Merge branch 'main' into pr-logger-combined-enc-file

.github/workflows/dev_container.yml

@@ -25,6 +25,18 @@ jobs:
           submodules: false
           fetch-depth: 0
 
+      - name: Set PX4 Tag
+        id: px4-tag
+        run: |
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: github.event_name != 'pull_request'
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -38,14 +50,15 @@ jobs:
         with:
           images: |
             ghcr.io/PX4/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
           tags: |
-            type=schedule
             type=semver,pattern={{version}}
             type=semver,pattern={{major}}.{{minor}}
             type=semver,pattern={{major}}
-            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}}
+            type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
+            type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
+            type=ref,event=branch,suffix=,priority=500
             type=ref,event=pr
-            type=sha
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
@@ -82,7 +95,6 @@ jobs:
 
       - name: Push container image
         uses: docker/build-push-action@v6
-        if: ${{ github.event_name == 'push' }}
         with:
           context: Tools/setup
           tags: ${{ steps.meta.outputs.tags }}

README.md

@@ -2,7 +2,7 @@
 
 [![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
 [![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -38,4 +38,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
+param set-default EKF2_GPS_DELAY 0
+
 param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -45,7 +45,9 @@ param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+
+param set-default EKF2_GPS_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,6 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default SENS_EN_GPSSIM 1

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -26,7 +26,6 @@ param set-default RD_MAX_THR_SPD 2.15
 param set-default RD_SPEED_P 0.1
 param set-default RD_SPEED_I 0.01
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 2
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 param set-default RD_MAX_YAW_ACCEL 1000

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -29,7 +29,6 @@ param set-default RD_MAX_SPEED 8
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -13,18 +13,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 # Rover parameters
 param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAN_YAW_SCALE 0.1
-param set-default RM_YAW_RATE_I 0
-param set-default RM_YAW_RATE_P 0.01
+param set-default RM_YAW_RATE_I 0.1
+param set-default RM_YAW_RATE_P 0.1
 param set-default RM_MAX_ACCEL 3
+param set-default RM_MAX_DECEL 5
 param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 4
-param set-default RM_MAX_THR_SPD 7
-param set-default RM_MAX_THR_YAW_R 7.5
+param set-default RM_MAX_SPEED 2
+param set-default RM_MAX_THR_SPD 2.2
+param set-default RM_MAX_THR_YAW_R 1.2
 param set-default RM_YAW_P 5
 param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 180
-param set-default RM_MISS_SPD_DEF 3
+param set-default RM_MAX_YAW_RATE 120
+param set-default RM_MAX_YAW_ACCEL 240
 param set-default RM_MISS_VEL_GAIN 1
 param set-default RM_SPEED_I 0.01
 param set-default RM_SPEED_P 0.1
@@ -42,23 +42,23 @@ param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
 param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 0
-param set-default SIM_GZ_WH_MAX3 200
+param set-default SIM_GZ_WH_MIN3 70
+param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
 param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 0
-param set-default SIM_GZ_WH_MAX4 200
+param set-default SIM_GZ_WH_MIN4 70
+param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
 param set-default SIM_GZ_WH_REV 10

ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter

@@ -0,0 +1,97 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.23
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.23
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.23
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.23
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
+param set-default FW_PSP_OFF 2
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
+param set-default FW_AIRSPD_STALL 10
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 18
+param set-default FW_AIRSPD_MAX 22
+
+param set-default MC_AIRMODE 2
+param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 7
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0
+
+param set-default EKF2_FUSE_BETA 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -89,6 +89,7 @@ px4_add_romfs_files(
 	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
+	4018_gz_quadtailsitter
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -18,22 +18,19 @@ param set UAVCAN_ENABLE 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
+
+param set HIL_ACT_REV 1
+param set HIL_ACT_FUNC1 201
+param set HIL_ACT_FUNC2 202
+param set HIL_ACT_FUNC3 203
+param set HIL_ACT_FUNC4 101
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -31,7 +31,6 @@ param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_MAX_YAW_ACCEL 600
 param set-default RD_MAX_YAW_RATE 250
-param set-default RD_MISS_SPD_DEF 1.5
 param set-default RD_SPEED_P 0.1
 param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-param set-default COM_POS_FS_DELAY 5
-
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -211,6 +211,13 @@ then
 	spl06 -X -a 0x77 start
 fi
 
+# SPA06 sensor external I2C
+if param compare -s SENS_EN_SPA06 1
+then
+	spa06 -X start
+	spa06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then

Tools/astyle/check_code_style_all.sh

@@ -43,7 +43,7 @@ fi
 
 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
+if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"

Tools/px4airframes/markdownout.py

@@ -137,7 +137,7 @@ def __init__(self, groups, board, image_path):
                             #print(output_name,value, attribstrs[0].strip(),attribstrs[1].strip())
                     outputs += '</ul>'
                     if has_outputs:
-                        outputs_entry = '<p><b>Specific Outputs:</b>' + outputs + '</p>'
+                        outputs_entry = '<br><b>Specific Outputs:</b>' + outputs
                     else:
                         outputs_entry = ''
 

Tools/setup/ubuntu.sh

@@ -64,6 +64,7 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
+	ccache \
 	cmake \
 	cppcheck \
 	file \

boards/emlid/navio2/arm64.px4board

@@ -0,0 +1 @@
+CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"

boards/holybro/kakuteh7/init/rc.board_sensors

@@ -11,4 +11,7 @@ then
 	icm42688p -R 6 -s start
 fi
 
-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi

boards/holybro/kakuteh7mini/init/rc.board_sensors

@@ -12,4 +12,7 @@ then
   fi
 fi
 
-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi

boards/holybro/kakuteh7v2/init/rc.board_sensors

@@ -9,4 +9,7 @@ then
 	icm42688p -R 0 -s start
 fi
 
-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi

boards/mro/x21-777/default.px4board

@@ -67,7 +67,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y