* fix(simulation): correct apparent wind sign and fixed-wing pitot model in SIH
* fix(simulation): simplify pitot model to always use body-x airspeed
---------
Co-authored-by: 0xDI <0xDI@users.noreply.github.com>
Add SENS_AFBR_ROT as the single source of truth for the AFBR-S50
mounting orientation and drop the -r CLI flag.
The -r flag was already non-functional: the getopt string declared
it without a trailing ':', so the case body called atoi(nullptr).
Removing it is harmless and avoids ambiguity between "user did not
pass -r" and "user explicitly passed -r 25".
The driver now reads orientation from SENS_AFBR_ROT in the
constructor. distance_sensor_s::ROTATION_* is a discontinuous enum
(0-7, 24, 25), and the param schema can't express that natively, so
the driver validates at start and falls back to ROTATION_DOWNWARD_FACING
on out-of-set values.
* fix(drivers/distance_sensor/vl53l1x): added median filtering and hysteresis based quality
* fix(drivers/distance_sensor/vl53l1x): revert back to 100/0 quality
Vendor-specific airframes (Holybro, UVify, ATL, COEX, Bitcraze,
ThunderFly, Applied Aeronautics) are not relevant on the ARK FMU
boards and only consume flash. Add an rc.board_airframes whitelist
to ark_fmu-v6x and ark_fmu-v6s that keeps only the generic
multirotor, fixed-wing, VTOL, and rover frame types.
Flash savings (default variant):
ark_fmu-v6x: 1965708 -> 1957772 B (-7936 B, free 372 -> 8308 B)
ark_fmu-v6s: 1960212 -> 1945748 B (-14464 B, free 8108 -> 22572 B)
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* navigator: check geofence dataman update failures
* navigator: fix geofence import state handling
- Move the import success log after the dataman state write succeeds
- Store the active fence dataman id in the stats entry
- Add error logs before geofence import failure exits
Place firmware .bin files at the SD card root or staging directory
(/fs/microsd/ufw_staging/); on boot the UAVCAN server migrates them
to /fs/microsd/ufw/ and updates FW.db, then flashes any connected
node whose firmware version mismatches.
- Add firmware migration from SD root and staging dir into /fs/microsd/ufw/
- Maintain FW.db flat-file database mapping board IDs to original filenames
- Use cache-aligned DMA-safe read/write buffers (required on STM32H7)
- Add Tools/auterion/remote_update_fmu.sh for SSH-based FMU+canio updates
The current preflight check works by sending individual actuator
commands over mavlink. This can only be done sequentially, so the
surfaces do not move in a coordinated way, instilling little confidence.
To alleviate, this adds a control surface preflight check which causes
the allocator to command torque in the given direction, so the control
surfaces move as they would in flight.
Triggered by `{MAV,VEHICLE}_CMD_ACTUATOR_GROUP_TEST`. Only runs when
pre-armed (control surfaces, tilts) or armed (thrust). Test runs for 0.5
seconds -- for longer duration, send repeatedly from the GS.
Check is rejected in flight and cancelled when nav_state changes.
- Expose overrideCollectiveTilt in ActuatorEffectiveness, empty base, only overridden for Tiltrotor
- Allow giving collective tilt that is used in updateSetpoint in place
of command from tiltrotor_extra_controls
- Needs to be called with do_override = false to clear override
- add comment explaining technical debt
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.
01abe35563 introduced a handler for the
`MAV_CMD_DO_SET_MODE` enum, which directly forwards a vehicle command
into uORB. It did not disable immediate acknowledgement of this command directly in `mavlink_receiver`. This means that the command is always ack'd once with ACCEPTED prior to the ack issued from Commander
The fix is to set `send_ack=false` immediately after dispatching the
command message to uORB in mavlink receiver
* fix(dshot): send motor stop for 3D mode deadzone instead of min throttle
In DShot 3D mode, convert_output_to_3d_scaling() returns DSHOT_DISARM_VALUE
(0) for deadzone inputs. But up_dshot_motor_data_set() adds the MIN_throttle
offset (+48), causing motors to spin at minimum throttle instead of stopping.
Check the result of calculate_output_value() for DSHOT_DISARM_VALUE and send
an explicit motor stop command, bypassing the +48 offset.
* fix(dshot): make 3D deadband inclusive on both ends
Change the 3D deadband check from [L, H) to [L, H] so that setting
DSHOT_3D_DEAD_L equal to DSHOT_3D_DEAD_H (both default to 1000) produces
a single-point deadband at that value, matching the natural reading of
"between L and H" in the param description.
Clarify the DSHOT_3D_DEAD_L/H param descriptions to state the range is
inclusive and note the L=H default behavior.
NuttX builds into the shared submodule trees at
platforms/nuttx/NuttX/{nuttx,apps}, not into per-board build/<target>/.
Its recursive make does not treat PX4 defconfig changes as a reason to
recompile, so switching board configs links stale objects from the
previous config (e.g. kmm_* and stm32_spi4select from a protected/fmu-v5
build into a later flat/ark_fmu-v6x build), and the kernel ELF fails to
link with hundreds of undefined references.
Tools/ci/build_all_runner.sh already handled this in CI by wiping the
submodules between iterations. Bring the same fix to local builds: stamp
the active target in build/.last_target and run git clean -dXfq on both
NuttX submodules when it changes. Same-target rebuilds, which #27324
made cheap, stay unaffected (no-op rebuild remains ~0.14 s).
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
A successful I2C::init() attaches to the bus (per-platform: NuttX
i2c_master_s* via px4_i2cbus_initialize, POSIX /dev/i2c-N fd via
::open, QuRT bus fd via _config_i2c_bus). Only the destructor releases
it. The init() implementations on all three platforms unconditionally
re-attached on every call, so any driver that called init() more than
once on the same instance leaked:
- NuttX: kmm_malloc() of a fresh i2c_master_s inst, plus an unbalanced
increment of the per-port refcount in stm32_i2cbus_initialize() (and
the equivalent across other arch ports). The previous inst pointer
was overwritten and the matching uninitialize() never ran, so the
bus refcount could not reach zero on destruct.
- POSIX/QuRT: file descriptor leak (re-open without close).
The pattern that triggers this is "init() retried on failure," used in
keep_running mode and in drivers like INA228 whose RunImpl re-enters
init() whenever a later step (e.g. a register write) failed. Drivers
that init() exactly once from instantiate() were unaffected.
Mirror what SPI::init() (nuttx/SPI.cpp) already does for its bus-bind
step and short-circuit on second-and-later calls. Re-running probe()
and CDev::init() on an already-attached device was also avoided here
because the existing cleanup path on probe failure would tear down the
preserved _dev that earlier callers still depended on.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
PR #27324 swapped find_package(PythonInterp) for find_package(Python3),
whose macOS defaults (FRAMEWORK=FIRST, STRATEGY=VERSION) override
Python3_ROOT_DIR and PATH to resolve the highest-versioned framework
Python. CI then matched Homebrew's 3.14 while pip installed kconfiglib
into the actions/setup-python 3.10 venv, breaking `make px4_sitl`
configure with "No module named menuconfig".
Pin Python3_EXECUTABLE to .venv/bin/python when present (macos.sh
creates the venv but neither it nor CI exports VIRTUAL_ENV), and set
FIND_STRATEGY=LOCATION + FIND_FRAMEWORK=LAST so dev machines and Linux
containers without a venv still pick the interpreter that has the
project's pip dependencies.
