* fix(drivers/uavcannode): make CANNODE_NODE_ID the sole node ID policy
The startup bootloader_app_shared_write() never reached the bootloader:
it only accepts App-signed data and invalidates the shared region on
every boot. The only consumer was uavcannode itself on a restart
without a reset (nsh stop/start), where the persisted bus_speed=0 made
the CAN driver init fail and left the node off the bus. The bootloader
learns our node ID exclusively through the firmware update handoff in
cb_beginfirmware_update, which already carries the static ID.
CANNODE_NODE_ID now overrides the bootloader handoff only when nonzero,
so the default (0) reuses the ID the bootloader already allocated
instead of running allocation a second time. The handoff is ignored
unless it carries a valid bitrate, healing regions poisoned by firmware
that wrote bus_speed=0. Max is 125 because 126/127 are reserved for
debug tools by DroneCAN convention, matching UAVCAN_NODE_ID.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(drivers/uavcannode): harden bootloader handoff validation
Invalidate the shared region whenever it was read valid, not only when
the handoff is accepted, so stale data cannot linger on boards whose
bootloader never invalidates it. Require a plausible bitrate (the
CANNODE_BITRATE minimum) rather than nonzero: the canbootloader alt-app
update path can hand off bus_speed = CAN_UNDEFINED (999). Reword the
invalid-param error, which claimed dynamic allocation while keeping the
bootloader handoff.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
---------
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
CONFIG_GPS_SPARTN landed in #27919; call out the opt-in framing path and that keys stay on the receiver.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* 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>
* 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>
Update the mavlink receiving example to match the current behavior from
"b52464059e fix(mavlink): preserve invalid battery values on receive"
patch.
Signed-off-by: Onur Özkan <work@onurozkan.dev>
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>
* 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>
The --viewer path (tee MAVLink frames to UDP and enable the
HIL_STATE_QUATERNION/HIL_ACTUATOR_CONTROLS streams so Hawkeye could
render an SIH flight live) was never validated end to end: Hawkeye
never actually rendered from it. Rather than ship an unproven feature,
drop it.
Removes px4bench.attach_viewer_tee (and its function-local socket use),
the flight_mission --viewer/--viewer-port args, the viewer tee call and
the stream-enable block, and the now-unused --board-dev arg that only
fed those stream commands. The SIH flight logic, firmware gate,
storage/serial tests, and the arming gate are unchanged. README and the
bench testing docs page drop the Hawkeye section and all --viewer
mentions.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The flight test is now part of the default suite; both the bench README
and the bench testing guide said it ran separately. Update the sequence
description, the risk map and suite tables (storage_stress and
flight_mission rows, serial_loopback for fixtures), the SIH sections
(probe-and-skip, the typed 'arm' confirmation, --allow-arming for
automation), the production section (--allow-arming on the line,
serial_loopback with a jumper on the fixture), and the firmware gate
--build description (bench capability report with variant and config
line recommendations). Storage threshold defaults are justified where
the flags are documented.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
New page in Platform Testing and CI covering px4bench: why on-hardware
verification exists alongside SITL and CI, the firmware traceability
gate, the bench test inventory, the SIH hardware-in-the-loop flight
test with Hawkeye, baseline comparison for upgrade regression and
golden-unit workflows, production end-of-line usage, and CI
integration. Linked from the section index and the sidebar.
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>
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>
Add a test_and_ci page covering the PX4_ASAN / PX4_TSAN / PX4_MSAN / PX4_UBSAN
build variables, the Linux `sudo sysctl vm.mmap_rnd_bits=28` workaround for the
sanitizer runtime's startup memory mapping, and the TSan suppressions file
(test/sitl_tsan.supp) for the Gazebo simulation transport. Linked from SUMMARY.md
and the test_and_ci index.
