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
6bc24c8cd1
msg: VehicleCommandAck: bump queue length from 4 to 8 ( #26217 )
2026-01-06 14:07:53 +13:00
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
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
1345b3500a
Vehicle command for Prearm Safety button ( #26079 )
...
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* 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
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
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
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
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
65c5bd6906
Fix (dis)arm reason enumeration ( #25766 )
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2025-10-20 09:12:36 -04:00
4dab1108c3
VehicleOdometry.msg - clarify frames ( #23444 )
2025-10-01 10:03:09 +10:00
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
d3acee315a
BAT: Consolidate the highest feasible number of batteries into just 3
2025-09-22 15:02:24 +02:00
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
82308da18d
ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE
2025-09-18 17:00:16 +02:00
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
6ec8dec63a
commander: add valid_registrations_mask to ArmingCheckRequest.msg
...
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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
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
a55f3afc14
docs: Clarify difference between Wind.msg and AirspeedWind.msg
2025-08-06 11:34:29 +02:00
2106c6ca82
fix(msg): bump VehicleLocalPosition version which was previously modified
2025-07-29 13:29:45 +02:00
e4ffed099c
msg: add Wind.msg to versioned messages
...
Was added as a default DDS topic recently.
2025-07-29 11:54:04 +02:00
2c97a875bf
commander/mavlink: use home attitude, not only yaw
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According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
This time including the message versioning and translation.
2025-07-20 07:51:14 +12:00
35a3f519f2
Revert "commander: publish full home attitude, not only yaw ( #19717 )"
...
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This reverts commit 6855aa57c4
2025-07-15 09:24:55 +02:00
6855aa57c4
commander: publish full home attitude, not only yaw ( #19717 )
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According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
2025-07-09 14:43:31 -08:00
eccfb18b51
battery_status message: remove serial_number which is now in battery_info message
2025-06-17 09:05:22 +02:00
6d15019717
feat: spacecraft tooling for commander and VehicleStatus ( #24716 )
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* feat: spacecraft tooling for commander and VehicleStatus
* fix: format
* fix: remove iostream
* feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
feat: spacecraft tooling for commander and VehicleStatus
fix: format
fix: remove iostream
feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* feat: update mavlink to latest
* fix: get away without specifying spacecraft vehicle
* fix: removed unnecessary definition
* fix: format
2025-06-12 21:48:48 +02:00
e6e42fa043
BatteryStatus.msg - docs update ( #24789 )
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* BatteryStatus.msg - docs update
* Update msg/versioned/BatteryStatus.msg
* Units/enum/range before description
* Update msg/versioned/BatteryStatus.msg
* Apply suggestions from code review
Co-authored-by: Matthias Grob <maetugr@gmail.com >
* MOve MAX_INSTANCES to top
* Fix up full stops
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-06-12 16:06:13 +02:00
3b35676afe
Update ActuatorServos.msg - remove terminating full stops.
2025-06-12 18:46:29 +10:00
b0d48ce786
unit/range first
2025-06-12 18:46:29 +10:00
f014bea723
ActuatorServos.msg - uORB docs
2025-06-12 18:46:29 +10:00
a9e67d4142
Remove field terminating full stops
2025-06-12 18:45:01 +10:00
46f3e2ea71
units/range first
2025-06-12 18:45:01 +10:00
dd1b435460
Update msg/versioned/ActuatorMotors.msg
2025-06-12 18:45:01 +10:00
9e07813005
Update msg/versioned/ActuatorMotors.msg
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Co-authored-by: PX4 Build Bot <bot@px4.io >
2025-06-12 18:45:01 +10:00
80b1f5532b
Update msg/versioned/ActuatorMotors.msg
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-06-12 18:45:01 +10:00
3de41e1847
Update msg/versioned/ActuatorMotors.msg
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-06-12 18:45:01 +10:00
828b6f5232
ActuatorMotors.msg - uORB docs
2025-06-12 18:45:01 +10:00
50626f6848
VehicleStatus.msg: restore VEHICLE_TYPE_* indexes
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This was changed in 7cb6464cfbhttps://github.com/PX4/flight_review/issues/310 )
2025-06-11 11:24:47 -04:00
48c54afc85
ArmingCheckXxxx.msg - uorb docs
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2025-06-05 17:56:30 +10:00
b26dd4d3f3
Commander: Introduce global_position_relaxed ( #24280 )
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To separate accuracy requirements for VTOL hover and cruise.
- global_position_relaxed refers to having a valid horizontal velocity aid source
in the estimator and a set global reference position, but poses no requirements
on the accuracy of the provided position estimate.
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode,
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Silvan <silvan@auterion.com >
2025-05-28 08:16:10 +02:00
8a5e5a411a
msgs: Clean up message definitions and descriptions
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- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers
2025-05-26 14:47:38 +02:00
3e3f10f5bc
VehicleAttitudeSetpoint.msg: remove reset_integral and fw_control_yaw_wheel
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Signed-off-by: Silvan <silvan@auterion.com >
2025-05-26 14:47:38 +02:00
b4b3c2a4a1
VehicleCommand.msg - update to new docs standards ( #24855 )
2025-05-24 16:03:04 +10:00
5842c991ec
AirspeedSelector: add synthetic airspeed option
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Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
2025-05-02 13:37:18 +02:00
9cf3e83197
VehicleCommand.msg - takeoff & global position ( #24574 )
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* VehicleCommand.msg - takeoff & global position
* Apply suggestions from code review
* Update msg/versioned/VehicleCommand.msg
* Update msg/versioned/VehicleCommand.msg
* Update msg/versioned/VehicleCommand.msg
* Update msg/versioned/VehicleCommand.msg
* Update msg/versioned/VehicleCommand.msg
* Update msg/versioned/VehicleCommand.msg
2025-05-01 18:37:46 +10:00
69b7a21f02
AirspeedValidated: add VERSION ( #24620 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-28 12:15:00 +01:00
a127a8293a
VehicleStatus.msg: make clear that vehicle_status should refer to current locomotion method
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
7cb6464cfb
VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
49a84f38a2
VehicleStatus.msg: remove unused VEHICLE_TYPE_AIRSHIP
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
b5f37c9fa6
Simplify Battery-related Enum Naming ( #24265 )
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* Simplify battery-related enum naming
* Fix mistakenly removed string in enum names
* Fix missing renamings
* Update outdated file
* msg: Increase battery_status version since the enum naming was changed
* Revert message version increase
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-28 11:42:40 -09:00
Jonas Eschmann
Jacob Dahl
Claudio Chies
Brandon W. Banks
mahima-yoga
Michael Schaeuble
Jacopo Panerati
Matthias Grob
Hamish Willee
Claudio Chies
bresch
Silvan Fuhrer
Beat Küng
GuillaumeLaine
Julian Oes
Pedro Roque
Roman Bapst
Marco Hauswirth
Sebastian Domoszlai