1769 Commits

Author	SHA1	Message	Date
Niklas Hauser	091ac918b1	[vtx] Remove unused uORB messages (#26345)	2026-01-26 11:31:55 -09:00
Niklas Hauser	c0c265cd1f	[vtx] Add VTX driver with Tramp and SmartAudio support	2026-01-26 11:05:22 +01:00
bresch	230276540f	estimator_status_flags: remove useless logged flags ... Those flags are not so useful for log analysis and can be found in the aid_src topics	2026-01-22 17:58:04 +01:00
Pernilla	392002f671	gimbal-bug-fix: store angle setpoints for next iteration	2026-01-16 11:33:45 +01:00
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
mahima-yoga	6de6abfb64	RunwayTakeoff: add the RunwayTakeoffState to the FixedWingRunwayControl.msg	2026-01-14 17:01:11 +01:00
Jacob Dahl	6bc24c8cd1	msg: VehicleCommandAck: bump queue length from 4 to 8 (#26217)	2026-01-06 14:07:53 +13:00
Jacob Dahl	e6c49edd20	docs: battery: clarify BAT${i}_SOURCE parameter documentation (#26071) ... * docs: battery: clarify Power Module option to state that it works additionally for onboard Analog * Update src/lib/battery/module.yaml Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update src/lib/battery/module.yaml Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update src/lib/battery/module.yaml * Apply suggestions from code review * Update msg/versioned/BatteryStatus.msg --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-12-17 09:58:41 -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
Claudio Chies	24d06047bd	UAVCAN: Add device tracking and information publishing (#25617) ... * uavcan: collect node info and publish every second * UORB: Add DeviceInformation Message Format DeviceInformation.msg with standard comment spaces * SENS: add getter for device_id * UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information * LOG: add deviceInformation * MSG:BAT: fix comment to be inline with the max_instaces * UAVCAN: DeviceInformation, incorporated feedback * UAVCAN: DeviceInformation, incorporated feedback * UAVCAN: DeviceInformation, Fixed bug with Powermonitor --------- Co-authored-by: Beat Küng <beat-kueng@gmx.net>	2025-12-16 14:53:44 -09:00
Jacob Dahl	778ad160f2	msg: GpsDump: queue 8->16 and add device_id (#26091) ... * msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id * gps: add back instance	2025-12-16 08:36:02 -09:00
Marco Hauswirth	8393f46100	Ekf2 add jamming to gnss checks (#26085) ... * add jamming check to gnss checks * keep original order of gnss_check params for default backwards compability	2025-12-16 10:10:37 +01:00
Brandon W. Banks	1345b3500a	Vehicle command for Prearm Safety button (#26079) ... * added vehicle command and support to remotely activate/deactivate the safety system (#26078) * added print_status support for prearm safety status * updated safety button to map to MAV_CMD_DO_SET_SAFETY_SWITCH_STATE = '5300' * safety switch cmd: fixed incorrect catch-all and added commanded_state variable for easier reading	2025-12-15 11:25:32 -09:00
mahima-yoga	ca83b8330d	autotune: enable autotune in mission mode ... When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.	2025-12-05 14:03:10 +01:00
bresch	4fbff2cdd9	fw gain compression: add docs	2025-11-27 17:33:06 +01:00
bresch	3646032296	fw rate: add gain compression algorithm	2025-11-27 17:33:06 +01:00
Michael Schaeuble	d97a8d7d3b	mode: control auto set home from an external mode ... The mode executor can run land mode which updates the home position to the landing location. This can be not the desirable behavior and the home position should stay at the original location. A flag is added to the configuration overrides to control if the home position is updated or not.	2025-11-26 10:16:54 +01:00
Michael Schaeuble	a2299b02c8	modes: make available modes user selectable with a registration option ... Some modes should only be run within the context of a mode executor and the user should not be able to select them in the GCS. With this change, the external component registration request can be used to set if a mode is selectable or not.	2025-11-26 10:04:53 +01:00
Niklas Hauser	a514560169	[crsf_rc] Add support for link statistic messages	2025-11-25 13:15:44 +01:00
Jacopo Panerati	6901bc6a01	VTOL Takeoff: Use VehicleCommand specified heading for VTOL transition (#24040) ... * Use VehicleCommand heading for VTOL transition * options for param2 of vehicle_cmd_nav_vtol_takeoff	2025-11-25 09:46:48 +01:00
Jacob Dahl	efbc9e64a4	mavlink: esc: fix ESC_STATUS and ESC_INFO message emission. (#25849) ... * mavlink: esc: fix ESC_STATUS and ESC_INFO message emission. Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order. * Update src/modules/mavlink/streams/ESC_STATUS.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/modules/mavlink/streams/ESC_INFO.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * remove dependency on mixer_module/output_functions.hpp * add actuator function definitions to EscReport.msg * clean up * add missing header --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2025-11-20 06:51:42 +13:00
TedObrien	5483d901f9	MPC9808: Run ScheduleOnInterval() at desired publishing rate and remove elapsed time check and timestamp_sample field from message as no longer needed. ... MCP9808: Replaced PX4_INFO with PX4_DEBUG MCP9808: Update date in headers MCP9808: Define functions before variables MCP9808: Increase logging interval for sensor_temp MCP9808: Removed extra space MCP9808: Remove this->	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
Phil-Engljaehringer	fb13b880ce	sensors: add ads7953 adc ... * sensors: add ads7953 adc * Update src/drivers/adc/ads7953/ADS7953.h Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Implemented changes suggested by review * Implemented suggested changes * removed unused variables and moved scope of ch_id * Activated distance sensor again * Update msg/AdcReport.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update ADC report message field comments * Update ADC msg - fix layout * update comments * changed group to Sensors in module.yaml * created new module subcategory "adc" * reverted group change in module.yaml * added module descrption to modules_driver.md * removed module description in modules_driver.md (autogenerated) * removed unused variable, changed board_adc publication method to "multi" * added static assert --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-11-04 17:22:10 +01:00
Hamish Willee	8f38a2ddbc	uORB doc update: SensorBaro, DifferentialPressure (#25712)	2025-10-24 06:07:28 +11:00
Matthias Grob	65c5bd6906	Fix (dis)arm reason enumeration (#25766)	2025-10-20 09:12:36 -04:00
Jacob Dahl	a64536802b	gz: fix gimbal yaw, add dds publisher (#25754) ... * gz: correct gimbal yaw * uxrce_dds: add publisher /fmu/out/gimbal_device_attitude_status * chore: use explicit ENU_to_NED rotation Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com> * format --------- Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com> Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-10-14 11:45:43 -08:00
Marco Hauswirth	c2c721a2d6	* add gnss-fault flags to estimator-status msg ... * react to comments	2025-10-03 10:11:41 +02:00
mahima-yoga	86f2fdfd7d	docs: add description to AutotuneAttitudeControlStatus.msg	2025-10-02 15:17:40 +02:00
mahima-yoga	614e15d5f4	fw-autotune: detect and limit amplitude of ID maneuver ... Increases signal ampltiude on a 1Hz sin input until a target rate (R/P/Y = 0.8/0.5/0.5 rad/s) is reached. Identification signal is then scaled with this ampltitude instead of the user-defined parameter.	2025-10-02 15:17:40 +02:00
Hamish Willee	4dab1108c3	VehicleOdometry.msg - clarify frames (#23444)	2025-10-01 10:03:09 +10:00
Matthias Grob	e59afce5db	Enable directly injecting motor failures using e.g. failure motor off -i 1 ... Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.	2025-09-30 11:23:09 +02:00
Hamish Willee	cbf39f5ceb	msg: AirspeedValidated - uorb topic to standard (#25579) ... * AirspeedValidated - uorb topic to standard * Apply suggestions from code review * Update msg/versioned/AirspeedValidated.msg * Fix up links to renamed uORB constants --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>	2025-09-25 11:02:02 +02:00
Louis-max-H	e71faf38a0	Septentrio GNSS resilience reporting (#25012) ... Co-authored-by: Tory9 <vvpost05@gmail.com>	2025-09-24 11:08:10 -04:00
Claudio Chies	d3acee315a	BAT: Consolidate the highest feasible number of batteries into just 3	2025-09-22 15:02:24 +02:00
Hamish Willee	799f910ca9	uORB message layout fixes (#25581) ... * uORB message layout fixes * Apply suggestions from code review --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>	2025-09-19 09:06:01 +10:00
bresch	82308da18d	ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE	2025-09-18 17:00:16 +02:00
bresch	361d66bb44	ekf2: add reporting of gnss_vel status flag	2025-09-18 17:00:16 +02:00
Silvan Fuhrer	d2e4d85bce	Add Altitude Cruise mode ... -add new NAVIGATION_STATE_ALTITUDE_VOYAGER -this mode does require manual control to enter -but you can disable the manual control loss failsafe to continue flying in case of manual control loss -for MC: in throttle and yaw are controlled like in Altitude mode, the tilt is controlled via integrated rate input (similar to Acro, but with tilt limit) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-09-18 15:50:10 +02:00
Hamish Willee	e8ccb23dc8	PurePursuitStatus.msg - whitespace indentation (#25544)	2025-09-18 17:33:36 +10:00
Hamish Willee	0303d36e60	RoverAttitudeSetpoint et al - whitespace (#25545) ... * RoverAttitudeSetpoint - whitespace * Format RoverAttitudeStatus.msg for consistency * Format RoverPositionSetpoint.msg for consistency * Format msg/RoverRateSetpoint.msg for consistency * Format msg/RoverRateStatus.msg for consistency * Format msg/RoverSpeedSetpoint.msg for consistency * Reformat RoverSpeedStatus.msg for consistency * Fix formatting of pid_yaw_rate_integral field * Fix formatting in RoverSteeringSetpoint.msg * Fix formatting in RoverThrottleSetpoint.msg * Apply suggestions from code review	2025-09-18 15:59:54 +10:00
Beat Küng	6ec8dec63a	commander: add valid_registrations_mask to ArmingCheckRequest.msg ... This allows external modes to individually check if they are flagged as invalid/unresponsive. Previously this was done only based on whether or not ArmingCheckRequest was received, which does not work when multiple modes are running.	2025-08-26 14:38:05 +02:00
Peter van der Perk	8689c00be7	Zenoh: cleanup and review	2025-08-22 08:22:59 +02:00
Peter van der Perk	e1a7fbce71	Update cdrstream code generator including typehash	2025-08-22 08:22:59 +02:00
chfriedrich98	a1bc09a6ad	rover: seperate speed control	2025-08-20 10:54:16 +02:00
Hamish Willee	8eb1c6063e	Fix up uorb message spacing to add whitespace (#25421) ... * Fix up uorb message spacing for already updated messages * Apply suggestions from code review --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>	2025-08-14 19:39:52 +10:00
Hamish Willee	f3e7d14efa	[Docs] msg/VehicleAirData.msg - to standard (#25228) ... * [Docs] msg/VehicleAirData.msg - to standard * Update msg/VehicleAirData.msg * Update msg/VehicleAirData.msg * Update msg/VehicleAirData.msg Co-authored-by: Silvan Fuhrer <silvan@auterion.com> * Update msg/VehicleAirData.msg * Fix up build issue related to docs_deploy2 --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2025-08-14 11:37:48 +10:00
mahima-yoga	a55f3afc14	docs: Clarify difference between Wind.msg and AirspeedWind.msg	2025-08-06 11:34:29 +02:00
GuillaumeLaine	2106c6ca82	fix(msg): bump VehicleLocalPosition version which was previously modified	2025-07-29 13:29:45 +02:00
mahima-yoga	e4ffed099c	msg: add Wind.msg to versioned messages ... Was added as a default DDS topic recently.	2025-07-29 11:54:04 +02:00