The path globs matched a large fraction of the tree (e.g.
src/modules/*_control/**, src/modules/sensors/**), so the label was
applied to many PRs that aren't meaningfully safety-critical. Remove the
rule so the label is applied manually during review instead.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(navigator): honor NAV_LAND mission item abort altitude (param1)
A NAV_CMD_LAND mission item's param1 (minimum abort altitude above the
landing point) was parsed and dropped with a long-standing TODO, so an
aborted landing always climbed to the global MIS_LND_ABRT_ALT regardless
of the per-item value.
Carry param1 in the otherwise-unused time_inside field on upload, and in
do_abort_landing() use it as the climb-above-landing-point height when
set (> 0), falling back to MIS_LND_ABRT_ALT otherwise. The value also now
round-trips on mission download. Items without a specified abort altitude
(param1 = 0), including missions stored by older firmware, keep using the
parameter default.
Fixes#27290
Signed-off-by: Andrii Anoshyn <anoshyn.andrii@gmail.com>
* fix(navigator): clarify land abort altitude storage
---------
Signed-off-by: Andrii Anoshyn <anoshyn.andrii@gmail.com>
MAV_CMD_CONDITION_DELAY was accepted on upload but mapped to a nav_cmd
(112) that no navigator code recognizes, so the mission feasibility check
rejected it ("unsupported cmd") and its delay was never executed. PX4
already implements an identical seconds-hold via NAV_CMD_DELAY, whose
duration comes from param1 (params[0], aliasing time_inside). Map
CONDITION_DELAY to NAV_CMD_DELAY at parse time so the requested hold is
honored, reusing the existing, tested delay execution and feasibility
logic.
Fixes#27289
Signed-off-by: Andrii Anoshyn <anoshyn.andrii@gmail.com>
* feat(boards): add support for AEDROXH7 flight controller
STM32H743-based FPV / racing flight controller from AEDROX.
Brings up:
- ICM-42688-P IMU on SPI2
- DPS310 baro on internal I2C2
- W25N NAND flash on SPI3 with littlefs at /fs/flash
- MAX7456 analog OSD on SPI1
- 8 motor outputs (TIM1 + TIM8) all bidirectional-DShot capable
- CAN1
- External I2C1 connector for compass / sensors
- 6 UARTs (TEL1, GPS1, RC, TEL2, ESC telemetry, debug console on UART8),
- Two user GPIOs on the M5-M8 connector, VTX power and camera-switch GPIOs,
buzzer on PA7 (active-buzzer transistor low-side switch), battery V/I sensing
via ADC1.
Board ID 1198 shared with ArduPilot's AP_HW_AEDROXH7 entry.
USB enumerates as 0x16D0:0x14FE with VENDORSTR "AEDROX".
Signed-off-by: Julian Oes <julian@oes.ch>
* docs(docs): Minor subedit
---------
Signed-off-by: Julian Oes <julian@oes.ch>
Co-authored-by: Hamish Willee <hamishwillee@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>
* src/drivers/cdcacm_autostart: Include posix.h for px4_close
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* platforms/nuttx/CMakeLists.txt: Fix linking of nuttx libaries for memalign
This fixes memalign not found in linking step for some boards
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* Add "flock" to macos.sh setup script
"flock" is not standard on macOS, and a dependency was missing from the
macOS setup path.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* Fix clang-tidy errors in Bitset.hpp and in src/lib/matrix
Fix the "bugprone-dynamic-static-initializers" linter errors.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* systemlib/hardfault_log: Fix clang-diagnostics error
Fix for
"[error] clang-diagnostic-error [error]
use of undeclared identifier XCPTCONTEXT_REGS".
XCPTCONTEXT_REGS is defined in nuttx irq.h, so include that.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* uORB: Fix clang-tidy error "bugprone-dynamic-static-initializers"
Fix the clang-tidy error appearing on uORBManager _Instance variable by
adding a getter for the reference to the _Instance and using that instead.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* CI: Add default ubuntu mirrors as fallback
In case of specified aws mirror doesn't have the package idicated by the
metadata, a the default ubuntu mirror as a backup.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
---------
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
math::expo_deadzone generates ~240bytes of code for 32-bit arm
platform, and it gets currently inlined several times.
Localizing the function in Sticks.cpp saves ~2KB of flash, measured
on px4_fmu-v5_default target.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
GCC13 does aggresive optimizations that causes a RWW violation.
Causing the bootloader to crash while updating.
Add compiler arguements to reduce optimizations fixing the issue.
Add support for the MAVLink FTP ListDirectoryWithTime command (opcode 16),
which returns directory listings with each file's last-modification time
appended as decimal seconds since the UNIX epoch (0 if unknown).
This lets a GCS retrieve file timestamps without downloading the files,
which is useful for log download. The plain ListDirectory output is
unchanged, and clients fall back to it when the server NAKs with
UnknownCommand.
Signed-off-by: Julian Oes <julian@oes.ch>
On a non-secure bootloader the VERIFY_SIG opcode was answered explicitly
instead of falling through like an older bootloader without the opcode,
which could desync the following BOOT command and fail the upload.
Compile the case only when BOOTLOADER_USE_SECURITY is set so non-secure
builds reject it via the default unknown-command path.
Signed-off-by: Julian Oes <julian@oes.ch>
The DSHOT bit width was selected at compile time from a single timer
clock (STM32_APB1_TIM5_CLKIN) and applied board-wide. On boards whose
timers run on different clocks (e.g. APB1 vs APB2) the non-APB1 timers
could emit DSHOT at the wrong rate; this was only flagged with a
#pragma message rather than handled.
Compute the bit width per timer from that timer's own clock_freq (which
io_timers[] already carries), using a fixed DSHOT600 reference so the
width depends only on the timer clock, not the selected DSHOT rate. The
selection rule is unchanged, so register values are identical for every
current board.
Keeping the width rate-independent is what preserves the duty cycle:
MOTOR_PWM_BIT_0/1 are absolute CCR counts calibrated for the fixed ARR,
so a rate-varying ARR would distort them.
Signed-off-by: Julian Oes <julian@oes.ch>
The failure injector is SITL-only; the system-wide enable gate isn't
needed here. Gating will be revisited when extending injection to the
real GPS driver in a follow-up.
Implements FAILURE_UNIT_SENSOR_GPS support in the SITL sensor_gps_sim module, mirroring the existing motor failure injection pattern in FailureInjector.
Supported failure types per GPS instance (param3=0 all, 1=GPS0, 2=GPS1):
- FAILURE_TYPE_OFF, stop publishing (simulates dead receiver)
- FAILURE_TYPE_STUCK, freeze last known position (simulates frozen fix)
- FAILURE_TYPE_WRONG, corrupt position by +1 deg (~111 km offset, triggers gpsRedundancyCheck divergence gate)
- FAILURE_TYPE_OK, recover all active failures for that instance
Requires SYS_FAILURE_EN=1. The enable gate is re-read every cycle so runtime parameter changes take effect without restarting the module.
The ArmingCheckReply uORB queue was sized to 4 (ORB_QUEUE_LENGTH) while
ExternalChecks supports up to MAX_NUM_REGISTRATIONS (8) external modes,
each of which publishes a reply for every ArmingCheckRequest. With more
than 4 registered modes the replies from the 5th+ mode overwrote earlier
ones within a single request cycle, so those modes were flagged
"unresponsive" and silently failed to activate.
Increase ORB_QUEUE_LENGTH to 8 to match MAX_NUM_REGISTRATIONS, and add a
static_assert so the two limits cannot drift apart again.
Fixes#27271
Signed-off-by: Marko T <marko.tavcar@c-astral.com>
limits.h is included before the definition in some locations and not others
(which would trigger a setting of 1024) resulting in conflicting definitions.
