people	25b7d627da	fix(ROMFS): Safe flash pruning more unnecessary characters from ROMFS (#27775) ... * refactor(ROMFS): remove trailing zeros from all airframes * refactor(ROMFS): remove allignment whitespace from all startup scripts * feat(romfs_pruner): strip end of line comments in startup scripts and airframes to not waste any flash. * feat(romfs_pruner): strip inline multi-whitespace * fix typo Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>	2026-07-01 11:53:21 -08:00
Balduin	f17f70be6f	fix(airframes/10042): correct sihsim_xvert sign error ... The sihsim_xvert currently tumbles immediately on takeoff. Here is why: generate_ts_aerodynamics in sih.cpp calculates elevon torques. everything is rotated into the fixed-wing frame, in which - positive _u[4] (configured as CA_SV_CS0) generates positive FW roll torque (left wing pushed up) - positive _u[5] (configured as CA_SV_CS1) generates positive FW roll torque (right wing pushed down, note the additional minus) So in the FW frame, they work like this: - positive _u[4] + _u[5] -> positive FW roll torque - positive _u[4] - _u[5] -> positive FW pitch torque The airframe file however configures all of these in the multicopter frame. So accounting for the frame conversion, we have: - MC yaw = -FW roll = -_u[4] - _u[5] - because FW x points nose-forward while MC z points nose-backward - MC pitch = FW pitch = _u[4] - _u[5] or in matrix form: [ MC yaw ] [ -1 -1 ] [ _u[4] ] [ MC pitch ] = [ 1 -1 ] [ _u[5] ] and as this matrix is basically (up to scaling) [ CS0_TRQ_Y CS1_TRQ_Y ] [ CS0_TRQ_P CS1_TRQ_P ] we have to change the CS1_TRQ_* coefficients to be negative.	2026-07-01 15:51:28 +02:00
Alireza Ghaderi	b885c2d7e9	feat(sim): add X-Plane SITL airframes (#22493)	2026-07-01 18:42:33 +10:00
3 people	f937bd5818	refactor(failure_injection): centralize MAV_CMD_INJECT_FAILURE behind a manager module (#27572) ... * feat(failure_injection): add failure_injection topic and helper library * feat(failure_injection): add failure injection manager module * refactor(commander): route motor failure injection through the manager * refactor(simulation): route sensor sim failure injection through the manager * refactor(simulation): route SimulatorMavlink failure injection through the manager * feat(failure_injection): start the manager in the SITL startup * docs(failure_injection): document per-simulator failure support * feat(failure_injection): enhance failure injection management and configuration * fix(rebase): baro failure injectionb * refactor(failure_injection): simplify FailureInjectionManager and FailureTable implementations * refactor(failure_injection): replace Subscriber with Config in various modules and add update method * update(uorb): FailureInjection.msg to docs standard * docs(docs): subedit * fix(failure_injection): correct comment formatting in FailureInjection.msg * feat(failure_injection): add failure injection manager support across multiple boards and modules * feat(mavlink): implement failure injection functionality --------- Co-authored-by: Claudio Chies <chiesc@chies.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-06-30 15:33:39 +02:00
Hyunduk Shin	2bc9774170	feat(airframes): add generic airship	2026-06-29 12:34:55 -07:00
4 people	6ddf60c7b4	feat(sim): add RotorPy simulator support (#27116) ... * Add rotorpy simulator and integrate with main simulator script * docs: add rotorpy simulator instructions * docs(update): subedit * docs: address RotorPy review comments --------- Co-authored-by: Davide Iafrate <dvde.iafrate98@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-06-25 15:51:55 -07:00
Matthias Grob	c05cc47b75	fix(mc_defaults): remove 2m instead of 10m acceptance radius (#27738) ... This setting comes from a time where takeoff was accepted immediately if the acceptance radius was too big and also the mission behavior was completely different: 95a8414895	2026-06-24 10:06:26 -06:00
Gennaro Guidone	143b518528	fix(rcS): FMU output pins not working when serial passthrough is not compiled for a board (#27682) ... #27605 gated the dshot/pwm_out start on `param compare -s PASSTHRU_EN 0`. PASSTHRU_EN is registered only when the serialpassthrough driver is compiled in, which is not the case on most boards (e.g. fmu-v5x). There param_find() fails, `param compare` returns "no match", the else branch runs, and the FMU outputs never start: the PWM_AUX group disappears from the Actuators screen and motors wired to those pins won't arm. SITL uses a separate init.d-posix rcS and is unaffected, so CI did not catch it. Use the start-unless-explicitly-enabled idiom already used elsewhere in rcS (`param greater -s`): only skip the outputs when PASSTHRU_EN is explicitly > 0. A missing or zero parameter starts the outputs as before.	2026-06-17 16:37:50 +02:00
Jacob Dahl	a5b2270292	fix(parameters): save resets synchronously and scope caldata repair (#27658) ... * fix(commander): save parameters synchronously after parameter reset ParamResetAll and ParamResetAllConfig relied on the deferred autosave (300 ms delay, 2 s rate limit) to persist the reset, so a reboot or power cycle right after the command ack could leave the old parameters in storage. Save synchronously like ParamResetSensorFactory already does. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(rcS): only run caldata BSON size repair on boards with caldata The bsondump docsize block from #23088 repairs a zeroed BSON document size field in /fs/mtd_caldata, but it ran unconditionally with a comment claiming it checks /fs/mtd_params, producing failed-bsondump boot noise on every board without a caldata partition. Move it inside the MTD_CALDATA gate next to the param load it exists to protect. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-06-14 16:24:09 -06:00
Jacob Dahl	940af26b4b	fix(sensors): disable SENS_MAG_AUTOCAL by default, keep for CAN nodes (#27659) ... PR #18421 added the initial mag calibration save and was deliberately merged with SENS_MAG_AUTOCAL=0 until parameter system concerns were addressed. PR #19818 (CAN GPS nodes) flipped the global default to 1 as an undiscussed side change, shipped in v1.14.0. Since then every uncalibrated mag marks itself calibrated (CAL_MAGn_ID set) shortly after the disarmed bias estimator stabilizes, so ground stations stop prompting for compass calibration on new setups, and the first flight happens on a hard-iron-only estimate with an assumed mount rotation. Restore the disabled default and enable it where it is genuinely needed: CAN nodes, which have no GCS calibration flow and no EKF for in-flight refinement. MBE_ENABLE is untouched, the bias estimator still runs and corrects everywhere. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-06-12 19:17:53 -06:00
Phil-Engljaehringer	f2eecc33f7	feat(drivers): implemented serial passthrough (#27605) ... * feat: implemented serial passthrough * fix: used make format * fix: changed function order to match other drivers * fix: moved passthrough from systemcmds to drivers * fix: renamed BITBANG_TIMER to UART_BITBANG_TIMER * fix: used make format * feat: added PASSTHRU_EN guard to start of dshot&pwm_out * fix: made changing ESC channels more stable * fix: adjusted naming of guards * fix: changed include guard of bitbang * fix: removed unused variable SER_PASS_BAUD * fix: adjusted comments * fix: adjusted print_usage() to match other drivers * fix: remove bitbang_write_byte from public API and some buffer guard * fix: added Serialpassthrough&Bitbang to exclude list of allyesconfig.py * fix: added missing flag to print_usage()	2026-06-12 18:27:26 +02:00
Jacob Dahl	88951f01e9	fix(parameters): self-initialize blank parameter storage at boot (#27623) ... Flashing PX4 over another firmware (e.g. ArduPilot on an ARK FPV) or first-booting a board with blank parameter storage played the error tune on every boot: the param layer treated a blank store as corruption, and the rcS recovery persisted with a file cp that is a no-op on FLASH_BASED_PARAMS boards, so the store never became valid. - param_import()/param_load() return 1 ("not yet stored") for a blank source - empty file, zeroed FRAM, or erased flash - on both the file and flash backends; a store that holds data but no valid entry (torn write, bit-rot, foreign data) is still reported as corrupt (-EILSEQ). The file backend detects a zero-length file via fstat (NuttX FAT cannot read() a 0-byte file: no cluster chain returns an error, not EOF) and otherwise inspects the leading BSON document length; the flash backend scans the whole store - new 'param load-or-init <backup>' command: loads from the default storage; a blank store is seeded from the SD backup (or firmware defaults) and persisted so the next boot loads normally. A corrupt store, a backup that exists but cannot be opened or imported, or a result that cannot be persisted returns failure. The three-way loaded/blank/corrupt logic lives in C because nsh $? is a binary success flag. A failed backup seed does not reset to defaults, which preserves parameters loaded earlier in boot (e.g. factory calibration from /fs/mtd_caldata) - rcS uses 'param load-or-init' instead of 'param import', and the corrupt-store recovery persists via 'param save' (works on flash-backed boards) only when the backup actually imported, so a corrupt backup keeps alerting the operator on the next boot - commander ParamLoadDefault treats blank storage (1) as success and warns the GCS that parameters were reset to defaults, instead of reporting "Error loading settings" - parameter_flashfs_init() in flashfs.c no longer reports a successful erase byte count as a failure (parity with flashfs32.c) Tested with new blankImport and corruptImport cases in 'tests parameters' (empty/zeroed/erased sources import as "not yet stored", garbage fails to import); the CustomDefaults test now restores the firmware default so the suite is repeatable within one boot. The STM32H7 flash-erase DCACHE invalidate fix this depends on (PX4/NuttX#381) is already in main's NuttX submodule. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-06-12 14:06:10 +12:00
mtandJacob Dahl	9b25e6df33	fix(simulation): preserve gravity and step_size in px4-rc.gzsim set_physics (#27488) ... * fix(simulation): preserve gravity and step_size in px4-rc.gzsim set_physics The set_physics service call in px4-rc.gzsim sent only real_time_factor. Other fields in gz.msgs.Physics (gravity, max_step_size) defaulted to 0 per protobuf semantics, silently zeroing world gravity in the gz physics engine when PX4_SIM_SPEED_FACTOR was set. Vehicles became weightless while PX4's accelerometer (sourced from the gz IMU plugin's cached SDF gravity) continued to report -9.81 m/s², making the bug invisible from PX4's side. Resolve the values via the live gz physics topic, fall back to the world SDF, and finally to Earth gravity / gz-harmonic default step size, then include the full set in the set_physics request. Fixes #27480 Signed-off-by: Marko T <marko.tavcar@c-astral.com> * fix(simulation): resolve world name in standalone and drop dead physics topic The gz physics topic queried for gravity/max_step_size does not exist in gz Harmonic (only a write-only set_physics service), so that branch always timed out and fell through. Read both values directly from the world SDF, which is the source of truth at load time. Also resolve PX4_GZ_WORLD from the running gz instance (clock topic) inside the readiness check, so standalone launches — where the world name is not known up front — can find the scene and the world SDF. Signed-off-by: Marko T <marko.tavcar@c-astral.com> * Update ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * docs(simulation): clarify gravity-default fallback comment in px4-rc.gzsim Fix typo ("greavity") and reword the comment to clearly state that the hardcoded gravity/step-size defaults are only used when the world SDF cannot be located, and are wrong for custom-gravity worlds. Signed-off-by: Marko T <marko.tavcar@c-astral.com> --------- Signed-off-by: Marko T <marko.tavcar@c-astral.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-06-08 20:50:07 -06:00
Jonas Peroliniandjonas	dd604072c4	feat(new_module): Static and moving vision-based target esitmator (Kalman Filter) (#23726) ... Co-authored-by: jonas <jonas.perolini@rigi.tech>	2026-05-26 07:27:49 +10:00
4 people	65be196b9b	docs(rovers): add hiwonder rover airframes and setup guide (#27333) ... * rover: add hiwonder rover airframes * docs: hiwonder rovers setup guide * docs(docs): compress images * docs(docs): prettier * docs(docs): subedit * docs(rover): add back tip about custom firmware install * docs(rover): detail the hiwonder build / enable instructions * docs(rover): fix airframe typo for ackermann * docs(docs): Improve firmware section --------- Co-authored-by: chfriedrich98 <chfriedrich@student.ethz.ch> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2026-05-21 15:51:52 -04:00
Peter van der Perk	f16a2487ac	fix(rcS): Use CONFIG_BOARD_ROOT_PATH as root path. (#27378) ... Instead of hardcoded /fs/microsd use the BOARD_ROOT_PATH Kconfig variable	2026-05-18 09:33:45 -06:00
Phil-Engljaehringer	aa7c66e0a7	feat(uavcan): flash firmware onto CAN nodes from SD card (#27043) ... Place firmware .bin files at the SD card root or staging directory (/fs/microsd/ufw_staging/); on boot the UAVCAN server migrates them to /fs/microsd/ufw/ and updates FW.db, then flashes any connected node whose firmware version mismatches. - Add firmware migration from SD root and staging dir into /fs/microsd/ufw/ - Maintain FW.db flat-file database mapping board IDs to original filenames - Use cache-aligned DMA-safe read/write buffers (required on STM32H7) - Add Tools/auterion/remote_update_fmu.sh for SSH-based FMU+canio updates	2026-05-18 16:19:25 +02:00
Michael Fritscheandchfriedrich98	0932ad144b	feat(drivers): add support for hiwonder 4 channel encoder motor module (#27229) ... * driver: hiwonder encoder motor module * fix(drivers): Change HiwonderEMM from CRTP API to non-template ModuleBase * fix(drivers): exclude hiwonder_emm driver from sitl build, as it fails i2c dependencies * feat(drivers, hiwonder4channel): add parameter update subsciption * feat(drivers, hiwonder4channel): add requested changes of original PR * fix(drivers, hiwonder4channel): add default in hiwonder_emm module.yaml * fix(drivers, hiwonder4channel): formatting * fix(drivers, hiwonder4channel): add the hiwonder driver to all px4board s that include the roboclaw driver * cleanup(drivers, hiwonder4channel): update copyright year * chore(drivers): move hiwonder driver startup call from rc.board_sensors to rc.rover * chore(drivers): hiwonder 4 channel - improve HIWONDER_EMM_EN description * chore(drivers): hiwonder4channel - move to int8 for internal speed values * chore(drivers): hiwonder4channel - move unconfigurable value to initialization. * chore(drivers): hiwonder4channel - add reboot_required to enable parameter * chore(drivers): hiwonder4channel - add docs --------- Co-authored-by: chfriedrich98 <chfriedrich@student.ethz.ch>	2026-05-13 15:09:39 +02:00
Salaheldin HassanandHamish Willee	a5549b5c75	feat(simulation): Bind Mavlink to specific interface via PX4_NET_INTERFACE (#26385) ... * 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>	2026-05-10 15:19:31 +01:00
Matthias Grob	5e86be131c	fix(commander): Remove COM_OBC_LOSS_T (#27261) ... hardcoding the default 5 second timeout.	2026-04-30 23:40:44 +02:00
3 people	76ce06c931	feat(sih): Add thrust model for hexacopter simulation (#26587) ... * Quadratic thrust for SIH hexarotor (#67) * sih: add thrust model hexacopter model * fix: add missing line break * sihsim_hey airframe: add THR_MDL_FAC to accomodate for simulated quadratic motor thrust. * fix(sih): fix quadratic model in simulation The square was done in place and the low pass filter also effected the same variable, the result was that for small numbers the low pass filter gain was not enouhg with respect to the decay caused by squaring numbers close to zero. As a result even if you where trying to send 1 xcommands in simulation it would stoip around 0.008. Now the square is done in a different variable, the problem is not there anymore. Tested in simulation --------- Signed-off-by: Gennaro Guidone <gennaroguido2002@gmail.com> Co-authored-by: Matthias Grob <maetugr@gmail.com> Co-authored-by: Gennaro Guidone <gennaroguido2002@gmail.com>	2026-04-29 09:18:05 -06:00
Julian Oes	b48ec2dd68	feat(params): add board-level read-only parameter support (#26522) ... Integrators can declare read-only parameters in a per-board YAML file: readonly_params.yaml. There are two ways to define the read-only params: - "block": default writable, explicitly list params to be locked - "allow": default readonly, explicitly list params to be writable Enforcement is activated by `param lock` in rcS after all startup scripts have run, so board defaults and airframe scripts can still set params during init. The feedback via MAVLink uses the new MAV_PARAM_ERROR_READ_ONLY as part of the PARAM_ERROR message.	2026-04-27 09:06:43 +12:00
Balduin	3008a496b4	fix(airframes/10043): Fix pusher being too weak ... The airframe 10043 (make px4_sitl sihsim_standard_vtol) currently does not have enough forward thrust to reach VT_ARSP_TRANS (10) or VT_ARSP_BLEND (8), so we get front transition timeout. By bisecting, we find that #26720 breaks it. The PR introduces a new dynamic prop model, which is now used in the airframes 1101, 1102, 1103, and 1105 (new addition), but not 10043. The PR also removes a previous magic number that gave the standard VTOL pusher twice the max thrust of the hover motors (2 * 2N = 4N). It introduces a separate SIH_F_T_MAX, but by default it is 2N, causing the weak pusher for 10043. Fix by using the new dynamic propeller model by default, with the same params that #26720 introduces for airframe 1103 (It would also suffice to only set SIH_F_T_MAX=6, but now that we have the nicer model let's use it). Note that 10041 (sihsim_airplane) is not broken by #26720 in this way, as it already has SIH_T_MAX of 6N.	2026-04-14 14:33:31 +02:00
BalduinandJacob Dahl	c970a822a0	refactor(battery_simulator): clean up param SIM_BAT_ENABLE (#26823) ... * refactor(battery_simulator): remove SIM_BAT_ENABLE disable instead with SIM_BAT_DRAIN <= 0 * fix(battery_simulator): disable battery sim only if SIM_BAT_DRAIN strictly < 0 * fix(battery_simulator): disable if 0, adjust limit to 0 * fix(battery_simulator): remove constraining again now that SIM_BAT_DRAIN=0 means the module is not started we are safe from division by zero again (param compare has a tolerance of 1e-7) * fix(battery_simulator): constrain param to min of 1 to avoid division by zero. This reverts commit 6380c4fdee. * fix(battery_simulator): remove arbitrary param max * fix(battery_simulator): reword long param description Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * fix(battery_simulator): reword short param description Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-04-12 16:20:46 -08:00
alexcekay	20cad48707	rcS: fine-grained storage settings	2026-04-09 11:22:43 +02:00
Ramon Rocheandromain-chiap	3c5574c051	feat(sih): add propeller model with advance ratio (#26720) ... --------- Signed-off-by: romain-chiap <romain.chiap@gmail.com> Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: romain-chiap <romain.chiap@gmail.com>	2026-04-08 15:57:17 -07:00
Ramon Roche	01dd41b7e8	fix(sim/sih): fix MAV_TYPE to report hexarotor in heartbeat ... rc.mc_defaults sets MAV_TYPE=2 (quadrotor) which the hex airframe never overrides. Set MAV_TYPE=13 (hexarotor) so the heartbeat correctly identifies the vehicle type. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-31 17:01:10 -06:00
Nick	1856933bac	fix(rcS): silence VTX_SER_CFG on boot (#26914)	2026-03-31 10:11:36 -08:00
ttechnick	e4fe5bbad5	chore(drivers): only start vtxtable when required	2026-03-18 13:36:44 +01:00
Silvan	bb02ed9782	feat(rcS): do not exclude RC_* params from a reset ... There are many settings falling into the RC_* category that definitely should be reset when e.g. placing the autopilot into a new airframe. And even for RC calibration values: it's not the worst if those are newly calibrated after a reset. Or if they are not expected to change one can bake them into the airframe file. Signed-off-by: Silvan <silvan@auterion.com>	2026-03-18 11:38:32 +01:00
Nick	5b1a0e7236	feat(drivers): silence TMP102 driver startup (#26776)	2026-03-17 21:15:30 -08:00
Jacob Dahl	4b2e0a6f59	feat(sensors/gps): add per-receiver GPS delay parameters (#26660) ... * sensors: add per-receiver GPS delay parameters Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the same device-ID matching pattern used for antenna offsets. Each receiver can now have its own measurement delay relative to the IMU. The delay is applied to timestamp_sample before blending. When PPS time correction is active it takes priority over the parameter-based delay. When a GPS driver already provides its own timestamp_sample the per-receiver delay is not applied on top of it. * fix(ekf2): remove EKF2_GPS_DELAY and perform param transation * fix(param_translation): fix GPS param migration return values Add missing return for EKF2_GPS_POS_Z and remove incorrect return for EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED). * fix(sensors,ekf2): rename pps_compensation and clarify delay default * fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing * fix(docs): migrate EKF2_GPS_DELAY param	2026-03-17 18:19:08 -08:00
Jacob Dahl	89855926ef	feat(sensors/gps): move GPS antenna offsets to per-receiver parameters (#26634) ... * sensors: move GPS antenna offsets to per-receiver parameters Move antenna position configuration from the single EKF2_GPS_POS_X/Y/Z parameter set into per-receiver SENS_GPS{0,1}_OFF{X,Y,Z} parameters in the sensors module. Each offset slot is matched to a physical receiver by device ID (SENS_GPS{0,1}_ID), falling back to uORB instance index when no IDs are configured. The antenna offset is now carried through the SensorGps uORB message and blended alongside other GPS states when multi-receiver blending is active, so EKF2 receives the correct lever arm for whichever receiver (or weighted combination) is selected. - Add antenna_offset_{x,y,z} fields to SensorGps.msg - Remove EKF2_GPS_POS_X/Y/Z params; EKF2 reads offset from gnssSample - Add SENS_GPS{0,1}_ID and SENS_GPS{0,1}_OFF{X,Y,Z} params (module.yaml) - Blend antenna offsets in GpsBlending (weighted average) - Add unit tests for single, blended, and failover antenna offset cases - Migrate params.c to module.yaml for the vehicle_gps_position module * sensors: gps_blending: add asymmetric weight and fallthrough offset tests Add two additional antenna offset test cases: - dualReceiverAsymmetricWeightAntennaOffset: verify that unequal eph values produce correctly skewed blend weights (0.8/0.2) and that the output antenna offset reflects the weighted average - blendingFallthroughAntennaOffset: verify that when blending is enabled but can_do_blending evaluates false (eph=0), the non-blending path correctly assigns the selected receiver's antenna offset * feat(param_translation): translate EKF2_GPS_POS_ to SENS_GPS0_OFF_ * fix(msgs): proper formatting * chore(msg): 0 if invalid/unknown * fix(ROMFS): migrate EKF2_GPS_POS_ params * fix(docs): migrate EKF2_GPS_POS_ params * fix(blending): unsigned param * Update msg/SensorGps.msg Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * fix(sensors/gps): remove 'values:' tag in module.yaml * fix(sensors/gps): unsigned instance index * fix(blending): restore const on gps_blend_states() Move antenna offset blending into blend_gps_data() where the weights are computed, keeping gps_blend_states() const. * fix(sensors/gps): fix msg annotation and restore SENS_GPS_PRIME values Remove incorrect @invalid NaN annotation from antenna offset fields (0.0 default is correct, not a sentinel). Restore values tag for SENS_GPS_PRIME so QGC shows a dropdown. * fix(gps_blending): fix pre-existing bug to clear _gps_updated flags The loop iterates over i but always clears gps_select_index. The intent is to clear all updated flags, but only the selected one gets cleared (N times) * test(gps_blending): add stale update flag regression test	2026-03-17 17:33:41 -08:00
Matthias Grob	efdd1e021f	fix(rcS): reset the flight mode assignments during an airframe reset (#26773) ... * fix(rcS): reset the flight mode assignments during an airframe reset because there are many products that have a default flight mode assignment in the airframe file and if the user resets to airframe defaults the flight mode assignment stays custom and doesn't get reset to "factory settings". It's neither a unit specific calibration nor a parameter to track total flights or flight time. I suggest to reset it as well. * fix(posix rcS): sync airframe reset with the px4 common startup script to make simulation testing of an airframe reset more realistic.	2026-03-17 12:43:27 -08:00
Matthias Grob	270ad06e5f	Remove traces of FD_ESCS_EN	2026-03-12 18:30:51 +01:00
Hamish Willee	9e41ffd537	docs:Fix in-source broken links in modules and airframes ref (#26611)	2026-03-02 18:18:00 +11:00
TimandPedro Roque	8f870a1346	BlueROV2 Height control Altitude Mode (#26364) ... * removed commented out parts * changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp * Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email * added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero. * fixed constant roll/pitch to be 0.0 again * added parameter for maximum distance between controlled des height and current height. Added state observation to reset the desired height to current height when altitude mode is turned on. * added first short descriptions of manual modes. * update descriptions * removed vector dependency * feat: updated gz submodule * fix: newline * fix: gz submodule --------- Co-authored-by: Pedro Roque <roque@caltech.edu>	2026-02-20 22:46:12 -08:00
Victor Nan Fernandez-Ayala	2a0b795760	fix: set UXRCE_DDS_AG_IP in UUV airframe, remove from defaults (#26485)	2026-02-17 16:15:45 -08:00
Jacob Dahl	d84903d520	init.d-posix/airframes/4004_gz_standard_vtol: param set-default VT_PITCH_MIN -5 (#26507)	2026-02-17 00:06:29 -09:00
Daniel Honies	ac4f419b50	Update 4004_gz_standard_vtol ... VT_F_TRANS_THR at 0.3 always triggers front transition timeout as the vehicle does not accaelerate quickly enough. With the param set to 1.0 it works.	2026-01-29 18:07:32 +01:00
Matthias Grob	cac3c3c133	boot script: start uavcan and zenoh before logger ... because they publish optional topics which need to be advertised before logger starts otherwise they do not get logged!	2026-01-27 10:06:22 +01:00
Niklas Hauser	c0c265cd1f	[vtx] Add VTX driver with Tramp and SmartAudio support	2026-01-26 11:05:22 +01:00
Pernilla	8c5c4a0504	gimbal: update gz gimbal	2026-01-16 11:33:45 +01:00
Jonas EschmannandHamish Willee	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
Phil-Engljaehringer	46d9b14ba0	Feat: Add driver for TMP102 temperature sensor for Skynode-N (#26241) ... * feat: added driver for tmp102 temperature sensor * style: removed new line * style: adjusted date in header * style: removed duplicated logging * fix: moved start-up command from rc.board_sensors to rc.sensors * style: used consexpr for expected config reg value * feat: added retry logic to probe function * style: added _ as prefix to global variable * style: used make format * fix: corrected temperature calculation * fix: mask AL-bit in probe function * style: removed header files from CMakeLists * style: used correct english in comments * refactor: return error right after failure * style: moved init call to correct place * fix: corrected temperature calculation (again) * refactor: removed _curr_pr variable => always have to set PR to desired register on read * fix: add multi logged topic	2026-01-12 18:42:51 +01:00
Beniamino Pozzan	ec8f34325e	chore(rCS posix): move param override through env var after airframe selection (#26193) ... Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2026-01-09 12:15:45 +01:00
Julian Oes	0375f1a6f0	airframes: don't mess with logging profile (#26234) ... I don't think we should change the logging profile based on the type of airframe configured. Instead, this is an option you set based on the phase of development/testing you're in. This came up because the KakuteH7v2 which is 4050 by default would log excessively which is not a good idea with only 128 MB flash storage.	2026-01-07 20:31:52 -09:00
Pedro Roque	9563f4c8c6	fix: move required dds ip to hardware, leave default on sim (#26190)	2026-01-03 21:00:25 +01:00
Pedro Roque	33c7eed5f1	feature: add ATMOS dual actuation model (#26088) ... * init: working towards dual-action ATMOS * fix: update gz sim to latest * fix: add motor number max fitting Actuator * fix: revert non-necessary changes * fix: ensure esc count does not exceed maximum number of ESCs * feat: update gz to latest, includes ATMOS dual action * fix: restore dds_topics * fix: update gazebo model commit	2025-12-23 22:38:58 -08:00
Jacob Dahl	b5c0867101	airframes: exclude ark_fmu-v6x	2025-12-19 11:40:17 -09:00