LiuYang

04256529a8 Add emergency motor stop command forwarding
679bef9fad Add per-aircraft state object and automatic parameter sync Group each locked flight controller's identity, latest observations, battery packs and downloaded parameter table into an Aircraft object, exposed via Telemetry compatibility properties. After locking a HEARTBEAT, request PARAM_REQUEST_LIST once to download the full parameter table into memory, retrying within param_request_timeout up to param_request_max_attempts. Add request_params_on_start, param_request_timeout and param_request_max_attempts config options, and reuse request_params for DataType 281.
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1 tydzień temu

LiuYang wypycha do main w VKFLY_INDUSTRY/VK_Mavlink

6738b07dcf feat: add guide point command with path and yaw options

1 tydzień temu

LiuYang wypycha do main w VKFLY_INDUSTRY/VK_Mavlink

23f28a73c0 update: 增加 vk_obstacle_distance 消息说明

2 tygodni temu

LiuYang wypycha do main w VKFLY_INDUSTRY/VK_Mavlink

654e9d845f update: 增加 vk_obstacle_distance 信息

2 tygodni temu

LiuYang wypycha do main w VKFLY_INDUSTRY/motian_mavbridge

1715e7887b Add platform command forwarding callbacks
89b33e5557 Add MQTT MAVLink bridge with dialect submodule

3 tygodni temu

LiuYang stworzył nową gałąź main at VKFLY_INDUSTRY/motian_mavbridge

3 tygodni temu

LiuYang tworzy repozytorium VKFLY_INDUSTRY/motian_mavbridge

3 tygodni temu

LiuYang scala pull request VKFLY_INDUSTRY/VK_Mavlink#6

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1 miesiąc temu

LiuYang zamknięcie pull request VKFLY_INDUSTRY/VK_Mavlink#6

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1 miesiąc temu

LiuYang wypycha do main w VKFLY_INDUSTRY/VK_Mavlink

0a428d8ec7 增加一些参数说明

1 miesiąc temu

LiuYang wypycha do dev-vkfly-main w VKFLY_INDUSTRY/PX4-Autopilot

dcb25d26c6 fix(boards/vkfly): fix defconfig file for new nuttx version
e26a269c40 feat(boards/vkfly): add vkfly v10pro board
31aa8c9531 feat(boards/vkfly): add vkfly v12 board
0fb3847cd9 fix(mavlink): reject TUNNEL messages that overstate their payload length (#28573) The TUNNEL message carries a fixed 128-byte payload alongside a uint8_t payload_length, so a sender can advertise up to 255 bytes of data in a buffer that can only ever hold 128. handle_message_tunnel() copied that length into the uORB topic unchanged. The consumers trust it: voxl_esc and voxl2_io both pass payload_length straight to _uart_port.write() over the 128-byte payload, so a length above 128 reads past the end of the array and transmits whatever follows it out of the ESC or IO UART. Drop such a message rather than clamping the length. These payloads are forwarded verbatim to a device, where a truncated frame would corrupt the device protocol rather than fail cleanly. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Julian Oes <julian@oes.ch>
1e015c73e3 feat(drivers/afbrs50): update Broadcom API to 1.6.6.1 (#28262) * feat(drivers/afbrs50): update Broadcom API to 1.6.6.1 Vendor the latest AFBR-S50 API so the rangefinder driver tracks Broadcom's 1.6.6.1 library and near-range DCA improvements. Assisted-by: Grok:grok-4.6 Signed-off-by: alexklimaj <alex@arkelectron.com> * fix(drivers/afbrs50): print full API version 1.6.6.1 Argus_GetAPIVersion() only encodes major.minor.bugfix, which hides the vendored 1.6.6.1 patch level in the startup log. Assisted-by: Grok:grok-4.6 Signed-off-by: alexklimaj <alex@arkelectron.com> --------- Signed-off-by: alexklimaj <alex@arkelectron.com>
Zobacz porównanie tych 55 commitów »

1 miesiąc temu

LiuYang wypycha do main w VKFLY_INDUSTRY/PX4-Autopilot

0fb3847cd9 fix(mavlink): reject TUNNEL messages that overstate their payload length (#28573) The TUNNEL message carries a fixed 128-byte payload alongside a uint8_t payload_length, so a sender can advertise up to 255 bytes of data in a buffer that can only ever hold 128. handle_message_tunnel() copied that length into the uORB topic unchanged. The consumers trust it: voxl_esc and voxl2_io both pass payload_length straight to _uart_port.write() over the 128-byte payload, so a length above 128 reads past the end of the array and transmits whatever follows it out of the ESC or IO UART. Drop such a message rather than clamping the length. These payloads are forwarded verbatim to a device, where a truncated frame would corrupt the device protocol rather than fail cleanly. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Julian Oes <julian@oes.ch>
1e015c73e3 feat(drivers/afbrs50): update Broadcom API to 1.6.6.1 (#28262) * feat(drivers/afbrs50): update Broadcom API to 1.6.6.1 Vendor the latest AFBR-S50 API so the rangefinder driver tracks Broadcom's 1.6.6.1 library and near-range DCA improvements. Assisted-by: Grok:grok-4.6 Signed-off-by: alexklimaj <alex@arkelectron.com> * fix(drivers/afbrs50): print full API version 1.6.6.1 Argus_GetAPIVersion() only encodes major.minor.bugfix, which hides the vendored 1.6.6.1 patch level in the startup log. Assisted-by: Grok:grok-4.6 Signed-off-by: alexklimaj <alex@arkelectron.com> --------- Signed-off-by: alexklimaj <alex@arkelectron.com>
4d99a38b5f docs(maintainers): promote Jonas Perolini to Navigator code owner Navigator (missions, RTL, detect-and-avoid, takeoff/landing) has no Code Owner. Jonas has been doing that work as a Reviewer. Assisted-by: Grok:grok-4.6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
6dc89338a8 fix(commander): build mag calibration only with CONFIG_SENSORS_VEHICLE_MAGNETOMETER (#28555) Boards that compile the magnetometer pipeline out still linked 8.6 KB of calibration that could never run. holybro_kakutef7 is one of them and sits at 100 % of flash on main. The calibration commands answer UNSUPPORTED there.
29120280ac fix(crsf_rc): avoid out-of-range packet type enum conversion (#28449) An arbitrary CRSF packet type is an eight-bit wire value. Converting an unknown value to CRSF_PACKET_TYPE before descriptor lookup invokes undefined behavior under C++ enum sanitization. Keep the lookup boundary as uint8_t; the descriptor table already stores its packet type in that representation.
Zobacz porównanie tych 812 commitów »

1 miesiąc temu

LiuYang wypycha do main w VKFLY_INDUSTRY/VK_Mavlink

cda648d98d 增加部分参数表述

2 miesięcy temu

LiuYang wypycha do dev-vkfly-main w VKFLY_INDUSTRY/PX4-Autopilot

849f38b267 feat(boards/vkfly): add vkfly v10pro board
2296025f36 feat(boards/vkfly): add vkfly v12 board
d89835fb25 fix(dshot): emit the DShot rate that was asked for on STM32 (#28511) * fix(dshot): emit the DShot rate that was asked for on STM32 io_timer_set_dshot_burst_mode() wrote the tick count into ARR, but an STM32 timer period is ARR + 1 ticks, and the prescaler divided by that same tick count. Every bit came out one tick long, so the output ran at 21/20 of the requested rate and the 7/14 compare counts -- betaflight's, where the period really is 20 ticks -- landed on 21 and gave 33.3 %/66.7 % instead of the protocol's 37.5 %/75 %. Measured on an ARK FMU-v6X (240 MHz timer, BDShot300) with a logic analyser: bit period 3.500 us (+5.00 %) -> 3.333 us (-0.01 %) bit 0 high 33.2 % -> 37.3 % bit 1 high 66.5 % -> 74.9 % Subtracting one from ARR alone is not enough. A tick count fixed at 20 (19, 18) cannot divide every timer clock by every rate: 200 MHz at DShot600 would go from +0.80 % to -4.00 % and 90 MHz from -2.00 % to -6.67 %. Choose the tick count and the prescaler together instead, scoring the emitted rate first and the two high times second, and derive the compare counts from the tick count that wins. That is exact on 84, 90, 96, 108, 168, 180, 216 and 240 MHz at all three rates, and within 0.25 % on 160 MHz and 0.80 % on 200 MHz, where no integer pair is exact. The search only depends on the timer clock and the rate, so io_timer.c caches its answer per timer and recomputes only if the rate changes, which is once. That leaves the transmit path with no arithmetic at all where it previously ran a modulo loop and two divisions on every burst and every capture. The capture prescaler comes out of the same struct and no longer follows the transmit tick count. It only sets the resolution of a free-running counter, so it aims for a fixed 20 ticks per response bit, which is what keeps a one-to-three bit run inside the interval window convert_edge_intervals_to_bitstream() accepts. * fix(dshot): search up to 40 ticks per bit and keep the search in 32 bits 333 cycles per bit (200 MHz at DShot600, 100 MHz at DShot300) is 9 x 37, so a ceiling of 32 ticks left those clocks at 0.79 % when 37 x 9 lands within 0.10 %. The wider range also moves the clocks that were settling on a 39-40 % bit-0 duty onto 37.5 %. The rounded prescaler keeps ticks * prescaler * rate within half a bit of the timer clock, so the 64-bit compare bought nothing. The timing cache now starts on a rate nobody asks for, so its zero-rate guard is reachable instead of returning a zeroed struct. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
c3328cfe04 fix(uploader): shorter wait and nicer port paths (#28514) * fix(uploader): shorten the wait for a bootloader after reboot Reboot-to-bootloader is immediate, so this wait only has to cover USB re-enumeration, not the reboot. Five seconds of it meant a port that was never going to answer held up every other port on the list, and it could outlast the window it was trying to catch: a board sits in its bootloader for BOOTLOADER_DELAY, 3s on some boards and 5s on most, before it jumps to the application. With an FMU-v6C and a Black Magic probe attached, a pass over the probe's two CDC nodes drops from 14.75s to 5.45s, and a running application is in its bootloader 3.52s after the uploader starts. Assisted-by: Claude:claude-opus-5 Signed-off-by: Julian Oes <julian@oes.ch> * fix(uploader): report ports by their /dev/serial/by-id name A ttyACM number is handed out in plug order and says nothing about which device it belongs to, which is awkward as soon as there is more than one CDC device on the bus -- "Attempting reboot on /dev/ttyACM0" gives no hint that it is a debug probe rather than the board. Resolve each detected port back to its by-id symlink when one exists, so every message names the device. This also collapses a duplicate: a board is matched both by a by-id pattern and by the /dev/ttyACM* catch-all, so it was being probed twice per pass. With an FMU-v6C and a Black Magic probe attached, detection goes from four entries with two naming the same board to three, each identifying itself. Linux only; elsewhere, and for ports with no symlink, paths are unchanged. Assisted-by: Claude:claude-opus-5 Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch>
19ce32980e fix(ark/fmu-v6xrt): probe PAB EEPROM after I2C6 is up (#28513) The 24LC64T on I2C3_BASE is wired to LPI2C6 (X1_8/10). Manifest MTD talks I2C, so it has to run after those pins are I2C and VDD_5V_PERIPH is on, or the chip does not attach and netman cannot save.
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2 miesięcy temu