Merge branch 'master' into add_set_cmp_sys_id

ArduPilot · Mar 18, 2024 · 13342a0 · 13342a0
2 parents 9fc9260 + 7ea2928
commit 13342a0
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diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
@@ -38,6 +38,8 @@ jobs:
             name: mantic
           - os: archlinux
             name: latest
+          - os: debian
+            name: bookworm
           - os: debian
             name: bullseye
           - os: debian

diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,5 +1,56 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
+AntennaTracker 4.5.0 beta3 14-Mar-2024
+Changes from 4.5.0 beta1
+
+Board specific changes
+- added PixFlamingo F7 board
+- support ICM42688 on BlitzF745AIO
+- fixed IMU orientation of CubeRedSecondary
+- enable all FPV features on SpeedyBeeF405WING
+
+System level changes
+
+- improved robustness of CRSF parser
+- reduced memory used by DDS/ROS2
+- added filesystem crc32 binding in lua scripting
+- support visual odometry quality metric and added autoswitching lua script
+- allow for expansion of fence storage to microSD for larger pologon fences
+- allow FTP upload of fence and rally points
+- fixed vehicle type of ship simulation for ship landing
+- make severity level depend on generator error level in IE 2400 generator
+- speed up initial GPS probe by using SERIALn_BAUD first
+- allow NanoRadar radar and proximity sensor to share the CAN bus
+- added MR72 CAN proximity sensor
+- only produce *_with_bl.hex not *.hex in builds if bootloader available
+- fixed check for GPS antenna separation in moving baseline yaw
+- added GPS_DRV_OPTIONS options for fully parsing RTCMv3 stream
+- fixed logging of RTCM fragments in GPS driver
+- fixed video recording while armed
+- robostness and logging improvements for ExternalAHRS
+- fixed RPM from bdshot on boards with IOMCU
+- fixed accel cal simple to remove unused IMUs
+- fixed float rounding issue in HAL_Linux millis and micros functions
+- fixed loading of defaults.parm parameters for dynamic parameter subtrees
+- fixed discrimination between GHST and CRSF protocols
+- fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
+- fixed handling of network sockets in scripting when used after close
+- fixed bit timing of CANFD buses
+
+New Autopilots supported
+ - YJUAV_A6Ultra
+ - AnyLeaf H7
+
+- do relay parameter conversion for parachute parameters if ever has been used
+- broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
+
+------------------------------------------------------------------
+AntennaTracker 4.5.0 beta1 22-Feb-2024
+Changes from 4.2.0
+1) Innumerable system-level improvements; see Copter and Plane release notes
+2) fix EKF2/EKF3 parameters
+3) improve logging
+------------------------------------------------------------------
 AntennaTracker 4.2.0 beta1 25-May-2022
 Changes from 1.1.0
 1) Many new supported boards

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
@@ -5,8 +5,6 @@
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
 //#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
-//#define AC_AVOID_ENABLED      DISABLED            // disable stop-at-fence library
-//#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -299,7 +299,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
 
 bool AP_Arming_Copter::oa_checks(bool display_failure)
 {
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
     char failure_msg[50] = {};
     if (copter.g2.oa.pre_arm_check(failure_msg, ARRAY_SIZE(failure_msg))) {
         return true;
@@ -407,7 +407,7 @@ bool AP_Arming_Copter::proximity_checks(bool display_failure) const
     }
 
     // get closest object if we might use it for avoidance
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
     float angle_deg, distance;
     if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) {
         // display error if something is within 60cm

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -103,10 +103,10 @@
  #include <AP_Beacon/AP_Beacon.h>
 #endif
 
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
  #include <AC_Avoidance/AC_Avoid.h>
 #endif
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
  #include <AC_WPNav/AC_WPNav_OA.h>
  #include <AC_Avoidance/AP_OAPathPlanner.h>
 #endif
@@ -155,11 +155,11 @@
 #include <AC_CustomControl/AC_CustomControl.h>                  // Custom control library
 #endif
 
-#if AC_AVOID_ENABLED && !AP_FENCE_ENABLED
+#if AP_AVOIDANCE_ENABLED && !AP_FENCE_ENABLED
   #error AC_Avoidance relies on AP_FENCE_ENABLED which is disabled
 #endif
 
-#if AC_OAPATHPLANNER_ENABLED && !AP_FENCE_ENABLED
+#if AP_OAPATHPLANNER_ENABLED && !AP_FENCE_ENABLED
   #error AP_OAPathPlanner relies on AP_FENCE_ENABLED which is disabled
 #endif
 
@@ -513,7 +513,7 @@ class Copter : public AP_Vehicle {
     AP_Mount camera_mount;
 #endif
 
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
     AC_Avoid avoid;
 #endif
 

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -369,7 +369,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
         copter.adsb.send_adsb_vehicle(chan);
 #endif
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
         AP_OADatabase *oadb = AP_OADatabase::get_singleton();
         if (oadb != nullptr) {
             CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -102,7 +102,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @DisplayName: RTL Altitude
     // @Description: The minimum alt above home the vehicle will climb to before returning.  If the vehicle is flying higher than this value it will return at its current altitude.
     // @Units: cm
-    // @Range: 200 300000
+    // @Range: 30 300000
     // @Increment: 1
     // @User: Standard
     GSCALAR(rtl_altitude,   "RTL_ALT",     RTL_ALT),
@@ -595,7 +595,7 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: AVOID_
     // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
     GOBJECT(avoid,      "AVOID_",   AC_Avoid),
 #endif
 
@@ -917,7 +917,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("TUNE_MAX", 32, ParametersG2, tuning_max, 0),
 
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
     // @Group: OA_
     // @Path: ../libraries/AC_Avoidance/AP_OAPathPlanner.cpp
     AP_SUBGROUPINFO(oa, "OA_", 33, ParametersG2, AP_OAPathPlanner),

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -595,7 +595,7 @@ class ParametersG2 {
     AP_Float tuning_min;
     AP_Float tuning_max;
 
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
     // object avoidance path planning
     AP_OAPathPlanner oa;
 #endif

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,6 +1,45 @@
 ArduPilot Copter Release Notes:
 -------------------------------
 
+Release 4.5.0-beta3 14-March-2024
+
+Changes from 4.5.0-beta2
+
+1) Board specific changes
+- added PixFlamingo F7 board
+- support ICM42688 on BlitzF745AIO
+- fixed IMU orientation of CubeRedSecondary
+- enable all FPV features on SpeedyBeeF405WING
+
+2) System level changes
+
+- improved robustness of CRSF parser
+- reduced memory used by DDS/ROS2
+- added filesystem crc32 binding in lua scripting
+- support visual odometry quality metric and added autoswitching lua script
+- allow for expansion of fence storage to microSD for larger pologon fences
+- allow FTP upload of fence and rally points
+- fixed vehicle type of ship simulation for ship landing
+- make severity level depend on generator error level in IE 2400 generator
+- speed up initial GPS probe by using SERIALn_BAUD first
+- allow NanoRadar radar and proximity sensor to share the CAN bus
+- added MR72 CAN proximity sensor
+- only produce *_with_bl.hex not *.hex in builds if bootloader available
+- fixed check for GPS antenna separation in moving baseline yaw
+- added GPS_DRV_OPTIONS options for fully parsing RTCMv3 stream
+- fixed logging of RTCM fragments in GPS driver
+- fixed video recording while armed
+- robostness and logging improvements for ExternalAHRS
+- fixed RPM from bdshot on boards with IOMCU
+- fixed accel cal simple to remove unused IMUs
+
+3) Copter specific changes
+- check fence breaches more often on copter for smaller overrun
+- improved copter follow mode at close distances
+- fixed default for FLTD for yaw
+- fixed reset_target_and_rate method in attitude control
+
+------------------------------------------------------------------
 Copter 4.5.0-beta2 14-February-2024
 
 Changes from 4.5.0-beta1:

diff --git a/ArduCopter/avoidance.cpp b/ArduCopter/avoidance.cpp
@@ -3,7 +3,7 @@
 // check if proximity type Simple Avoidance should be enabled based on alt
 void Copter::low_alt_avoidance()
 {
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
     int32_t alt_cm;
     if (!get_rangefinder_height_interpolated_cm(alt_cm)) {
         // enable avoidance if we don't have a valid rangefinder reading

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -29,7 +29,7 @@
 #include "APM_Config.h"
 #include <AP_ADSB/AP_ADSB_config.h>
 #include <AP_Follow/AP_Follow_config.h>
-
+#include <AC_Avoidance/AC_Avoidance_config.h>
 
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
@@ -195,7 +195,11 @@
 //////////////////////////////////////////////////////////////////////////////
 // Follow - follow another vehicle or GCS
 #ifndef MODE_FOLLOW_ENABLED
-# define MODE_FOLLOW_ENABLED AP_FOLLOW_ENABLED
+#if AP_FOLLOW_ENABLED && AP_AVOIDANCE_ENABLED
+#define MODE_FOLLOW_ENABLED ENABLED
+#else
+#define MODE_FOLLOW_ENABLED DISABLED
+#endif
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -430,7 +434,7 @@
 #endif
 
 #ifndef RTL_ALT_MIN
- # define RTL_ALT_MIN               200     // min height above ground for RTL (i.e 2m)
+ # define RTL_ALT_MIN               30     // min height above ground for RTL (i.e 30cm)
 #endif
 
 #ifndef RTL_CLIMB_MIN_DEFAULT
@@ -557,16 +561,8 @@
 // Fence, Rally and Terrain and AC_Avoidance defaults
 //
 
-#ifndef AC_AVOID_ENABLED
- #define AC_AVOID_ENABLED   ENABLED
-#endif
-
-#ifndef AC_OAPATHPLANNER_ENABLED
- #define AC_OAPATHPLANNER_ENABLED   ENABLED
-#endif
-
-#if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED
-  #error Follow Mode relies on AC_AVOID which is disabled
+#if MODE_FOLLOW_ENABLED && !AP_AVOIDANCE_ENABLED
+  #error Follow Mode relies on AP_AVOIDANCE_ENABLED which is disabled
 #endif
 
 #if MODE_AUTO_ENABLED && !MODE_GUIDED_ENABLED

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -947,7 +947,7 @@ float Mode::get_pilot_desired_throttle() const
 
 float Mode::get_avoidance_adjusted_climbrate(float target_rate)
 {
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
     AP::ac_avoid()->adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z_cmss(), target_rate, G_Dt);
     return target_rate;
 #else

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -1774,7 +1774,7 @@ class ModeAvoidADSB : public ModeGuided {
 
 };
 
-#if AP_FOLLOW_ENABLED
+#if MODE_FOLLOW_ENABLED == ENABLED
 class ModeFollow : public ModeGuided {
 
 public:

diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
@@ -79,7 +79,7 @@ void ModeAltHold::run()
     case AltHold_Flying:
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
         // apply avoidance
         copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
 #endif
@@ -100,4 +100,4 @@ void ModeAltHold::run()
 
     // run the vertical position controller and set output throttle
     pos_control->update_z_controller();
-}
+}
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
@@ -332,7 +332,7 @@ void ModeFlowHold::run()
     bf_angles.x = constrain_float(bf_angles.x, -angle_max, angle_max);
     bf_angles.y = constrain_float(bf_angles.y, -angle_max, angle_max);
 
-#if AC_AVOID_ENABLED == ENABLED
+#if AP_AVOIDANCE_ENABLED
     // apply avoidance
     copter.avoid.adjust_roll_pitch(bf_angles.x, bf_angles.y, copter.aparm.angle_max);
 #endif

diff --git a/ArduCopter/mode_follow.cpp b/ArduCopter/mode_follow.cpp
@@ -10,7 +10,7 @@
  * TODO: "channel 7 option" to lock onto "pointed at" target
  * TODO: do better in terms of loitering around the moving point; may need a PID?  Maybe use loiter controller somehow?
  * TODO: extrapolate target vehicle position using its velocity and acceleration
- * TODO: ensure AC_AVOID_ENABLED is true because we rely on it velocity limiting functions
+ * TODO: ensure AP_AVOIDANCE_ENABLED is true because we rely on it velocity limiting functions
  */
 
 // initialise follow mode

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
@@ -800,7 +800,7 @@ void ModeGuided::velaccel_control_run()
     }
 
     bool do_avoid = false;
-#if AC_AVOID_ENABLED
+#if AP_AVOIDANCE_ENABLED
     // limit the velocity for obstacle/fence avoidance
     copter.avoid.adjust_velocity(guided_vel_target_cms, pos_control->get_pos_xy_p().kP(), pos_control->get_max_accel_xy_cmss(), pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z_cmss(), G_Dt);
     do_avoid = copter.avoid.limits_active();

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
@@ -93,7 +93,7 @@ void Copter::init_ardupilot()
     airspeed.set_log_bit(MASK_LOG_IMU);
 #endif
 
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
     g2.oa.init();
 #endif
 
@@ -449,7 +449,7 @@ void Copter::allocate_motors(void)
     }
     AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
 
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED
     wp_nav = new AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
 #else
     wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -869,8 +869,8 @@ bool Plane::update_target_location(const Location &old_loc, const Location &new_
     next_WP_loc = new_loc;
 
 #if HAL_QUADPLANE_ENABLED
-    if (control_mode == &mode_qland) {
-        mode_qland.last_target_loc_set_ms = AP_HAL::millis();
+    if (control_mode == &mode_qland || control_mode == &mode_qloiter) {
+        mode_qloiter.last_target_loc_set_ms = AP_HAL::millis();
     }
 #endif
 
@@ -966,8 +966,7 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
 void Plane::precland_update(void)
 {
     // alt will be unused if we pass false through as the second parameter:
-    return g2.precland.update(rangefinder_state.height_estimate*100,
-                              rangefinder_state.in_range && rangefinder_state.in_use);
+    return g2.precland.update(rangefinder_state.height_estimate*100, rangefinder_state.in_range);
 }
 #endif
 

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -1387,9 +1387,11 @@ void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_mess
                 case MAV_FRAME_GLOBAL:
                 case MAV_FRAME_GLOBAL_INT:
                     break; //default to MSL altitude
+                case MAV_FRAME_GLOBAL_RELATIVE_ALT:
                 case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
                     cmd.content.location.relative_alt = true;
                     break;
+                case MAV_FRAME_GLOBAL_TERRAIN_ALT:
                 case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
                     cmd.content.location.relative_alt = true;
                     cmd.content.location.terrain_alt = true;