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
edfcdaa008
commander: check for stale arming_check_reply messages
...
based on the message timestamp.
Previously it was possible to run into the following case:
- 2 external modes are registered (running inside the same ROS node)
- they time out due to the micro xrce agent being blocked for some reason
- PX4 removes them
- the latest arming check replies still arrive to PX4
- the application restarts
- the first mode gets registered
- PX4 handles the previous arming check reply, and clears
waiting_for_first_response, which reduces the timeout
- the second mode registers and as part of that checks for message
compatibility. This takes ~1s, triggering a timeout of the first mode
2025-08-26 14:38:05 +02:00
a1ee9eb2c4
mavlink: remove streams from LOW_BANDWIDTH that are deprecated
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-08-25 17:34:34 +02:00
4a697d0191
ekf2: stop GNSS altittude and velocity aiding when gnss_fault is set
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2025-08-25 10:22:23 +02:00
db3f33760e
docs: add instructions for controlling actuators in SIH
2025-08-25 09:28:43 +02:00
dd09cdf986
Commander: remove HIL_STATE_ON from arming lockdown
...
Removing this from the boolean allows users to send pwm values in SIH.
2025-08-25 09:28:43 +02:00
4a5eabb61e
rover: constrain update steps
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2025-08-22 12:13:01 +02:00
248f113141
rover: improve hold position logic ( #25466 )
2025-08-22 12:10:16 +02:00
c1d15d0e09
Zenoh: use strncpy and bool
2025-08-22 08:22:59 +02:00
8689c00be7
Zenoh: cleanup and review
2025-08-22 08:22:59 +02:00
17e843a985
zenoh: remove MessageFormat since Zenoh RIHS01 already provides it
...
RIHS01 has the same functionality and already provides type safety with
rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with
their own px4_msgs for a mismatch
2025-08-22 08:22:59 +02:00
44ff6d9c62
zenoh: exclude src/modules/zenoh/dds_topics.yaml from yaml check
2025-08-22 08:22:59 +02:00
747bcc9db5
zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h
...
Allows for re-use for later ROS2 Service / Zenoh queryable
2025-08-22 08:22:59 +02:00
c41216376a
Add an explicatory comment to Zenoh publisher's handling of the uOrb topic number (or lack thereof)
2025-08-22 08:22:59 +02:00
88c1412d25
Zenoh CLI improvements
2025-08-22 08:22:59 +02:00
01bf700f3d
Fix dds topics naming
2025-08-22 08:22:59 +02:00
0bb9e5952a
Pubsub constructor template fix
2025-08-22 08:22:59 +02:00
70054fc567
Implement instance selection & pub/sub deletion for Zenoh
2025-08-22 08:22:59 +02:00
7a98c87fcb
Copy the uxrce config for Zenoh
2025-08-22 08:22:59 +02:00
80b5cf2ed7
Prevent conversion warnings from static integers in zenoh-pico
2025-08-22 08:22:59 +02:00
9ffd31097d
zenoh: Use CDRv1 to match ROS2
...
Fixes various padding related serialization issues.
2025-08-22 08:22:59 +02:00
f99759db87
zenoh: Fix status keyexpr printf
2025-08-22 08:22:59 +02:00
231128c68e
Zenoh set transport lease to 60000 to match ros2
2025-08-22 08:22:59 +02:00
5622565eea
Zenoh optimize memory usage and add optional publish on matching
2025-08-22 08:22:59 +02:00
7887f16daa
Update NuttX config for use with Zenoh
2025-08-22 08:22:59 +02:00
0763bbe2cf
Generate default Zenoh config from dds_topics.yaml
...
For easy transition from uxrce to zenoh and a sane base config to begin with
2025-08-22 08:22:59 +02:00
bac009c2b8
Enable Zenoh by default on big-flash targets
...
These targets can easily support Zenoh by default eases adoption and testing
2025-08-22 08:22:59 +02:00
ac2627cca9
rmw attachment serialization changes
...
Use new atachment serialization format
Subscriber fix parsing payload and remove uorb publisher on destructor
2025-08-22 08:22:59 +02:00
61e2f566ca
Zenoh config, lv and connection fixes
...
Fixes a bug in the csv parsing
Use % for / seperators in ros2_lv
On startup retry connecting
2025-08-22 08:22:59 +02:00
3d30eaae5f
Fix NuttX keepalive socketoption
2025-08-22 08:22:59 +02:00
e052f35664
zenoh: omit timestamp attachment
...
This isn't needed for the rmw_zenoh zenohd configuration
2025-08-22 08:22:59 +02:00
2bc9cb4ead
zenoh: implemement experimental liveliness to get ROS2 graph to work
2025-08-22 08:22:59 +02:00
5211d9c92e
zenoh: pubsub factory fix datatype naming convention
2025-08-22 08:22:59 +02:00
575923b534
Zenoh: fix topic_name and datatype mapping
...
Using substring was buggy instad we make dictionary based on datatypes and the get_topics function
2025-08-22 08:22:59 +02:00
e37f20e94d
zenoh: Don't use uORB o_name as type but check for parent type
...
For example vehicle_local_position_groundtruth has ROS2 type
vehicle_local_position, so we've to use px4_msgs/VehicleLocalPosition as typename
2025-08-22 08:22:59 +02:00
cb74cee970
zenoh: Increase CDR safety margin
...
Figure out by trial and error with padding on vehicle_local_position
2025-08-22 08:22:59 +02:00
70536766db
zenoh: Handle parsing errors in config
2025-08-22 08:22:59 +02:00
40bba0069d
zenoh: Fix handling for non-existing types
2025-08-22 08:22:59 +02:00
35004e357c
zenoh: Add px4_sitl_zenoh to cmake-variants.yaml
2025-08-22 08:22:59 +02:00
923257779a
zenoh: Default to 127.0.0.1 when using sitl/posix
...
Also improve error message when connection failed
2025-08-22 08:22:59 +02:00
a24b3a121c
zenoh: Improve error message when there are no scouting results
2025-08-22 08:22:59 +02:00
85cab5a4db
sitl: autostart zenoh if enabled
2025-08-22 08:22:59 +02:00
859ba81e33
Zenoh fix gcc/sitl compile errors
2025-08-22 08:22:59 +02:00
4aff095f9b
IDL 2 RIHS01 remove tempfile and print
2025-08-22 08:22:59 +02:00
796efeebe7
Implement Domain id parameter and move gid to zenoh
2025-08-22 08:22:59 +02:00
9d02698987
Update Zenoh for library and implement rmw_zenoh features
...
New zenoh-pico library
Keyexpr instrospection
RIHS01 Types
2025-08-22 08:22:59 +02:00
e1a7fbce71
Update cdrstream code generator including typehash
2025-08-22 08:22:59 +02:00
a87456b38b
Update rosidl
...
Adds support for typehashes
2025-08-22 08:22:59 +02:00
33a5122916
Update Zenoh-pico
2025-08-22 08:22:59 +02:00
b53ecf7f68
uavcan: increase battery filter sample interval to 500ms ( #25454 )
...
Fixes issue #25430
Co-authored-by: Lasse Järvelä <lasse.jarvela@iceye.com >
2025-08-21 19:19:52 -07:00
Beat Küng
Silvan
bresch
mahima-yoga
chfriedrich98
chfriedrich98
Peter van der Perk
Benjamin Chung
ljarvela