* fix(zenoh): generate the topic catalog into the build tree
Kconfig.topics is fully generated from the uORB message set, but the build
regenerated it into the source tree at configure time. Building any Zenoh
board therefore left the working tree dirty whenever the message set had
changed since the file was last committed (the catalog is board-config
dependent, so it drifts easily).
Generate the catalog into the build directory in cmake/kconfig.cmake, before
Kconfig is parsed, and source it from there via ZENOH_KCONFIG_TOPICS. It is
generated board-independently from every message so it no longer depends on
the msg-gating Kconfig symbols it is sourced alongside; the per-board factory
still gates which topics are actually compiled. Drop the committed catalog.
* chore(zenoh): bump zenoh-pico to the build-tree header fix
Moves zenoh-pico's generated config.h/zenoh-pico.h/library.json out of its
own source tree and into the build tree, so building no longer dirties the
submodule.
Gated on PX4/zenoh-pico#2: the pointer currently references the fix branch on
a fork and must be moved to the merged commit before this is ready.
* bump zenoh-pico
* feat(failure_injection): integrate failure injection support across sensor drivers
* feat(failure_injection): enhance failure injection with RC switch support and instance bitmasking
feat(failure_injection): add disabled failure injection manager and system command support for v5x and v6x boards
* feat(failure_injection): add battery failure injection
Add a value-mutating apply-site for FAILURE_UNIT_SYSTEM_BATTERY. On an
injected OFF the outgoing battery_status is reported as a depleted pack
(zero remaining, emergency warning) so the low-battery failsafe triggers.
The apply-site lives in the shared Battery library, covering the analog
ADC, INA power monitors, ESC battery and SITL in one place, plus the
UAVCAN battery driver which publishes battery_status directly. The
previous SITL-only hack in BatterySimulator is removed in favour of this
shared path so simulation and hardware behave identically.
* fix(failure_injection): change parameter types from int32 to enum
* refactor(failure_injection): disable failure injection manager and system commands across multiple boards
* feat(failure_injection): enhance failure injection with timestamp handling and message-less support
* refactor(failure_injection): simplify has_timestamp_sample implementation and remove unused includes
* refactor(failure_injection):move conditional compilation into helper libary
* refactor(failure_injection): update CMakeLists to include failure_injection dependency across multiple drivers
---------
Co-authored-by: Claudio Chies <chiesc@chies.com>
The cdrstream uORB->IDL->CDR codegen floods the build log with noise:
- CycloneDDS idlc warns once per carried-over .msg comment that the
@verbatim annotation is unsupported (VehicleCommand alone emits 153).
Pass -Wno-unsupported-annotations via the idlc_generate WARNINGS list.
- rosidl_adapter prints a Reading/Writing line per message to stdout.
Filter those in msg2idl.py via builtins.print rather than redirecting
stdout, which the empy template engine breaks on. Errors still go to
stderr.
* fix(boards/ark/fpv): split FW/VTOL into separate builds for flash
Default ark_fpv is multicopter-only so listener and sd_bench fit in
flash. Fixed-wing and VTOL stacks move to ark_fpv_fw and ark_fpv_vtol,
which disable those two system commands to stay under the limit.
Signed-off-by: alexklimaj <alex@arkelectron.com>
* fix(boards/ark/fpv): trim optional modules from vtol build
Drop gimbal, gyro_fft, autotune, camera, payload, and debug systemcmds
from ark_fpv_vtol so the full VTOL stack fits with more flash margin.
Signed-off-by: alexklimaj <alex@arkelectron.com>
* fix(boards/ark/fpv): keep more modules on vtol; trim only debug extras
Restore autotune, gimbal, gyro_fft, mag bias, payload, camera, esc
battery, and actuator_test on ark_fpv_vtol. Keep flash margin by
leaving sd_bench, listener, bsondump, i2cdetect, and pca9685 off.
Signed-off-by: alexklimaj <alex@arkelectron.com>
---------
Signed-off-by: alexklimaj <alex@arkelectron.com>
* chore(claude): overhaul review-pr skill to focus on substance
The skill spent most of its 207 lines on process: merge-strategy
recommendations, commit-message auditing, formatting checks, and an
interactive posting menu. That feedback is nit-picky noise for a PR
author, and CI already enforces formatting.
Rewrite it (49 lines) around reviewing substance: merit and need (root
cause vs papering over), first-principles analysis for physics/math
changes, architecture consistency with the surrounding code, and an
alternatives assessment. Output is a debrief for the operator plus a
terse, actionable draft comment explicitly attributed as a Claude
review.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* chore(claude): generalize numeric-robustness check beyond float32
The physics/math check hardcoded float32; not all flight-critical math
uses it. Phrase the robustness check in terms of the given
representation, keeping float32 precision as a concrete example.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* chore(claude): fold maintainability into the architecture check
Rename the check to Architecture and maintainability and direct it at
hidden cross-module coupling — a change that silently breaks an
assumption in another module — asking for a contract-codifying unit
test when such coupling is unavoidable.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* chore(claude): add reliability to the correctness check
Reliability was not called out anywhere. Rename to Correctness and
reliability and add resource exhaustion and failure-path handling to
the list of defects to look for.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* chore(claude): make the debrief lead with findings
A per-file restatement of a well-described PR wastes tokens and time.
Have the debrief lead with actionable findings and only explain what
the change does when the PR description is missing, ambiguous, or
misleading.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* chore(claude): require provable, objectively-framed findings
Direct the draft comment to frame findings as engineering tradeoffs
rather than judgments, and to stay silent on any flaw it cannot
demonstrate via a concrete code path or first-principles derivation.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
---------
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Strict command-parameter validation added in #27541 rejects
MAV_CMD_NAV_TAKEOFF when an unsupported param is set. QGroundControl
sends param1 (minimum pitch) = -1 on multicopter takeoff, which is
non-zero/non-NaN, so commands were silently denied (MAV_RESULT_DENIED
with no log) on MC airframes and QGC guided takeoff stopped working.
Extend the NAV_TAKEOFF override to include VEHICLE_MC so param1 is
accepted and ignored on multicopters, matching FW/VTOL handling.
