Merge branch 'master' into patch-1

AntennaTracker/Parameters.h

@@ -44,8 +44,8 @@ class Parameters {
         k_param_format_version = 0,
         k_param_software_type,      // deprecated
 
-        k_param_gcs0 = 100,         // stream rates for uartA
-        k_param_gcs1,               // stream rates for uartC
+        k_param_gcs0 = 100,         // stream rates for SERIAL0
+        k_param_gcs1,               // stream rates for SERIAL1
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
         k_param_serial0_baud,       // deprecated
@@ -60,7 +60,7 @@ class Parameters {
         k_param_sitl,
         k_param_pidPitch_old,   // deprecated
         k_param_pidYaw_old,     // deprecated
-        k_param_gcs2,               // stream rates for uartD
+        k_param_gcs2,               // stream rates for SERIAL2
         k_param_serial2_baud,       // deprecated
 
         k_param_yaw_slew_time,

ArduCopter/Parameters.cpp

@@ -451,9 +451,9 @@ const AP_Param::Info Copter::var_info[] = {
 #endif
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED

ArduCopter/ReleaseNotes.txt

@@ -1,6 +1,6 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
-Copter 4.4.4 05-Dec-2023
+Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023
 Changes from 4.4.3
 1) Autopilot related enhancement and fixes
     - CubeOrange Sim-on-hardware compilation fix

ArduCopter/config.h

@@ -433,10 +433,6 @@
  # define RTL_CLIMB_MIN_DEFAULT     0       // vehicle will always climb this many cm as first stage of RTL
 #endif
 
-#ifndef RTL_ABS_MIN_CLIMB
- # define RTL_ABS_MIN_CLIMB         250     // absolute minimum initial climb
-#endif
-
 #ifndef RTL_CONE_SLOPE_DEFAULT
  # define RTL_CONE_SLOPE_DEFAULT    3.0f    // slope of RTL cone (height / distance). 0 = No cone
 #endif

ArduCopter/mode_rtl.cpp

@@ -483,14 +483,14 @@ void ModeRTL::compute_return_target()
     int32_t target_alt = MAX(rtl_path.return_target.alt, 0);
 
     // increase target to maximum of current altitude + climb_min and rtl altitude
-    target_alt = MAX(target_alt, curr_alt + MAX(0, g.rtl_climb_min));
-    target_alt = MAX(target_alt, MAX(g.rtl_altitude, RTL_ALT_MIN));
+    const float min_rtl_alt = MAX(RTL_ALT_MIN, curr_alt + MAX(0, g.rtl_climb_min));
+    target_alt = MAX(target_alt, MAX(g.rtl_altitude, min_rtl_alt));
 
     // reduce climb if close to return target
     float rtl_return_dist_cm = rtl_path.return_target.get_distance(rtl_path.origin_point) * 100.0f;
     // don't allow really shallow slopes
     if (g.rtl_cone_slope >= RTL_MIN_CONE_SLOPE) {
-        target_alt = MAX(curr_alt, MIN(target_alt, MAX(rtl_return_dist_cm*g.rtl_cone_slope, curr_alt+RTL_ABS_MIN_CLIMB)));
+        target_alt = MIN(target_alt, MAX(rtl_return_dist_cm * g.rtl_cone_slope, min_rtl_alt));
     }
 
     // set returned target alt to new target_alt (don't change altitude type)

ArduPlane/AP_ExternalControl_Plane.cpp

@@ -0,0 +1,22 @@
+/*
+  external control library for plane
+ */
+
+
+#include "AP_ExternalControl_Plane.h"
+#if AP_EXTERNAL_CONTROL_ENABLED
+
+#include "Plane.h"
+
+/*
+  Sets the target global position for a loiter point.
+*/
+bool AP_ExternalControl_Plane::set_global_position(const Location& loc)
+{
+
+    // set_target_location already checks if plane is ready for external control.
+    // It doesn't check if flying or armed, just that it's in guided mode.
+    return plane.set_target_location(loc);
+}
+
+#endif // AP_EXTERNAL_CONTROL_ENABLED

ArduPlane/AP_ExternalControl_Plane.h

@@ -0,0 +1,21 @@
+
+/*
+  external control library for plane
+ */
+#pragma once
+
+#include <AP_ExternalControl/AP_ExternalControl.h>
+
+#if AP_EXTERNAL_CONTROL_ENABLED
+
+#include <AP_Common/Location.h>
+
+class AP_ExternalControl_Plane : public AP_ExternalControl {
+public:
+    /*
+        Sets the target global position for a loiter point.
+    */
+    bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
+};
+
+#endif // AP_EXTERNAL_CONTROL_ENABLED

ArduPlane/ArduPlane.cpp

@@ -798,8 +798,8 @@ bool Plane::get_wp_crosstrack_error_m(float &xtrack_error) const
     return true;
 }
 
-#if AP_SCRIPTING_ENABLED
-// set target location (for use by scripting)
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+// set target location (for use by external control and scripting)
 bool Plane::set_target_location(const Location &target_loc)
 {
     Location loc{target_loc};
@@ -816,7 +816,9 @@ bool Plane::set_target_location(const Location &target_loc)
     plane.set_guided_WP(loc);
     return true;
 }
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
+#if AP_SCRIPTING_ENABLED
 // set target location (for use by scripting)
 bool Plane::get_target_location(Location& target_loc)
 {

ArduPlane/Log.cpp

@@ -33,6 +33,9 @@ void Plane::Log_Write_Attitude(void)
         logger.Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
         logger.Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
         logger.Write_PID(LOG_PIQA_MSG, quadplane.pos_control->get_accel_z_pid().get_pid_info() );
+
+        // Write tailsitter specific log at same rate as PIDs
+        quadplane.tailsitter.write_log();
     }
     if (quadplane.in_vtol_mode() && quadplane.pos_control->is_active_xy()) {
         logger.Write_PID(LOG_PIDN_MSG, quadplane.pos_control->get_vel_xy_pid().get_pid_info_x());
@@ -383,12 +386,11 @@ const struct LogStructure Plane::log_structure[] = {
 // @Field: DCRt: desired climb rate
 // @Field: CRt: climb rate
 // @Field: TMix: transition throttle mix value
-// @Field: Sscl: speed scalar for tailsitter control surfaces
 // @Field: Trn: Transition state: 0-AirspeedWait,1-Timer,2-Done / TailSitter: 0-FW Wait,1-VTOL Wait,2-Done
 // @Field: Ast: Q assist active
 #if HAL_QUADPLANE_ENABLED
     { LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
-      "QTUN", "QffffffeccffBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Sscl,Trn,Ast", "s----mmmnn----", "F----00000-0--" , true },
+      "QTUN", "QffffffeccfBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Trn,Ast", "s----mmmnn---", "F----00000---" , true },
 #endif
 
 // @LoggerMessage: PIQR,PIQP,PIQY,PIQA
@@ -406,6 +408,7 @@ const struct LogStructure Plane::log_structure[] = {
 // @Field: SRate: slew rate
 // @Field: Flags: bitmask of PID state flags
 // @FieldBitmaskEnum: Flags: log_PID_Flags
+#if HAL_QUADPLANE_ENABLED
     { LOG_PIQR_MSG, sizeof(log_PID),
       "PIQR", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS , true },
     { LOG_PIQP_MSG, sizeof(log_PID),
@@ -414,6 +417,18 @@ const struct LogStructure Plane::log_structure[] = {
       "PIQY", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS , true },
     { LOG_PIQA_MSG, sizeof(log_PID),
       "PIQA", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS , true },
+#endif
+
+// @LoggerMessage: TSIT
+// @Description: tailsitter speed scailing values
+// @Field: TimeUS: Time since system startup
+// @Field: Ts: throttle scailing used for tilt motors
+// @Field: Ss: speed scailing used for control surfaces method from Q_TAILSIT_GSCMSK
+// @Field: Tmin: minimum output throttle caculated from disk thoery gain scale with Q_TAILSIT_MIN_VO
+#if HAL_QUADPLANE_ENABLED
+    { LOG_TSIT_MSG, sizeof(Tailsitter::log_tailsitter),
+      "TSIT", "Qfff",  "TimeUS,Ts,Ss,Tmin", "s---", "F---" , true },
+#endif
 
 // @LoggerMessage: PIDG
 // @Description: Plane Proportional/Integral/Derivative gain values for Heading when using COMMAND_INT control.

ArduPlane/Parameters.cpp

@@ -757,9 +757,9 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(arming,                 "ARMING_", AP_Arming_Plane),
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED
@@ -1175,7 +1175,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Units: V
     // @Increment: 0.1
     // @User: Advanced
-    AP_GROUPINFO("FWD_BAT_VOLT_MAX", 23, ParametersG2, fwd_thr_batt_voltage_max, 0.0f),
+    AP_GROUPINFO("FWD_BAT_VOLT_MAX", 23, ParametersG2, fwd_batt_cmp.batt_voltage_max, 0.0f),
 
     // @Param: FWD_BAT_VOLT_MIN
     // @DisplayName: Forward throttle battery voltage compensation minimum voltage
@@ -1184,14 +1184,14 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Units: V
     // @Increment: 0.1
     // @User: Advanced
-    AP_GROUPINFO("FWD_BAT_VOLT_MIN", 24, ParametersG2, fwd_thr_batt_voltage_min, 0.0f),
+    AP_GROUPINFO("FWD_BAT_VOLT_MIN", 24, ParametersG2, fwd_batt_cmp.batt_voltage_min, 0.0f),
 
     // @Param: FWD_BAT_IDX
     // @DisplayName: Forward throttle battery compensation index
     // @Description: Which battery monitor should be used for doing compensation for the forward throttle
     // @Values: 0:First battery, 1:Second battery
     // @User: Advanced
-    AP_GROUPINFO("FWD_BAT_IDX", 25, ParametersG2, fwd_thr_batt_idx, 0),
+    AP_GROUPINFO("FWD_BAT_IDX", 25, ParametersG2, fwd_batt_cmp.batt_idx, 0),
 
     // @Param: FS_EKF_THRESH
     // @DisplayName: EKF failsafe variance threshold

ArduPlane/Parameters.h

@@ -159,14 +159,14 @@ class Parameters {
 
         // 110: Telemetry control
         //
-        k_param_gcs0 = 110,         // stream rates for uartA
-        k_param_gcs1,               // stream rates for uartC
+        k_param_gcs0 = 110,         // stream rates for SERIAL0
+        k_param_gcs1,               // stream rates for SERIAL1
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
         k_param_serial1_baud_old,   // deprecated
         k_param_telem_delay,
         k_param_serial0_baud_old,   // deprecated
-        k_param_gcs2,               // stream rates for uartD
+        k_param_gcs2,               // stream rates for SERIAL2
         k_param_serial2_baud_old,   // deprecated
         k_param_serial2_protocol,   // deprecated
 
@@ -542,9 +542,26 @@ class ParametersG2 {
     AP_Int8 crow_flap_aileron_matching;
 
     // Forward throttle battery voltage compensation
-    AP_Float fwd_thr_batt_voltage_max;
-    AP_Float fwd_thr_batt_voltage_min;
-    AP_Int8  fwd_thr_batt_idx;
+    class FWD_BATT_CMP {
+    public:
+        // Calculate the throttle scale to compensate for battery voltage drop
+        void update();
+
+        // Apply throttle scale to min and max limits
+        void apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const;
+
+        // Apply throttle scale to throttle demand
+        float apply_throttle(float throttle) const;
+
+        AP_Float batt_voltage_max;
+        AP_Float batt_voltage_min;
+        AP_Int8  batt_idx;
+
+    private:
+        bool enabled;
+        float ratio;
+    } fwd_batt_cmp;
+
 
 #if OFFBOARD_GUIDED == ENABLED
     // guided yaw heading PID

ArduPlane/Plane.h

@@ -85,7 +85,7 @@
 #include <AP_Follow/AP_Follow.h>
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 #if AP_EXTERNAL_CONTROL_ENABLED
-#include <AP_ExternalControl/AP_ExternalControl.h>
+#include "AP_ExternalControl_Plane.h"
 #endif
 
 #include "GCS_Mavlink.h"
@@ -167,6 +167,10 @@ class Plane : public AP_Vehicle {
     friend class ModeThermal;
     friend class ModeLoiterAltQLand;
 
+#if AP_EXTERNAL_CONTROL_ENABLED
+    friend class AP_ExternalControl_Plane;
+#endif
+
     Plane(void);
 
 private:
@@ -776,9 +780,9 @@ class Plane : public AP_Vehicle {
 
     AP_Param param_loader {var_info};
 
-    // dummy implementation of external control
+    // external control library
 #if AP_EXTERNAL_CONTROL_ENABLED
-    AP_ExternalControl external_control;
+    AP_ExternalControl_Plane external_control;
 #endif
 
     static const AP_Scheduler::Task scheduler_tasks[];
@@ -1091,7 +1095,7 @@ class Plane : public AP_Vehicle {
     // servos.cpp
     void set_servos_idle(void);
     void set_servos();
-    void set_servos_controlled(void);
+    void set_throttle(void);
     void set_takeoff_expected(void);
     void set_servos_old_elevons(void);
     void set_servos_flaps(void);
@@ -1103,7 +1107,6 @@ class Plane : public AP_Vehicle {
     void servos_auto_trim(void);
     void servos_twin_engine_mix();
     void force_flare();
-    void throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) const;
     void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
     void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
     bool suppress_throttle(void);
@@ -1241,8 +1244,10 @@ class Plane : public AP_Vehicle {
     void failsafe_check(void);
     bool is_landing() const override;
     bool is_taking_off() const override;
-#if AP_SCRIPTING_ENABLED
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
     bool set_target_location(const Location& target_loc) override;
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+#if AP_SCRIPTING_ENABLED
     bool get_target_location(Location& target_loc) override;
     bool update_target_location(const Location &old_loc, const Location &new_loc) override;
     bool set_velocity_match(const Vector2f &velocity) override;

ArduPlane/ReleaseNotes.txt

@@ -1,5 +1,5 @@
-Release 4.4.4-beta1 5th December 2023
--------------------------------------
+Release 4.4.4 19th December 2023
+--------------------------------
 
 Changes from 4.4.3:
 

ArduPlane/commands_logic.cpp

@@ -348,6 +348,7 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
     next_WP_loc = calc_best_rally_or_home_location(current_loc, rtl_altitude_AMSL_cm);
     setup_terrain_target_alt(next_WP_loc);
     set_target_altitude_location(next_WP_loc);
+    plane.altitude_error_cm = calc_altitude_error_cm();
 
     if (aparm.loiter_radius < 0) {
         loiter.direction = -1;

ArduPlane/defines.h

@@ -102,6 +102,7 @@ enum log_messages {
     LOG_PIDG_MSG,
     LOG_AETR_MSG,
     LOG_OFG_MSG,
+    LOG_TSIT_MSG,
 };
 
 #define MASK_LOG_ATTITUDE_FAST          (1<<0)

ArduPlane/mode.cpp

@@ -135,6 +135,9 @@ bool Mode::enter()
            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "In landing sequence: mission reset");
            plane.mission.reset();
         }
+
+        // Make sure the flight stage is correct for the new mode
+        plane.update_flight_stage();
     }
 
     return enter_result;

ArduPlane/mode_takeoff.cpp

@@ -17,7 +17,7 @@ const AP_Param::GroupInfo ModeTakeoff::var_info[] = {
 
     // @Param: LVL_ALT
     // @DisplayName: Takeoff mode altitude level altitude
-    // @Description: This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*2 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between those altitudes for a smooth transition.
+    // @Description: This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those altitudes for a smooth transition.
     // @Range: 0 50
     // @Increment: 1
     // @Units: m