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.
* 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>
Update safety.md, remote_id.md, and releases/main.md to document the extended COM_ARM_ODID parameter and the new in-flight failsafe behaviour that will be introduced in PX4 v1.18.
Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.
This solution only works for PWM based servos. Other types of servos are not affected.
* PWM: Add servo trim option
* PWM: Improve documentation of PWM trim feature
* PWM: cleaner clamping and docs typo
* update documentation & safety
* add migration formula
* rename param from trim to center
* docs with center instead of trim
* move clamping and reorder values
* improve documentation
* adress failing range check
* improve documentation
* CA: add event for setting CENTER with TRIM
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
* failure_injection: improve previously vague motor faulure
Reading it again I decided adding the sentance in 4d2170c13e is not clear enough.
* docs/safety: add a motor failure detection paragraph
The functionality is in my eyes pretty basic but so far completely undocumented so I went through the code and added a paragraph based on questions I received.
* Subedit
* Apply suggestion from @hamishwillee
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
* Remove Zubax Orel - not available and no other presence
* Fix up zubax product links
* Snapdragon flight - delete as no longer relevant hardware
* Delete intel aero docs
* Brushless whoop - remove docs except for link to old version
* Many link fixes
Note: Some files are autogenerated and I did not yet
go through each source of generation to fix it there.
Instead I adjusted the filter to only exclude those
such that we can fix things in steps.
