* feat(navigator): extend detect and avoid module to follow regulatory standards such as ASTM F3442
* docs(docs): minor subedit
* refactor(navigator): reduce flash by grouping notif into same events
* docs(daa): Improve docs readability with ::: details blocks
* fix(navigator): single event when on ground with conflict
* refactor(boards): increase flash length from 4M - 128k to 5M - 128k
* rework(general): define DAA standard at build with new CONFIG_NAVIGATOR_ADSB_F3442
* clean(navigator): minor changes to clean the PR
* feat(boards): add CONFIG_NAVIGATOR_ADSB_FAKE_TRAFFIC in visionTargetEstStatic.px4board
* rework(daa): reduce amount of abstractions and minor cleaning
* refactor(boards): allyes revert flash length to 4M-128K
* refactor(boards): allyes increase flash length to 5M-128K
* rework(daa): rework event notifications to improve clarity
* docs(docs): move details inside of ::: details block
* docs(docs): run npx prettier
* refactor(daa): avoid void mutator functions
* docs(docs): Improve Python helper to decode daa unique id
* rework(daa): move encoded id handling to the adsb lib and refactor on_active
* refactor(daa): naming and zero init
* fix(daa): move dataman dep from daa level to unit test level
* refactor(daa): define common daa_input and rework process_transponder_report
* fix(daa): remove stale todo
* refactor(daa): rename crosstrack_based_daa to crosstrack_standard
* refactor(daa): rename F34_ params to DAA_
* docs(docs): revert changes to autogenerated docs
* docs(docs): Add Detect And Avoid in index.md
* refactor(daa): update message on init failed
* refactor(daa): only publish most_urgent conflict once in on_active()
* refactor(daa): move conflict buffer handling in the adsb lib
* refactor(daa): move notifications into new class ConflictNotifier and only notify once per cycle
* refactor(daa): uninit _cycle_changes to store into .bss (and save flash)
* docs(docs): remove unused image link
* refactor(daa): move automated action policy to the adsb lib
* refactor(daa): move self detection into adsb lib as DaaTrafficFilter
* refactor(daa): minor changes in unit tests
* refactor(daa): merge DaaTrafficFilter and DaaEncoding
* fix(daa): fix CI by removing navigator from the DAA deps
* refactor(daa): reduce stack size
* fix(daa): advertise _fake_traffic_pub in constructor
* refactor(daa): Comments only, simplify and reduce comments
* fix(daa): brief comment missing end star
* Disable CONFIG_NAVIGATOR_ADSB in ark_fpv_default board
* docs(docs): General clarifications and remove the 1.18 badge
* refactor(daa): cleaning
* refactor(daa): minor cleaning
* refactor(adsb): simplify conflict tracker assuming push_back cannot fail
* build(cmake): cleaner fix to protect regex alternations
* refactor(daa): Crosstrack, remove unit test requiring finite yaw (yaw not used by standard)
* refactor(daa): minor cleaning and fix callsign to uint64
---------
Co-authored-by: jonas <jonas.perolini@rigi.tech>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* refactor(navigator): removed geofence breach avoidance library
- was disabled by default as an experimental feature
- is too unpredictable given that it commands reposition points, which could
be arbitrarily close to objects
- does not work well in space constrained scenarios
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* fix(docs): removed reference to GF_PREDICT
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* style(navigator): fix formatting
* docs(safety): add minimal guidelines on how to strictly avoid geofence breaches
* docs(safety): slightly simplify wording
* docs(safety): revert typo
* docs(docs): Tweak
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Balduin <balduin@auterion.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
The line "Priority is assigned automatically during calibration..."
added in #27393 duplicates information already conveyed by the
surrounding paragraph. Hamish flagged the redundancy in code review.
This PR was AI-assisted (Claude Code) and reviewed by a human
before submission.
Co-authored-by: _pmjn_ <pcminh170701@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.
* 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>
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.
Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.
This solution only works for PWM based servos. Other types of servos are not affected.
* PWM: Add servo trim option
* PWM: Improve documentation of PWM trim feature
* PWM: cleaner clamping and docs typo
* update documentation & safety
* add migration formula
* rename param from trim to center
* docs with center instead of trim
* move clamping and reorder values
* improve documentation
* adress failing range check
* improve documentation
* CA: add event for setting CENTER with TRIM
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
* failure_injection: improve previously vague motor faulure
Reading it again I decided adding the sentance in 4d2170c13e is not clear enough.
* docs/safety: add a motor failure detection paragraph
The functionality is in my eyes pretty basic but so far completely undocumented so I went through the code and added a paragraph based on questions I received.
* Subedit
* Apply suggestion from @hamishwillee
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
