54f0455ffc
fix(ekf2): break unbounded recursion
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fuseDirectStateMeasurement() ends with a call to constrainStateVariances(),
which iterates every state and, for any whose variance has grown past its
limit, calls fuseDirectStateMeasurement() again to apply a corrective
fuse. That inner call then runs its own constrainStateVariances(),
repeating the loop.
Call chain:
fuseDirectStateMeasurement ekf_helper.cpp:1030
`- constrainStateVariances ekf_helper.cpp:1085
`- constrainStateVar covariance.cpp:290
`- fuseDirectStateMeasurement covariance.cpp:302
`- constrainStateVariances (recursion)
`- ...
Under normal operation the P(i,i) > max branch is rarely taken and the
recursion stays shallow, however, while doing unrelated overnight testing
we saw a hard-fault with TCB corruption, presumably due to a stack overflow.
The trace pointed to fuseDirectStateMeasurement where Claude detected
the recursive call.
This fix breaks the recursion by gating the constrainStateVariances()
call on a new parameter, defaulting to true for existing callers.
constrainStateVar() passes false when it re-enters the fuse from the
constraint path, capping the worst-case recursion depth at 2.
2026-04-21 18:04:33 -07:00
75f9a32a12
fix(ekf2): allow optical flow to start when range finder is height reference
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When EKF2_HGT_REF=2 (range sensor) with no GPS, optical flow could
never start. The starting condition required isTerrainEstimateValid()
or isHorizontalAidingActive(), but terrain is never "estimated" when
range is the height reference (ground is the datum, terrain state is
fixed at 0), and there's no horizontal aiding without GPS.
HAGL is directly known from the range measurement in this case, so
optical flow has everything it needs to fuse. Add the range height
reference check to the optical flow starting conditions.
Fixes: https://github.com/PX4/PX4-Autopilot/issues/25248
2026-04-02 17:46:47 -06:00
94cb201279
drivers/gps: warn if gps_inject_data publications have been missed
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2025-11-10 00:55:16 -05:00
216fd858e8
drivers/gps: prioritize non-blocking reads over injection ( #25535 )
2025-11-10 00:55:16 -05:00
399512571b
platform: serial: add bytesAvailable() function
2025-11-10 00:55:16 -05:00
42dccca8fc
flight_modes_fw/return.md: remove warning about now-fixed bug in mission RTLs in FW
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2025-11-03 21:26:46 -09:00
6b5cfcce70
[Backport 1.16] Navigator: Fix mission RTL for fixed-wing by setting previous waypoint correctly( #25861 )
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This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there.
* Fix position setpoint update logic in Mission RTL
Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436 )
* Change to work more like `mission.cpp`
* Fix rtl_direct_misssion_land formatting for style guide
* rtl_mission_fast: fix FW landing by setting previous wp in landing
Signed-off-by: Silvan <silvan@auterion.com >
---------
Signed-off-by: Silvan <silvan@auterion.com >
Co-authored-by: Silvan <silvan@auterion.com >
2025-11-03 21:34:27 +01:00
06ec43629a
mission: delay until: mark next setpoint invalid
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Fixes bug with the NAV_CMD_DELAY where the copter would "pace" back and forth while waiting at the delay waypoint
2025-10-29 14:12:31 -08:00
162b7d6372
serial: nuttx: revert tcdrain back to fsync ( #25538 )
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* serial: nuttx: revert tcdrain back to fsync
* serial: do not print error on EAGAIN
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com >
2025-10-29 12:42:06 -04:00
5141b40e79
mavlink: parameters: fix camera and cannode param message routing
2025-10-29 05:02:00 -08:00
f3979c0fcf
mission_base: on mission end, set loiter position from previous position type setpoint
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2025-10-15 17:04:43 -04:00
150dd0bff0
flight task auto: fix offtrack mission landing bug
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During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.
2025-10-15 17:03:14 -04:00
09eda9ed3f
ci: pull emscripten v4.0.15 to avoid c++17 errors ( #25739 )
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https://github.com/emscripten-core/emscripten/issues/24850
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
2025-10-15 12:26:27 -04:00
b4aeee5099
fmu-v6xrt: Enable lis2dml and bmm350 magnetometer
2025-10-15 11:15:46 -04:00
4c02f799aa
fmu-v6xrt: Add V6XRT001 and V6XRT002 sensor set
2025-10-15 11:15:46 -04:00
762a4189c5
[v1.16 backport] Enable clean URLs in VitePress config ( #25759 )
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* [v1.16 backport] Enable clean URLs in VitePress config
* Remove the front page warning that only belongs on main
2025-10-14 16:51:14 -08:00
9f27676c55
cuav_7-nano：use new sensors ( #25098 ) ( #25546 )
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2025-10-13 20:58:59 -08:00
089887f232
mavlink: add message spacing for AVAILABLE_MODES, for low bandwidth ( #25662 )
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* mavlink: add message spacing for AVAILABLE_MODES, for low bandwidth links
* calculate delay based on rate
* fixed transmit time calc & not delay single mode send
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com >
Co-authored-by: bkueng <beat-kueng@gmx.net >
2025-10-01 13:25:27 -08:00
2574e03cb2
uavcan: esc: init msg to avoid publishing random values ( #25656 )
2025-10-01 13:24:30 -08:00
2cbfe76308
AWS docs deployment - add back paths revert runner ( #25690 )
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* AWS docs deployment - add back paths rever t runner
* touch doc
2025-10-01 15:27:41 +10:00
f2b630256a
AWS docs deployment - revert runs-on from ubuntu for test ( #25689 )
2025-10-01 15:04:03 +10:00
7008112da8
Update GitHub Actions output setting syntax to use envfile ( #25687 )
2025-10-01 14:28:50 +10:00
1aa783dc8b
Change runner to ubuntu-latest for deployment ( #25686 )
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* Change runner to ubuntu-latest for deployment
* Add actions permission to docs deployment workflow
2025-10-01 13:48:25 +10:00
81d97cc81d
docs: fix deploy variables ( #25685 )
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* ci: docs try again
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
* ci: try to fix docs deploy syntax
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
* ci: test for main and release/1.16
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
2025-10-01 12:30:51 +10:00
12601ac1c4
ci: docs deploy branchname for build step ( #25684 )
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Signed-off-by: Ramon Roche <mrpollo@gmail.com >
2025-10-01 12:08:43 +10:00
c3b5a83d3e
Restore to nearly working
2025-10-01 11:13:44 +10:00
767a765ddd
Trigger v1.16 docs build 3 ( #25682 )
2025-10-01 11:05:06 +10:00
939ff4002d
Update AWS deployment workflow for documentation
2025-10-01 11:01:48 +10:00
777dbe2926
Refactor AWS docs deployment workflow
2025-10-01 10:57:40 +10:00
835dac80c6
Trigger v1.16 docs build ( #25681 )
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Removed an unnecessary line break in the index guide.
2025-10-01 10:49:54 +10:00
80f163760e
Log BRANCH_NAME during VitePress build step
2025-10-01 10:38:42 +10:00
150757c43b
Add debug step for manual workflow runs
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Added a debug step to print environment variables during manual runs.
2025-10-01 10:31:09 +10:00
a03386316f
Fix up v1.16 docs version. Trigger docs build. Undo deploy by default to github ( #25679 )
2025-10-01 09:27:58 +10:00
0cc68650e9
AWS docs deploy workflow - modify release branch to same form ( #25678 )
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Added a step to derive the branch name for deployment.
2025-10-01 08:25:02 +10:00
ac5ed50b37
[backport] macos ci fixes for v1.16 ( #25672 )
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* ci: lockdown gcc v9 for macos
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
* pxh: do not use variable sized array on the stack
This is a compiler-specific extension
* ci: macos build on older gcc
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2025-09-30 13:49:26 -08:00
1c181fa8ec
disable CONFIG_MODULES_VTOL_ATT_CONTROL on encrypted_logs target
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2025-09-28 11:34:07 -06:00
72d99c7214
[backport] boards: ark_fpv add vtol att control
2025-09-28 11:34:07 -06:00
23c49a2095
Fix formatting to trigger v1.16 release build for testing ( #25643 )
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2025-09-26 08:44:34 +10:00
575514e6a1
Docs deploy AWS to v1.16 branch ( #25641 )
2025-09-26 07:50:27 +10:00
69bea3a3af
[Docs] PX4 v1.16 Add warning for RTL mode issues in return.md ( #25623 )
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* [Docs] PX4 v1.16 Add warning for RTL mode issues in return.md
Added a warning about known issues with RTL mode during fixed-wing approaches and landings.
* Apply suggestion from @hamishwillee
* Apply suggestion from @hamishwillee
2025-09-26 06:41:42 +10:00
5d6d973549
commander: accel cal rotate offsets and scales from body frame back into sensor frame before saving ( #25626 ) ( #25639 )
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- fixes https://github.com/PX4/PX4-Autopilot/issues/25606
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-09-25 10:33:14 -08:00
26cb1aafb3
[v1.16] Add relnote etc
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2025-08-07 15:04:20 +10:00
21c3732e09
VOXL2: Updated startup script to patch EKF2_EV_CTRL set default value issue
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2025-08-06 10:14:14 -07:00
61079bd08b
fix: let UXRCE DDS agent IP to be set via parameter in SITL ( #25231 )
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* Read XRCE_DDS IP from ENV
* just remove the -h flag from the launch command
* add 127.0.0.1 as default IP
* add default value for IP
2025-08-06 08:20:43 -07:00
6ea3539157
[backport] v1.16 fix gazebo install on ROS integration tests ( #25344 )
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* ci: update rosdistro apt keys (#25060 )
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
* ci: use release/1.16 branch for px4-ros2-interface-lib integration tests
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com >
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2025-08-05 14:54:48 -08:00
7fc5393afc
Update px4-rc.gzsim. Fix gz_world checking for PX4_GZ_STANDALONE=1 mode. Priority of gz_world (really running) over PX4_GZ_WORLD ( #25346 )
2025-08-01 01:14:09 -08:00
740521ae08
MC PositionControl: Add timeout for invalid TrajectorySetpoint ( #25283 ) ( #25341 )
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* MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint
* Apply suggestions from code review
* Cleanup & address review comments
* Safegaurd against using old setpoint if states aren't valid anymore
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-07-30 10:21:17 -08:00
aa745f2949
[1.16 backport] MAV_CMD_DO_SET_MODE - add support
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2025-07-30 13:36:14 +10:00
0294b608d3
[BACKPORT 1.16] ark: fpv: enable PAYLOAD_DELIVERER ( #25323 )
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* payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s
* ark: fpv: enable payload deliverer module
2025-07-28 14:13:00 -06:00
2471afd423
payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s
2025-07-28 12:08:15 -08:00
Julian Oes
Jacob Dahl
Daniel Agar
Matthew Berk
Matthew Berk
Jacob Dahl
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Luka Filipović
Ramon Roche
Peter van der Perk
Hamish Willee
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Alex Klimaj
Eric Katzfey
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