1762 Commits

Author	SHA1	Message	Date
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
Matthias Grob	79b46e08a8	Rename manual_lockdown to kill for clarity	2025-07-28 17:07:08 +02:00
Matthias Grob	32531c870e	px4io: terminated -> termination ... fogotten to allign completely in the last step	2025-07-28 17:07:08 +02:00
Silvan Fuhrer	82569aad8d	PositionSetpoint.msg: define range of loiter_radius ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-28 10:57:56 +02:00
Matthias Grob	200be07021	action_request: rename ACTION_TERMINATE to ACTION_TERMINATION for clarity	2025-07-25 13:01:25 -06:00
Matthias Grob	9d75bdbe62	IO: rename FORCE_FAILSAFE to TERMINATION for clarity	2025-07-25 13:01:25 -06:00
Matthias Grob	7fe78e184e	Rename force_failsafe to termination for clarity	2025-07-25 13:01:25 -06:00
Sindre Meyer Hegre	3be0cb077c	Neural Control Mode (#24366) ... * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-07-25 09:42:12 -08:00