Integrators can declare read-only parameters in a per-board YAML file:
readonly_params.yaml.
There are two ways to define the read-only params:
- "block": default writable, explicitly list params to be locked
- "allow": default readonly, explicitly list params to be writable
Enforcement is activated by `param lock` in rcS after all startup
scripts have run, so board defaults and airframe scripts can still set
params during init.
The feedback via MAVLink uses the new
MAV_PARAM_ERROR_READ_ONLY as part of the PARAM_ERROR message.
* fix(mavlink): gate UAVCAN param bridge on observed camera heartbeat
Only exclude target_component 100..105 from the MAVLink -> UAVCAN
parameter bridge when a MAVLink HEARTBEAT with MAV_TYPE_CAMERA has
been observed on that component within the last 5s. When no camera
has been seen, forward to the matching UAVCAN node as before.
The bridge maps target_component 1:1 onto UAVCAN node_id, so the
unconditional 100..105 exclusion added in #25651 also made DroneCAN
peripherals assigned those node IDs unreachable via MAVLink params.
This preserves #25651's intent for real MAVLink cameras while
unblocking DroneCAN devices in that ID range.
Fixes#27180
* fix(mavlink): warn when camera shadows DroneCAN node in 100..105
Emit a one-shot mavlink_log_warning per comp ID when both a MAVLink
camera (observed via camera_status / MAV_TYPE_CAMERA heartbeat) and a
DroneCAN node (via dronecan_node_status) are present at the same ID
in 100..105. The camera takes precedence at the UAVCAN parameter
bridge (intent of #25651), so the CAN node's params become unreachable
via MAVLink. The warning surfaces the ambiguity in QGC's message tray
so the user can reassign the CAN node ID.
Fires regardless of which side joined first. Sticky per comp ID for
the boot — the user only sees it once per conflicting ID.
* Update src/modules/mavlink/mavlink_parameters.cpp
* Update src/modules/mavlink/mavlink_parameters.cpp
Replace the ExternalProject_Add-based fetch of PX4/PX4-OpticalFlow with a
proper git submodule at src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow,
matching how every other external C++ dependency is integrated in PX4 (mavlink,
gps/devices, Micro-XRCE-DDS-Client, libevents, heatshrink, etc.).
The previous approach cloned the repo over the network on every clean build,
pinned to GIT_TAG master (unreproducible), and had generated a string of
follow-up PRs over the last year chasing ExternalProject quirks (install
paths, macOS .dylib vs .so, permissions).
The plugin now consumes the upstream OpticalFlow target directly via
add_subdirectory and px4_add_git_submodule. The upstream repo predates PX4's
strict warning policy, so the OpticalFlow and klt_feature_tracker targets get
-Wno-error plus a few specific -Wno-* flags and -fvisibility=default to build
cleanly inside the PX4 tree.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Adds a gha workflow that applies the `status:needs-triage` label to every
newly opened issue. This gives maintainers a clear queue of unreviewed issues
and lets them remove the label once the issue has been triaged and more specific
labels have been assigned.
Signed-off-by: Onur Özkan <work@onurozkan.dev>
- wrong and off equal to simulator_mavlink implementation
- but wrong is over timescale of 10s rather than 1s by default to
make it harder for innovation check to flag (closer to icing)
- stuck will just keep the last value before injecting the failure
The logger rework grows text slightly, pushing the already
flash-constrained zenoh variant over budget. Drop a handful of
optional features to recover the needed headroom:
- osd_msp_osd (MSP OSD, niche)
- actuator_test (bench diagnostic)
- fw_autotune_attitude_control / mc_autotune_attitude_control
(tuning can be done on a default build)
Replace the old SDLOG_DIRS_MAX=3 + larger-buffer override with the
new rotation-based tuning: SDLOG_MAX_SIZE=40 caps each log file at
40 MB so a handful of recent logs fit, and SDLOG_ROTATE=95 lets logs
fill up to 95% of the 128 MB volume.
Also set COM_ARM_SDCARD=0 (no SD on this board) and
SYS_DM_BACKEND=1 so missions are stored in RAM.
Replace the old SDLOG_DIRS_MAX=3 + larger-buffer override with the
new rotation-based tuning: SDLOG_MAX_SIZE=40 caps each log file at
40 MB so a handful of recent logs fit, and SDLOG_ROTATE=95 lets logs
fill up to 95% of the 128 MB volume.
Drop the BOARD_SMALL_FLASH_LOGGING define from board_config.h; the
logger no longer keys off a per-board compile flag.
The kakuteh7mini ships with a W25N01GV (1Gbit/128MB) SPI NAND flash on
SPI1, but the board init was treating SPI1 as an MMC/SD slot and the
W25N driver was not enabled. Enable the chip and use it for logging:
- spi.cpp: register the device as SPIDEV_FLASH(0) instead of SPIDEV_MMCSD(0)
- init.c: initialize the W25N MTD driver, register /dev/mtd0, mount
littlefs at /fs/flash with autoformat, and print the flash geometry
on boot for verification.
- nuttx defconfig: enable CONFIG_MTD_W25N, CONFIG_FS_LITTLEFS,
SPI1 DMA + DMAMUX1, drop the unused RAMTRON config.
- board_dma_map.h: define DMAMAP_SPI1_RX/TX for the SPI1 DMA channels.
- default.px4board: set CONFIG_BOARD_ROOT_PATH to /fs/flash.
- rc.board_defaults: drop the SDLOG_BACKEND=0 override that was
disabling logging entirely, drop COM_ARM_SDCARD (no SD card), and
tune SDLOG_MAX_SIZE=40 / SDLOG_ROTATE=95 to keep a few recent logs
in the 128 MB flash.
Add an NSH command to format a device with littlefs, analogous to
mkfatfs for FAT filesystems. The command unmounts the mount point,
then remounts with forceformat to format and mount in one step.
Enable the command on boards that use littlefs as primary storage
(airbrainh743 and kakuteh7v2), and document it in the airbrainh743
flight controller page as a recovery procedure for a corrupted
flash filesystem.
Usage: mklittlefs /dev/mtd0 /fs/flash
Make the logger practical on small flash storage (e.g. 128 MB W25N
NAND) while keeping the existing SD-card behaviour sensible.
- Move cleanup from boot to log start so logs can be downloaded via
MAVLink FTP before deletion.
- Delete individual .ulg files (oldest first) instead of whole
directories, prioritising the naming scheme not currently in use
(session dirs vs date dirs).
- Add SDLOG_MAX_SIZE (new, default 1024 MB): maximum size of a single
log file. When reached, the log rotates to a new file. The value is
also reserved as headroom in the cleanup threshold.
- Add SDLOG_ROTATE (new, default 90): maximum disk usage percentage.
Cleanup guarantees (100 - SDLOG_ROTATE)% free at all times, even
during writing of a new log file. 0 disables space-based cleanup,
100 allows filling the disk.
- Repurpose SDLOG_DIRS_MAX as an orthogonal directory-count cap
(default 0 = disabled). Useful for capping log usage by count
independent of disk size, e.g. in SITL.
- Drop the implicit ~300 MB free-space floor that used to fire even
with SDLOG_DIRS_MAX=0; space is now governed entirely by
SDLOG_ROTATE + SDLOG_MAX_SIZE.
- Split pure parsing helpers into util_parse.{h,cpp} and add unit
tests (loggerUtilTest.cpp).
- Simplify get_log_time to rely on clock_gettime (set by the GPS
driver); safer string handling in directory parsing.
- Reset _total_written in LogFileBuffer::reset() so callers reading
get_total_written() between stop and start don't see stale counts.
Sponsored by CubePilot.
