Plan RTL paths that route around geofence boundaries — both inclusion
and exclusion zones — instead of flying straight through them and
breaching. The planner builds a visibility graph over the margin-inflated
geofence polygons and circles and runs Dijkstra to find the shortest
legal return path, falling back to a straight line to the destination
when no valid path exists.
Highlights:
- New reusable libraries: src/lib/dijkstra (generic shortest path) and
src/lib/geofence (fixed-point geometry, polygon inflation, bitangent
visibility); the RTL planner lives in navigator/RTLPlanner.
- Visibility graph keeps only bitangent edges and skips edges that poke
into a forbidden region, greatly reducing edge-cost computation.
- Corner splitting is limited to sharp convex corners.
- Geometry validation: reject self-intersecting polygons and vertices
outside the fixed-point range; centimeter fixed-point scaling keeps
orientation tests exact and avoids drift at large distances.
- Failure handling: a Status enum replaces silent bool returns, and
failures (unbuildable fence, planner capacity overflow, dataman load
errors, NaN waypoints, destinations that breach the fence) are
surfaced to the operator via MAVLink warnings/criticals; the planner
falls back to a straight-line RTL.
- Destination updates are centralized in RTL::setRtlTypeAndDestination;
the path is replanned only when the destination or geometry changes.
- VTOLs always use the fixed-wing margin (FW loiter radius).
- kMaxNodes is exposed as a Kconfig option (default 100); the feature is
disabled on flash-constrained boards (FMUv4 and older, various F4/F7).
- Tests: unit tests for the Dijkstra lib, geofence geometry utils, and
the avoidance planner, plus a MAVSDK SITL test flying an RTL through a
geofence.
- Documentation: new "Geofence Awareness" section in the RTL docs.
Co-authored-by: Balduin <balduin@auterion.com>
Document the Official PX4 Developer Kit program: a new top-level
Developer Kits section listing the certified kits (ModalAI Starling 2
Max, DroneBlocks DEXI 5, Holybro X500 v2), a new DEXI 5 page, and a
manufacturer-facing page describing the program requirements, benefits,
and eligibility.
Restructure the hardware navigation so all certified kits live in one
place instead of being split across Complete Vehicles and Kits, drop
discontinued build guides from the sidebar (still linked from the kit
build guides page), and group the manufacturer guides under a new
Manufacturers section in Development > Hardware.
Signed-off-by: Ramon Roche <mrpollo@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>
* add files
* add corvon_V5 docs
docs: fix connectors image path
* docs: address Copilot formatting suggestions
* Subedit
* docs: add radio control wiring details for corvon_V5
* Update docs/en/flight_controller/corvon_V5.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* boards/corvon: rename V5 subdirectory to v5
This renames the corvon_V5 board to corvon_v5 to conform to PX4 lowercase naming conventions as requested by @mrpollo. Renames target files, docs, and assets accordingly.
* Apply suggestion from @hamishwillee
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs: add DSU7 debug port pinout and warnings for corvon_v5
This addresses reviewer feedback to include debug port information, placed immediately after the Radio Control section as requested.
* Apply suggestion from @hamishwillee
* fix(boards/corvon_v5): remove unused heater and temperature_compensation
- heater: board has no IMU heater; fixes build after #26325 (requires HEATER_NUM)
- temperature_compensation: modern IMU doesn't need it, follow #27015
Signed-off-by: holydust <holydust@live.ca>
* docs(update): Subedit. Add pwm outputs and gps
* Update docs/en/flight_controller/corvon_v5.md
* Update docs/en/flight_controller/corvon_v5.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs(corvon_v5): add UART flow control, power details, fix broken links
* docs(corvon_v5): fix UART table typo
* fix(boards/corvon_v5): remove unused PX4IO macros. Board has no PX4IO co-processor
Signed-off-by: holydust <holydust@live.ca>
* Apply suggestions from code review
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs(corvon_v5): update board images
Signed-off-by: holydust <holydust@live.ca>
* fix(corvon_v5): drop unused dshot, fix can3 and adc comments
- Remove CONFIG_DRIVERS_DSHOT=y from default.px4board: DShot is not
supported on this board (no IO timer is DShot-configured) and the
docs already state it as unsupported.
- Fix ADC1_IN8 GPIO list comment from PB8 to PB0 (PB0 is the correct
pin on STM32F765; matches GPIO_RSSI_IN definition below).
- Clarify CAN3 comment in nuttx-config board.h: the pins are unused
on CORVON_V5 (no transceiver populated). manifest.c already marks
CAN3 as not present.
- Update corvon_v5_pinout.xlsx 'All Pinouts' sheet so PA7 (HEATER)
and PA8/PA15/PH4 (CAN3 RX/TX/SILENT) read 'Unused', matching the
actual hardware.
Signed-off-by: holydust <holydust@live.ca>
* fix(corvon_v5): use MCS Electronics USB VID/PID
Set VID/PID to 0x16D0/0x152A (MCS Electronics) in the app defconfig
and regenerate the bootloader binary, replacing the 3DR FMUv5 IDs
inherited from the reference config.
Signed-off-by: holydust <holydust@live.ca>
---------
Signed-off-by: holydust <holydust@live.ca>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Add Sony AS-DT1 Distance Sensor and Documentation
* Ensuring Rotation Parameter works
* Sony ASDT1 Sensor and Documentaiton
* Fixed formatting and added additional comments
* Forgot to stage 1 formatting issue
* fix(drivers): use AS-DT1 parameters consistently
remove the Sony-ASDT1 -R command line rotation, as well as some other small fixes. Updated the docs to reflect this as well.
* refactor(drivers): clarify Sony AS-DT1 variable names
---------
Co-authored-by: Sean Hickey <sean@ascendengineer.com>
Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
Add a 2nd-order critically-damped attitude reference model whose angular-velocity output is fed forward onto the rate setpoint, removing the steady-state ramp-tracking lag of the pure-P attitude law. The model uses an exact closed-form discretisation, so it is unconditionally stable.
Parameters:
- MC_REF_W_N reference-model bandwidth [rad/s]
- MC_REF_FF feedforward gain [0..1]; 0 disables the anticipation
- MC_REF_FF_MAX per-axis feedforward saturation [deg/s]
The commanded yaw rate is always fed forward at unity (it is a setpoint, not a model prediction), so MC_REF_FF scales only the error-driven anticipation and MC_REF_FF=0 is the exact legacy pure-P law. Shipped disabled by default to avoid changing behaviour on existing platforms; enable per-airframe. Includes docs and the updated controller diagram.
Add hardware documentation for the VOLOLAND NarinFC-H7 flight controller
including pinouts, serial port mapping, PWM output groups, and analog
inputs. Fix version badge to v1.17 and clarify RC_IN is wired directly
to FMU via RC_INPUT driver.
Based on work by @vololand and @hamishwillee from PR #26542.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* feat(boards): add CBUnmanned H753-Stamp flight controller
* Update board_id to 1302
* docs: update CBUnmanned H753-Stamp board docs
Apply review feedback: correct the I2C bus count (add internal bus),
clarify SPI (IMUs on a dedicated internal bus), note the debug console
alongside the user UARTs, and describe how the board is powered from an
external 5 V supply with separate battery voltage sensing.
Add the pinout image and a PWM Outputs section.
Signed-off-by: Julian Oes <julian@oes.ch>
* refactor(boards): rename CBUnmanned H753-Stamp to H753-SOM
Rename the board directory, build target (cbunmanned_h753-som), USB
product strings, docs page, asset directory and pinout image, and the
bundled bootloader binary from -Stamp to -SOM. The hardware is a
System-on-Module, so SOM is the accurate name.
Signed-off-by: Julian Oes <julian@oes.ch>
---------
Signed-off-by: Julian Oes <julian@oes.ch>
* docs(arkv6s): add flight controller documentation
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* docs(arkv6s): add product photo and note single-IMU variant
Drop in docs/assets/flight_controller/arkv6s/ark_v6s_front.jpg
so the page renders the board photo it already references, and
align the intro with the upstream description by spelling out
that the V6S is the single-IMU variant of the V6X.
* docs(arkv6s): add bootloader UART note, fix arkv6x RAM typo
Add the bootloader serial port note (TELEM1-only in bootloader mode)
to the ARKV6S docs, matching the ARKV6X docs. Also fix the ARKV6X
MCU spec listing "1MB Flash" instead of "1MB RAM".
---------
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* boards: corvon 743v1 support (Docs and LED alignment)
This PR addresses #24769 by providing the required official documentation, while simultaneously aligning the board's LED semantics entirely with the PX4 standard.
Key Changes:
- Add complete corvon 743v1 hardware documentation and manufacturer link.
- Fix LED out-of-bounds bug and strictly align RGB states to Pixhawk standard (LED_BLUE=0, LED_RED=1, LED_GREEN=3).
- Update bootloader pin config (hw_config.h) to use red LED for boot/error, and update pre-built bootloader.bin.
* Prettier and file reduce
* docs: address reviewer feedback & board ID fix
* Apply suggestion from @hamishwillee
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs: resolve final reviewer feedback (PPM, Debug Port, Manufacturer List)
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
* Creating a base for grf lidar
* Serial Drive is working, need to work out distance publish
* WIP Getting Range Data in cm
* Working Rand Distance Values for GRF 250 and GRF500
* Review Changes
* Compiler fixes
* Update to date
* small update
* Fix typo and remover unused libs
* removing unused enum
* Update to the Documentation
* Fiving scaling issue
* update to the logic
* [Feature] Adding I2C driver for the GRF250 and GRF500 models (#26425)
* Adding the GRF I2C driver
* I2C Driver Working
* Removing a lot of unnecessary code
* fixing names
* Changing the i2c Driver to be in the lightware laser
* remove the old driver
* formatting fix
* Adding Ligthware GRF to documentation
* Update to the Documentation
* Ensuring sample_perf ends
* Updating Docs
* uavcannode: implement hardpoint commands (#26334)
* implement cannode hardpoint commands
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* add hardpoint sub to ark cannode, simplify handling of hardpoint broadcast
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* voxl_esc: Limit frequency of UART passthru writes to 20Hz
* voxl2_io: Added UART passthru
* docs: update link for px4 ros2 interface lib python api docs
* estimator_interface: remove unused getter
* gnss_checks: always run strict checks on ground
With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air.
* ekf2 unit-tests: adapt to strict GNSS checks on ground
* escCheck: rework online check to properly report offline ESCs
previous to this
09d79b221f
set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set.
So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.
* FailureDetector: consistent timestamp naming
* FailureDetector: rework motor status check
* FailureDetector: implement upper and lower current limit with offset
* Update src/modules/commander/failure_detector/FailureDetector.cpp
Prevent Buffer overflow
* Update Format
* Subedit
* Shrink and rename image
* Apply suggestion from @hamishwillee
Sounds good
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Apply suggestion from @hamishwillee
More universal approach
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Update to the Documentation
* FailureDetector: rework motor status check
* FailureDetector: implement upper and lower current limit with offset
* Subedit
* docs: update parameter reference metadata
* Remove pregenerated files - that should all be tidied up next time this runs
* remover GRF parameters
* Documentation updates
* Fixing Merge Conflicts
* remove @
* Undo Changes to parameter_reference
* remove the code that will be autogen-ed
* Update the Camake File
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
Co-authored-by: Nick <145654544+ttechnick@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
* feat: implement UAVCAN LED control for individual light control and assignment
* uavcan led: nit-picks from review
* uavcan led: reduce maximum number of lights
to avoid unused parameters
* uavcan led: simplify anticolision on check
* uavcan led: correctly map 8-bit RGB to rgb565
* Trim param name character arrays to 17
16 characters + \0 termination
* uavcan led: final nit-picks
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* docs: modernize README with hero logo, vehicle icons, and fixed links
Add PX4 and Dronecode SVG logos to the repo, replace broken external
Dronecode logo URL, fix SITL badge branch from master to main, and
restructure the README with centered branding, airframe icon row,
quick-start section, and consolidated documentation links.
* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
updating gitignore
* fixing format and declaring submodules as cmake dependencies
* adding uORB message documentation
* fixing comment alignment
* Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead)
* bump RLtools; relax timing thresholds and adding real world readme
* smooth traj tracking performance
* Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification
* More ideomatic way of setting the path to the policy checkpoint
* Reset trajectory_setpoint on raptor mode activation
* Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance
* stable flight
* Update msg/versioned/RaptorInput.msg
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* adopting message formatting conventions
* sort raptor.px4board
* Archiving RegisterExtComponentRequestV1.msg
* Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2
* fixing formatting
* making internal reference configurable via command
* RAPTOR docs wip
* raptor internal reference documentation
* Finishing RAPTOR docs first draft
* adding logging instructions
* Fixing missing command documentation test error
* fixing format
* adding motor layout warning
* raptor minimal subedit - prettier, images etc
* Improve intro
* Fix up Neural_Networks version
* Mentioning "Adaptive" in the RAPTOR documentation's title
* Adding clarifications about the internal reference trajectory generator
* Removing "foundation policy" wording
* Fixing new-line check
* Removing redundant (evident through directory hierarchy) raptor_ from filenames
* Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic
* Fix to standard structure
* Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table
* Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status
* Trivial layout and wording fixes
* fixing docs error
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
