* 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>
Disabled if ICE_IDLE_RPM is 0.
The idle state is entered when the commanded throttle is close to zero
or the measured RPM drops below the idle threshold.
The idle state is exited if the commanded thrust is increased to above
the last needed throttle to keep idle.
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
* fix(fw_mode_manager/navigator): use the correct switch distance
Before https://github.com/PX4/PX4-Autopilot/pull/24056, the fixed-wing
position controller used to publish the acceptance radius (calculated
depending on params and state by DirectionalGuidance::switchDistance) in
the position controller status.
The refactor migrated that to individual lateral/longitudinal topics,
but left the receiving code in the navigator unchanged. As a
consequence, fixed-wing vehicles now rely on NAV_ACC_RAD for the
acceptance radius, rather than the adaptively calculated switchDistance.
As NAV_ACC_RAD is only 10m by default this leads to overshoot,
especially on tight corners.
Fix by reintroducing the publication (now from FixedWingModeManager
through fixed_wing_lateral_guidance_status) and using it in navigator.
* fix(navigator_main): only listen to position controller status if rover
rover_ackermann is the only remaining publisher after #24056
* style(msg): improve field description
- @INVALID NaN
- Describe relation with NAV_ACC_RAD
* style(fw_mode_manager): remove stale include
* docs(navigator): clarify acceptance logic in param description
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>
Implements a new GUIDED_COURSE navigator mode that maintains a constant
ground-track bearing, altitude, and airspeed without manual stick input.
The mode is activated via MAVLink and accepts real-time in-flight updates:
- MAV_CMD_GUIDED_CHANGE_HEADING (HEADING_TYPE_COURSE_OVER_GROUND): set course
- MAV_CMD_DO_CHANGE_ALTITUDE: adjust target altitude
- MAV_CMD_DO_CHANGE_SPEED: adjust target airspeed
On activation the vehicle captures its current velocity vector as the
initial course bearing. A valid horizontal velocity estimate (GPS or
dead-reckoning) is required; course commands are rejected if unavailable.
* fix(ekf2): report HAGL variance for dist_bottom_var
dist_bottom_var was published as P(terrain, terrain) only. When the
range finder is the EKF height reference (EKF2_HGT_REF=2), the terrain
state is reset to 0 and not directly observed, so this variance does
not represent the actual uncertainty of dist_bottom (HAGL).
Use ComputeHaglInnovVar(P, 0) to report the proper HAGL variance,
which accounts for terrain state, vertical position state, and their
covariance.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(ekf2): clamp HAGL variance to non-negative
H*P*H^T should be >= 0 for a valid covariance, but float drift or
mildly non-PSD P can produce a tiny negative result. Clamp at the
accessor so consumers of lpos.dist_bottom_var never see a negative
variance.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
---------
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* mavlink: reassemble GPS_RTCM_DATA before GPS injection
* Apply minor comment requested changes
* Simplification: remove _completed_sequence asymetric protection
* Handle RTCM payload length which is an exact multiple of 180
* update docs
* lib gnss: new GpsRtcmMessageFragmenter to send RTCM via GPS_RTCM_DATA.hpp
* fix clang
* Remove RTCM fragmenter
* update docs
* Compatibility fallback for older QGroundControl builds that omit the final zero-length fragment
* mavlink receiver, remove while loop to avoid dead lock
* docs(update): Subedit
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs(docs): format
---------
Co-authored-by: jonas <jonas.perolini@rigi.tech>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* feat(crsf_rc): add CRSF receiver bind command
Add ability to initiate CRSF receiver binding from QGroundControl or
the NSH console. When MAV_CMD_START_RX_PAIR is received with
RC_TYPE_CRSF, the driver sends the CRSF bind command frame over UART.
Binding is rejected when armed or on singlewire configurations.
Also adds RC_TYPE and RC_SUB_TYPE constants to VehicleCommand.msg and
replaces magic numbers in DsmRc and RCInput drivers.
Based on PX4/PX4-Autopilot#23294.
* style(crsf_rc): use C++ style comment
* style(crsf_rc): zero-init vcmd, remove noisy comments, drop unused enum value
* fix(rc): check write return value in BindCRSF, guard Spektrum bind against invalid sub-type
* fix(rc): warn and deny invalid Spektrum bind sub-type
Previously, an unrecognized param2 sub-type would silently leave
dsm_bind_pulses at 0 and return the generic UNSUPPORTED ACK. Add an
explicit else-branch that logs a PX4_WARN and returns DENIED so users
get clear feedback in QGC.
* 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>
Extend COM_ARM_ODID into a unified arming + in-flight failsafe parameter (0 = Disabled, 1 = Warning, 2 = Return, 3 = Land, 4 = Terminate)
Values >= 2 block arming and trigger the configured action if Remote ID
is lost while airborne.
The nested CycloneDDS CMake invocation in msg/CMakeLists.txt exists
only to produce the 'idlc' IDL compiler as a host-side code-gen
tool. It does not need CycloneDDS's TLS transport or DDS Security
features, but both default to ON in cyclonedds' upstream CMake.
When ENABLE_SSL=AUTO (the default), cyclonedds finds the system
OpenSSL and builds ddsi_ssl.c. On macos-latest the system OpenSSL
is 3.x, which removed the deprecated SSL_get_peer_certificate()
symbol used in our pinned cyclonedds revision (2023). The host
build then fails at link time with:
Undefined symbols for architecture arm64:
"_SSL_get_peer_certificate", referenced from:
_dds_report_tls_version in ddsi_ssl.c.o
This broke every Zenoh-enabled board build on macOS (boards that
select CONFIG_MODULES_ZENOH pull in LIB_CDRSTREAM, which is what
triggers the nested build). v5 and v6x never hit it because they
don't enable Zenoh.
Passing -DENABLE_SSL=OFF -DENABLE_SECURITY=OFF skips compilation of
ddsi_ssl.c and the security plugins entirely. idlc is unaffected
(pure C code generation, no DDS runtime).
Verified locally on macOS ARM64: clean distclean + make
px4_fmu-v6xrt_default completes in 2090/2090 ninja steps, producing
a 2.1 MB .px4 with 59% FLASH used.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* forwarding offboard setpoints in modes using the external mode registration
* requesting offboard setpoint in RAPTOR
* adding old message versions
* bumping vehicle status
* adding message translations
* updating reference to versioned old message on previous translations
Detects when a rotary-wing vehicle drops more than FD_ALT_LOSS metres
below a NED-z reference while altitude control is active,
and immediately triggers flight termination (parachute deployment).
Detection (FailureDetector):
- FD_ALT_LOSS: drop threshold in metres (0 = disabled, default)
- FD_ALT_LOSS_T: hysteresis time
- Guards: rotary-wing only, altitude control active, z_valid, setpoint
fresh (<1 s). Manual, Acro and FW/VTOL-FW modes are excluded.
- Ratcheting reference: initialises to lpos.z on first sample below
setpoint, preventing false triggers on new waypoints
Failsafe action (commander):
- New fd_alt_loss flag in FailsafeFlags.msg
- COM_ALT_LOSS_ACT: -1=Disabled (default), 0=Terminate
- Terminate fires immediately, cannot be overridden, and never clears
until disarm (parachute deployment is irreversible)
The failure_detector_status bitmask in vehicle_status duplicates the
separate FailureDetectorStatus topic. Remove it and read directly from
the dedicated topic in failureDetectorCheck and HIGH_LATENCY2.
* sensors: move GPS antenna offsets to per-receiver parameters
Move antenna position configuration from the single EKF2_GPS_POS_X/Y/Z
parameter set into per-receiver SENS_GPS{0,1}_OFF{X,Y,Z} parameters in
the sensors module. Each offset slot is matched to a physical receiver
by device ID (SENS_GPS{0,1}_ID), falling back to uORB instance index
when no IDs are configured.
The antenna offset is now carried through the SensorGps uORB message
and blended alongside other GPS states when multi-receiver blending is
active, so EKF2 receives the correct lever arm for whichever receiver
(or weighted combination) is selected.
- Add antenna_offset_{x,y,z} fields to SensorGps.msg
- Remove EKF2_GPS_POS_X/Y/Z params; EKF2 reads offset from gnssSample
- Add SENS_GPS{0,1}_ID and SENS_GPS{0,1}_OFF{X,Y,Z} params (module.yaml)
- Blend antenna offsets in GpsBlending (weighted average)
- Add unit tests for single, blended, and failover antenna offset cases
- Migrate params.c to module.yaml for the vehicle_gps_position module
* sensors: gps_blending: add asymmetric weight and fallthrough offset tests
Add two additional antenna offset test cases:
- dualReceiverAsymmetricWeightAntennaOffset: verify that unequal eph
values produce correctly skewed blend weights (0.8/0.2) and that the
output antenna offset reflects the weighted average
- blendingFallthroughAntennaOffset: verify that when blending is enabled
but can_do_blending evaluates false (eph=0), the non-blending path
correctly assigns the selected receiver's antenna offset
* feat(param_translation): translate EKF2_GPS_POS_ to SENS_GPS0_OFF_
* fix(msgs): proper formatting
* chore(msg): 0 if invalid/unknown
* fix(ROMFS): migrate EKF2_GPS_POS_ params
* fix(docs): migrate EKF2_GPS_POS_ params
* fix(blending): unsigned param
* Update msg/SensorGps.msg
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* fix(sensors/gps): remove 'values:' tag in module.yaml
* fix(sensors/gps): unsigned instance index
* fix(blending): restore const on gps_blend_states()
Move antenna offset blending into blend_gps_data() where the
weights are computed, keeping gps_blend_states() const.
* fix(sensors/gps): fix msg annotation and restore SENS_GPS_PRIME values
Remove incorrect @invalid NaN annotation from antenna offset fields
(0.0 default is correct, not a sentinel). Restore values tag for
SENS_GPS_PRIME so QGC shows a dropdown.
* fix(gps_blending): fix pre-existing bug to clear _gps_updated flags
The loop iterates over i but always clears gps_select_index. The intent is to clear
all updated flags, but only the selected one gets cleared (N times)
* test(gps_blending): add stale update flag regression test
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
This commit introduces a new control mode for fixed-wing aircraft that
utilizes Euler angles for attitude control.
Additionally, a new logged topic has been added to facilitate debugging and
monitoring of the Euler rates setpoints during flight.
