Merge branch 'main' into dev/sbgecom_driver

.github/workflows/dev_container.yml

@@ -17,7 +17,7 @@ on:
 jobs:
   build:
     name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -52,12 +52,7 @@ jobs:
             ghcr.io/PX4/px4-dev
             ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
           tags: |
-            type=semver,pattern={{version}}
-            type=semver,pattern={{major}}.{{minor}}
-            type=semver,pattern={{major}}
-            type=ref,event=branch,value=${{ 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=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

ROMFS/px4fmu_common/init.d/rc.heli_defaults

@@ -12,6 +12,7 @@ param set-default MAV_TYPE 4
 
 param set-default COM_PREARM_MODE 2
 param set-default COM_SPOOLUP_TIME 10
+param set-default COM_DISARM_PRFLT 60
 
 # No need for minimum collective pitch (or airmode) to keep torque authority
 param set-default MPC_MANTHR_MIN 0

boards/micoair/h743-aio/default.px4board

@@ -10,11 +10,15 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/micoair/h743-v2/default.px4board

@@ -11,11 +11,15 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/micoair/h743/default.px4board

@@ -10,11 +10,15 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

msg/PwmInput.msg

@@ -1,4 +1,4 @@
-uint64 timestamp	# Time since system start (microseconds)
-uint64 error_count	# Timer overcapture error flag (AUX5 or MAIN5)
-uint32 pulse_width	# Pulse width, timer counts
-uint32 period		# Period, timer counts
+uint64 timestamp   # Time since system start (microseconds)
+uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5)
+uint32 pulse_width # Pulse width, timer counts (microseconds)
+uint32 period      # Period, timer counts (microseconds)

msg/Rpm.msg

@@ -1,4 +1,5 @@
 uint64 timestamp # time since system start (microseconds)
 
+# rpm values of 0.0 mean within a timeout there is no movement measured
 float32 rpm_estimate # filtered revolutions per minute
 float32 rpm_raw

src/lib/CMakeLists.txt

@@ -43,6 +43,7 @@ add_subdirectory(cdrstream EXCLUDE_FROM_ALL)
 add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL)
 add_subdirectory(collision_prevention EXCLUDE_FROM_ALL)
 add_subdirectory(component_information EXCLUDE_FROM_ALL)
+add_subdirectory(control_allocation EXCLUDE_FROM_ALL)
 add_subdirectory(controllib EXCLUDE_FROM_ALL)
 add_subdirectory(conversion EXCLUDE_FROM_ALL)
 add_subdirectory(crc EXCLUDE_FROM_ALL)

src/lib/control_allocation/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(control_allocation)
+add_subdirectory(actuator_effectiveness)

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt → src/lib/control_allocation/actuator_effectiveness/CMakeLists.txt

@@ -34,42 +34,12 @@
 px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.cpp
 	ActuatorEffectiveness.hpp
-	ActuatorEffectivenessUUV.cpp
-	ActuatorEffectivenessUUV.hpp
-	ActuatorEffectivenessControlSurfaces.cpp
-	ActuatorEffectivenessControlSurfaces.hpp
-	ActuatorEffectivenessCustom.cpp
-	ActuatorEffectivenessCustom.hpp
-	ActuatorEffectivenessFixedWing.cpp
-	ActuatorEffectivenessFixedWing.hpp
-	ActuatorEffectivenessHelicopter.cpp
-	ActuatorEffectivenessHelicopter.hpp
-	ActuatorEffectivenessHelicopterCoaxial.cpp
-	ActuatorEffectivenessHelicopterCoaxial.hpp
-	ActuatorEffectivenessMCTilt.cpp
-	ActuatorEffectivenessMCTilt.hpp
-	ActuatorEffectivenessMultirotor.cpp
-	ActuatorEffectivenessMultirotor.hpp
-	ActuatorEffectivenessTilts.cpp
-	ActuatorEffectivenessTilts.hpp
-	ActuatorEffectivenessRotors.cpp
-	ActuatorEffectivenessRotors.hpp
-	ActuatorEffectivenessStandardVTOL.cpp
-	ActuatorEffectivenessStandardVTOL.hpp
-	ActuatorEffectivenessTiltrotorVTOL.cpp
-	ActuatorEffectivenessTiltrotorVTOL.hpp
-	ActuatorEffectivenessTailsitterVTOL.cpp
-	ActuatorEffectivenessTailsitterVTOL.hpp
-	ActuatorEffectivenessRoverAckermann.hpp
-	ActuatorEffectivenessRoverAckermann.cpp
 )
 
 target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 target_include_directories(ActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ActuatorEffectiveness
 	PRIVATE
 		mathlib
+		PID
 )
-
-px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS ActuatorEffectiveness)
-px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness)

src/modules/control_allocator/ControlAllocation/CMakeLists.txt → src/lib/control_allocation/control_allocation/CMakeLists.txt

@@ -44,4 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ControlAllocation PRIVATE mathlib)
 
 px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
-px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
+# px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)

src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp → src/lib/control_allocation/control_allocation/ControlAllocation.hpp

@@ -71,7 +71,7 @@
 
 #include <matrix/matrix/math.hpp>
 
-#include "ActuatorEffectiveness/ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ControlAllocation
 {

src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp → src/lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturationTest.cpp

@@ -40,7 +40,7 @@
 
 #include <gtest/gtest.h>
 #include <ControlAllocationSequentialDesaturation.hpp>
-#include <../ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp>
+#include <actuator_effectiveness/ActuatorEffectivenessRotors.hpp>
 
 using namespace matrix;
 

src/modules/commander/Commander.cpp

@@ -2268,7 +2268,8 @@ void Commander::handleAutoDisarm()
 				_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
 
 			} else if (_param_com_disarm_prflt.get() > 0 && !_have_taken_off_since_arming) {
-				_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_prflt.get() * 1_s);
+				_auto_disarm_landed.set_hysteresis_time_from(false,
+						(_param_com_spoolup_time.get() + _param_com_disarm_prflt.get()) * 1_s);
 				_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
 			}
 

src/modules/commander/Commander.hpp

@@ -330,7 +330,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	param_t _param_rc_map_fltmode{PARAM_INVALID};
 
 	DEFINE_PARAMETERS(
-
 		(ParamFloat<px4::params::COM_DISARM_LAND>)  _param_com_disarm_land,
 		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_prflt,
 		(ParamBool<px4::params::COM_DISARM_MAN>)    _param_com_disarm_man,
@@ -347,6 +346,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 		(ParamFloat<px4::params::COM_OBC_LOSS_T>)   _param_com_obc_loss_t,
 		(ParamInt<px4::params::COM_PREARM_MODE>)    _param_com_prearm_mode,
 		(ParamInt<px4::params::COM_RC_OVERRIDE>)    _param_com_rc_override,
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
 		(ParamInt<px4::params::COM_FLIGHT_UUID>)    _param_com_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>)    _param_com_takeoff_act,
 		(ParamFloat<px4::params::COM_CPU_MAX>)      _param_com_cpu_max

src/modules/control_allocator/CMakeLists.txt

@@ -32,8 +32,7 @@
 ############################################################################
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-add_subdirectory(ActuatorEffectiveness)
-add_subdirectory(ControlAllocation)
+add_subdirectory(VehicleActuatorEffectiveness)
 
 px4_add_module(
 	MODULE modules__control_allocator
@@ -50,6 +49,7 @@ px4_add_module(
 	DEPENDS
 		mathlib
 		ActuatorEffectiveness
+		VehicleActuatorEffectiveness
 		ControlAllocation
 		px4_work_queue
 		SlewRate

src/modules/control_allocator/ControlAllocator.cpp

@@ -314,7 +314,7 @@ ControlAllocator::Run()
 #endif
 
 	// Check if parameters have changed
-	if (_parameter_update_sub.updated() && !_armed) {
+	if (_parameter_update_sub.updated()) {
 		// clear update
 		parameter_update_s param_update;
 		_parameter_update_sub.copy(&param_update);

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <lib/slew_rate/SlewRate.hpp>

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp

@@ -134,9 +134,12 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
 {
 	_saturation_flags = {};
 
+	const float spoolup_progress = throttleSpoolupProgress();
+	_rpm_control.setSpoolupProgress(spoolup_progress);
+
 	// throttle/collective pitch curve
-	const float throttle = math::interpolateN(-control_sp(ControlAxis::THRUST_Z),
-			       _geometry.throttle_curve) * throttleSpoolupProgress();
+	const float throttle = (math::interpolateN(-control_sp(ControlAxis::THRUST_Z),
+				_geometry.throttle_curve) + _rpm_control.getActuatorCorrection()) * spoolup_progress;
 	const float collective_pitch = math::interpolateN(-control_sp(ControlAxis::THRUST_Z), _geometry.pitch_curve);
 
 	// actuator mapping

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp

@@ -33,14 +33,16 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/manual_control_switches.h>
 
+#include "RpmControl.hpp"
+
 class ActuatorEffectivenessHelicopter : public ModuleParams, public ActuatorEffectiveness
 {
 public:
@@ -131,4 +133,6 @@ class ActuatorEffectivenessHelicopter : public ModuleParams, public ActuatorEffe
 	bool _main_motor_engaged{true};
 
 	const ActuatorType _tail_actuator_type;
+
+	RpmControl _rpm_control{this};
 };

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessMultirotor : public ModuleParams, public ActuatorEffectiveness

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
 {

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp → src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp

@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"