* docs(releases): fix malformed SIH wind PR link in v1.18 notes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): draft v1.18 release notes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): mark v1.18 beta and add changes merged since the draft
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): add v1.18 upgrade guide, hardware fixes, and section structure
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): resort v1.18 major changes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): link sensor and peripheral docs pages in v1.18 notes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): describe new boards and highlight serial passthrough in v1.18 notes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): fold standalone sensors section into hardware and common
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): fill v1.18 ethernet section with networking fixes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): merge ROS 2 and middleware sections with DDS and Zenoh subsections
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): group vehicle-type notes under vehicle-specific section
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): reorder v1.18 other-changes sections by topic group
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): drop other-changes wrapper heading in v1.18 notes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): organize debug-logging subsections and add infrastructure section
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): fix main.md template wording and mark v1.18 beta in sidebar
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* feat(FlightTaskAuto): add RC yaw override during Auto modes
* feat(FlightTaskAuto): disengage RC yaw nudge on flight-mode switch
* docs: document MPC_AUTO_RC_YAW in MC Auto mode pages
Describe the RC yaw nudge (MPC_AUTO_RC_YAW) on the Mission page.
Add parameter rows to the Hold and Land pages where MPC_LAND_RC_HELP takes
precedence over it for yaw, and document MPC_LAND_RC_HELP there too.
* feat(FlightTaskAuto): updated param description to warn against COM_RC_OVERRIDE disabled
The long description recommends to have a switch on the RC to change to Position mode
* fix(FlightTaskAuto): unified yaw nudging with new MPC_AUTO_NUDGING parameter
* docs(FlightTaskAuto): MPC_AUTO_RC_YAW and MPC_LAND_RC_HELP parameters were replaced by the unified MPC_AUTO_NUDGING bitmask
* fix(parameters): migrate MPC_LAND_RC_HELP to MPC_AUTO_NUDGING bit 1
* docs(1.18): move stick override and add nudging changes
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* feat(manual_control): trigger RC override on stick velocity
COM_RC_STICK_OV is now a velocity threshold (1/s) instead of a deflection percentage.
Default 3.0, range [1.0, 10.0]. A stick held statically cannot trigger override.
* docs(manual_control): update COM_RC_STICK_OV description for velocity-based override
* feat(manual_control): gate RC override with sign-consistency check
* fix(ManualControl): lower threshold and filter constant for RC override, add tests for MovingDiff
* refactor(commander): merge RC override params into COM_RC_OVR_SPEED
Replace the COM_RC_OVERRIDE bitmask + COM_RC_STICK_OV threshold with a
single float COM_RC_OVR_SPEED (stick override velocity, 0 = disabled).
Override now applies uniformly in auto and offboard modes.
- ManualControl: rename param, treat 0 as disabled (FLT_EPSILON guard)
- Commander: drop the per-mode bitmask gate and the RcOverrideBits enum
- param_translation: migrate COM_RC_OVERRIDE on import (enabled -> 1.0,
disabled -> 0.0) and drop the unit-incompatible COM_RC_STICK_OV value
- docs: collapse the two params into one across the mode pages
* fix(manual_override): Move configuration to manual_control module
with MAN_OVERRIDE_SPD parameter and a negative value disabling the feature. All other logic stays in Commander.
* docs(releases): add release note for RC override rework (MAN_OVERRIDE_SPD)
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Update safety.md, peripherals/parachute.md, and releases/main.md to document the extended COM_PARACHUTE parameter and the new configurable in-flight failsafe behaviour.
* docs(releases): draft v1.17.0 release notes
Drafts the v1.17.0 release notes based on commits in the
release/1.16..release/1.17 diff, with every PR citation verified as an
ancestor of release/1.17 and not shared with release/1.16.
Major Changes leads with the experimental MC Neural Network Control
mode and the on-device TFLM integration, the new Altitude Cruise mode
for multicopters, FW Takeoff improvements, FW and Rover ROS 2 Control
Interface setpoints, and the in-tree Zenoh middleware maturing toward
rmw_zenoh compatibility.
Hardware Support is reorganized into four sub-groups: New Flight
Controllers, New Build Targets for Existing Hardware, New CAN
Peripherals & Vehicle Platforms, and Existing Boards: Improvements.
The Simulation section is split into Gazebo and SIH sub-groups. The
ROS 2 / DDS section is split into uXRCE-DDS and Zenoh.
Posted on main as a draft to give docs maintainers visibility and
collect review feedback. Backport strategy to release/1.17 (alpha/beta
banner variant vs the stable banner variant on main) is a follow-up
discussion.
Also fixes a long-anchor scroll-restoration bug in
px4_ros2_control_interface.md by giving the FwLateralLongitudinal
heading an explicit short anchor (#fw-lateral-longitudinal-setpoint),
and updates the corresponding link in releases/main.md.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs(releases): address review on v1.17.0 notes
- Cross-link Altitude Cruise in the intro paragraph.
- Reframe MC Neural Network Control as an experimental test path
rather than first-class on-device inference; move it to the bottom
of Major Changes.
- Drop the redundant "opt-in" wording from the Zenoh Major Changes
bullet.
- Rewrite Upgrade Guide as a true upgrade procedure (actionable
numbered steps with what to do and why) following the v1.14 release
notes pattern instead of a flat parameter-delta list.
- Add the missing PR reference for the extended MISSION_CURRENT entry
(#25034, populating the MAVLink mavlink/mavlink#1869 fields).
- Dedupe Safety / Commander against Common: failsafe takeover,
Offboard-to-Position-without-RC, and motor-failure timeout checks
are now listed only once in Common.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* feat(gpsRedundancyCheck): add GPS redundancy failsafe with divergence check
- Monitors GPS count and triggers configurable failsafe (COM_GPS_LOSS_ACT) when count drops below SYS_HAS_NUM_GPS
- Tracks online (present+fresh) and fixed (3D fix) receivers separately; emits "receiver offline" vs "receiver lost fix"
- Detects position divergence between two receivers against combined RMS eph uncertainty plus lever-arm separation
- Pre-arm warns immediately; in-flight requires 2s sustained divergence to suppress multipath false alarms
- Adds GpsRedundancyCheckTest functional test suite
New parameters: SYS_HAS_NUM_GPS, COM_GPS_LOSS_ACT
* feat(sensor_gps_sim): publish second GPS instance using SENS_GPS1 lever arm params
When SENS_GPS1_OFFX or SENS_GPS1_OFFY is non-zero, publish a second sensor_gps instance offset by those values from the vehicle position.
fix(sensor_gps_sim): give second instance distinct device_id
Both simulated GPS instances previously shared the same device_id (address 0x00). This prevented testing the device-ID matching path in SITL since both slots would match the same receiver.
* refactor(gpsRedundancyCheck): address code review feedback
* refactor(gpsRedundancyCheck): address code review feedback
* docs: add GNSS check failsafe documentation
Update safety.md and releases/main.md to document the new GNSS check
failsafe (SYS_HAS_NUM_GNSS, COM_GPS_LOSS_ACT) introduced in PX4.
* docs(update): Subedit to taste
* refactor(gps): move GNSS redundancy detection into sensors module
Add GnssRedundancyStatus topic and GnssRedundancyMonitor in
vehicle_gps_position. Commander's gpsRedundancyCheck becomes a thin
consumer of the new topic. Detection lives with blending/fallback in
one module.
Also rename COM_GPS_LOSS_ACT -> COM_GNSS_LSS_ACT.
* docs(safety): clarify GNSS failsafe wording and rename COM_GNSS_LSS_ACT
* refactor(failsafe): consistent default case as fallback for existing option
* Rename COM_GNSS_LSS_ACT -> COM_GNSSLOSS_ACT
for readability
* fix(gnssRedundancyCheck): move logic back into the commander checks and various improvement suggestions
- Rename to GNSS instead of gps
- Use hysteresis
- Small logic refactorings
- Adapt unit tests to different interface
- User reporting on which GPS is offline or doesn't have a fix
* docs(gnssRedundancyCheck): simplify explanations
* refactor(gnssRedundancyCheck): update year numbers in copyright
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Add an NSH command to format a device with littlefs, analogous to
mkfatfs for FAT filesystems. The command unmounts the mount point,
then remounts with forceformat to format and mount in one step.
Enable the command on boards that use littlefs as primary storage
(airbrainh743 and kakuteh7v2), and document it in the airbrainh743
flight controller page as a recovery procedure for a corrupted
flash filesystem.
Usage: mklittlefs /dev/mtd0 /fs/flash
Make the logger practical on small flash storage (e.g. 128 MB W25N
NAND) while keeping the existing SD-card behaviour sensible.
- Move cleanup from boot to log start so logs can be downloaded via
MAVLink FTP before deletion.
- Delete individual .ulg files (oldest first) instead of whole
directories, prioritising the naming scheme not currently in use
(session dirs vs date dirs).
- Add SDLOG_MAX_SIZE (new, default 1024 MB): maximum size of a single
log file. When reached, the log rotates to a new file. The value is
also reserved as headroom in the cleanup threshold.
- Add SDLOG_ROTATE (new, default 90): maximum disk usage percentage.
Cleanup guarantees (100 - SDLOG_ROTATE)% free at all times, even
during writing of a new log file. 0 disables space-based cleanup,
100 allows filling the disk.
- Repurpose SDLOG_DIRS_MAX as an orthogonal directory-count cap
(default 0 = disabled). Useful for capping log usage by count
independent of disk size, e.g. in SITL.
- Drop the implicit ~300 MB free-space floor that used to fire even
with SDLOG_DIRS_MAX=0; space is now governed entirely by
SDLOG_ROTATE + SDLOG_MAX_SIZE.
- Split pure parsing helpers into util_parse.{h,cpp} and add unit
tests (loggerUtilTest.cpp).
- Simplify get_log_time to rely on clock_gettime (set by the GPS
driver); safer string handling in directory parsing.
- Reset _total_written in LogFileBuffer::reset() so callers reading
get_total_written() between stop and start don't see stale counts.
Sponsored by CubePilot.
Update safety.md, remote_id.md, and releases/main.md to document the extended COM_ARM_ODID parameter and the new in-flight failsafe behaviour that will be introduced in PX4 v1.18.
* SIH: explicitly use local velocity for all aerodynamic calculations
no functional change
* SIH: add param & vars for wind and apparent vel
no functional change
* SIH: replace all relevant vels with apparent vel
Only places where _v_E is remaining:
- ecefToNed to calculate _v_N
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
and _v_N:
- ecefToNed
- print_status
- publish_ground_truth
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
which are all not relevant for aerodynamics.
* sih: wind review suggestions
* sih wind: switch direction to global wind source direction convention
* SIH: clean up variable declarations
* SIH: rename variables for consistency
* docs: SIH: document new wind parameters
* Release notes: note for SIH wind settings
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
-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>
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Docs: add moving platform
documenting the addition in #24471
* Moving platform docs: address review
- Release note, write release in docs
- Describe configuration also in main gazebo sim docs, syntax section
- Tip that plugin can be used in other worlds, linking to plugin readme
* Update docs/en/sim_gazebo_gz/index.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Add vitepress tree
* Update existing workflows so they dont trigger on changes in the docs path
* Add nojekyll, package.json, LICENCE etc
* Add crowdin docs upload/download scripts
* Add docs flaw checker workflows
* Used docs prefix for docs workflows
* Crowdin obvious fixes
* ci: docs move to self hosted runner
runs on a beefy server for faster builds
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: don't run build action for docs or ci changes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: update runners
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* Add docs/en
* Add docs assets and scripts
* Fix up editlinks to point to PX4 sources
* Download just the translations that are supported
* Add translation sources for zh, uk, ko
* Update latest tranlsation and uorb graphs
* update vitepress to latest
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
