Merge branch 'ArduPilot:master' into copter_shipland_upsteam

.github/workflows/test_ccache.yml

@@ -140,5 +140,5 @@ jobs:
         run: |
           PATH="/usr/lib/ccache:/opt/gcc-arm-none-eabi-${{matrix.gcc}}/bin:$PATH"
           Tools/scripts/build_tests/test_ccache.py --boards MatekF405,MatekF405-bdshot --min-cache-pct=75
-          Tools/scripts/build_tests/test_ccache.py --boards CubeOrange,Durandal --min-cache-pct=75
+          Tools/scripts/build_tests/test_ccache.py --boards Durandal,Pixhawk6X --min-cache-pct=73
 

.gitignore

@@ -111,7 +111,8 @@ GRTAGS
 GTAGS
 *.apj
 .gdbinit
-/.vscode
+.vscode/*
+!.vscode/extensions.json
 /.history
 Parameters.html
 Parameters.md

.vscode/extensions.json

@@ -1,11 +1,13 @@
 {
     "recommendations": [
+        "augustocdias.tasks-shell-input",
+        "bierner.markdown-mermaid",
         "ms-vscode.cpptools",
         "sumneko.lua",
         "ms-python.python",
         "ms-python.vscode-pylance",
         "streetsidesoftware.code-spell-checker",
         "chiehyu.vscode-astyle",
-        "ardupilot-org.ardupilot-devenv"
+        "ardupilot-org.ardupilot-devenv",
     ]
 }

ArduCopter/AP_Arming.cpp

@@ -23,29 +23,35 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
 
     // check if motor interlock and either Emergency Stop aux switches are used
     // at the same time.  This cannot be allowed.
+    bool passed = true;
     if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) &&
         (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP) || 
         rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP))){
         check_failed(display_failure, "Interlock/E-Stop Conflict");
-        return false;
+        passed = false;
     }
 
     // check if motor interlock aux switch is in use
     // if it is, switch needs to be in disabled position to arm
     // otherwise exit immediately.
     if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
         check_failed(display_failure, "Motor Interlock Enabled");
-        return false;
+        passed = false;
     }
 
     if (!disarm_switch_checks(display_failure)) {
-        return false;
+        passed = false;
     }
 
     // always check motors
     char failure_msg[50] {};
     if (!copter.motors->arming_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
         check_failed(display_failure, "Motors: %s", failure_msg);
+        passed = false;
+    }
+
+    // If not passed all checks return false
+    if (!passed) {
         return false;
     }
 
@@ -218,19 +224,6 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         }
 
         #if FRAME_CONFIG == HELI_FRAME
-        if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
-            copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL &&
-            copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI) {
-            check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid Heli FRAME_CLASS");
-            return false;
-        }
-
-        // check helicopter parameters
-        if (!copter.motors->parameter_check(display_failure)) {
-            check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
-            return false;
-        }
-
         char fail_msg[50];
         // check input manager parameters
         if (!copter.input_manager.parameter_check(fail_msg, ARRAY_SIZE(fail_msg))) {
@@ -630,7 +623,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
         const char *rc_item = "Throttle";
         #endif
         // check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto 
-        if (!((method == AP_Arming::Method::MAVLINK || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
+        if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
             // above top of deadband is too always high
             if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
                 check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
@@ -797,7 +790,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 
     // do not allow disarm via mavlink if we think we are flying:
     if (do_disarm_checks &&
-        method == AP_Arming::Method::MAVLINK &&
+        AP_Arming::method_is_GCS(method) &&
         !copter.ap.land_complete) {
         return false;
     }

ArduCopter/Copter.cpp

@@ -591,6 +591,11 @@ void Copter::ten_hz_logging_loop()
         g2.winch.write_log();
     }
 #endif
+#if HAL_MOUNT_ENABLED
+    if (should_log(MASK_LOG_CAMERA)) {
+        camera_mount.write_log();
+    }
+#endif
 }
 
 // twentyfive_hz_logging - should be run at 25hz
@@ -617,7 +622,7 @@ void Copter::twentyfive_hz_logging()
 #endif
 }
 
-// three_hz_loop - 3.3hz loop
+// three_hz_loop - 3hz loop
 void Copter::three_hz_loop()
 {
     // check if we've lost contact with the ground station

ArduCopter/GCS_Mavlink.cpp

@@ -739,15 +739,15 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_co
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
 {
     switch(packet.command) {
-    case MAV_CMD_DO_FOLLOW:
 #if MODE_FOLLOW_ENABLED == ENABLED
+    case MAV_CMD_DO_FOLLOW:
         // param1: sysid of target to follow
         if ((packet.param1 > 0) && (packet.param1 <= 255)) {
             copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
             return MAV_RESULT_ACCEPTED;
         }
+        return MAV_RESULT_DENIED;
 #endif
-        return MAV_RESULT_UNSUPPORTED;
 
     case MAV_CMD_DO_REPOSITION:
         return handle_command_int_do_reposition(packet);
@@ -826,16 +826,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         }
         return MAV_RESULT_ACCEPTED;
 
-#if MODE_FOLLOW_ENABLED == ENABLED
-    case MAV_CMD_DO_FOLLOW:
-        // param1: sysid of target to follow
-        if ((packet.param1 > 0) && (packet.param1 <= 255)) {
-            copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
-            return MAV_RESULT_ACCEPTED;
-        }
-        return MAV_RESULT_FAILED;
-#endif
-
     case MAV_CMD_CONDITION_YAW:
         // param1 : target angle [0-360]
         // param2 : speed during change [deg per second]
@@ -1013,12 +1003,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         return MAV_RESULT_ACCEPTED;
     }
 
-    // pause or resume an auto mission
-    case MAV_CMD_DO_PAUSE_CONTINUE: {
-        mavlink_command_int_t packet_int;
-        GCS_MAVLINK_Copter::convert_COMMAND_LONG_to_COMMAND_INT(packet, packet_int);
-        return handle_command_pause_continue(packet_int);
-    }
     default:
         return GCS_MAVLINK::handle_command_long_packet(packet);
     }

ArduCopter/Parameters.cpp

@@ -1040,6 +1040,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Description: set which surface to track in surface tracking
     // @Values: 0:Do not track, 1:Ground, 2:Ceiling
     // @User: Advanced
+    // @RebootRequired: True
     AP_GROUPINFO("SURFTRAK_MODE", 51, ParametersG2, surftrak_mode, (uint8_t)Copter::SurfaceTracking::Surface::GROUND),
 
     // @Param: FS_DR_ENABLE

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,30 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.0 18-Aug-2023 / 4.4.0-beta5 12-Aug-2023
+Changes from 4.4.0-beta4
+1) Autopilots specific changes
+    - SIYI N7 support
+2) Bug fixes
+    - DroneCAN airspeed sensor fix to handle missing packets
+    - DroneCAN GPS RTK injection fix
+    - Notch filter gyro glitch caused by race condition fixed
+------------------------------------------------------------------
+Copter 4.4.0-beta4 27-July-2023
+Changes from 4.4.0-beta3
+1) Autopilots specific changes
+    - Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
+    - DMA for I2C disabled on F7 and H7 boards
+    - Foxeer H743v1 default serial protocol config fixes
+    - HeeWing-F405 and F405v2 support
+    - iFlight BlitzF7 support
+2) Scripts may take action based on VTOL motor loss
+3) Bug fixes
+    - BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
+    - CRSFv3 rescans at baudrates to avoid RX loss
+    - EK3_ABIAS_P_NSE param range fix
+    - Scripting restart memory corruption bug fixed
+    - Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
+------------------------------------------------------------------
 Copter 4.4.0-beta3 03-July-2023
 Changes from 4.4.0-beta2
 1) Autopilots specific changes
@@ -24,7 +49,6 @@ Changes from 4.4.0-beta2
     - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
     - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
     - SBF GPS ellipsoid height fixed
-    - Scripting restart memory corruption bug fixed
     - Ublox M10S GPS auto configuration fixed
     - ZigZag mode user takeoff fixed (users could not takeoff in ZigZag mode previously)
 ------------------------------------------------------------------
@@ -264,7 +288,14 @@ Changes from 4.3.6
     - Webots 2023a simulator support
     - XPlane support for wider range of aircraft
 ------------------------------------------------------------------
-Copter 4.3.7-beta1 24-May-2023
+Copter 4.3.8-beta1 12-Aug-2023
+Changes from 4.3.7
+1) Bug fixes
+    - DroneCAN GPS RTK injection fix
+    - INAxxx battery monitors allow for battery reset remaining
+    - Notch filter gyro glitch caused by race condition fixed
+    - Scripting restart memory corruption bug fixed
+------------------------------------------------------------------
 Copter 4.3.7 31-May-2023 / 4.3.7-beta1 24-May-2023
 Changes from 4.3.6
 1) Bug fixes

ArduCopter/config.h

@@ -27,6 +27,7 @@
 /// change in your local copy of APM_Config.h.
 ///
 #include "APM_Config.h"
+#include <AP_Follow/AP_Follow_config.h>
 
 
 //////////////////////////////////////////////////////////////////////////////
@@ -146,8 +147,8 @@
 
 //////////////////////////////////////////////////////////////////////////////
 // Nav-Guided - allows external nav computer to control vehicle
-#ifndef NAV_GUIDED
- # define NAV_GUIDED    !HAL_MINIMIZE_FEATURES
+#ifndef AC_NAV_GUIDED
+ # define AC_NAV_GUIDED    ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -189,7 +190,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // Follow - follow another vehicle or GCS
 #ifndef MODE_FOLLOW_ENABLED
-# define MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES
+# define MODE_FOLLOW_ENABLED AP_FOLLOW_ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -201,7 +202,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // GuidedNoGPS mode - control vehicle's angles from GCS
 #ifndef MODE_GUIDED_NOGPS_ENABLED
-# define MODE_GUIDED_NOGPS_ENABLED !HAL_MINIMIZE_FEATURES
+# define MODE_GUIDED_NOGPS_ENABLED ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -237,7 +238,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // System ID - conduct system identification tests on vehicle
 #ifndef MODE_SYSTEMID_ENABLED
-# define MODE_SYSTEMID_ENABLED !HAL_MINIMIZE_FEATURES
+# define MODE_SYSTEMID_ENABLED ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -249,44 +250,46 @@
 //////////////////////////////////////////////////////////////////////////////
 // ZigZag - allow vehicle to fly in a zigzag manner with predefined point A B
 #ifndef MODE_ZIGZAG_ENABLED
-# define MODE_ZIGZAG_ENABLED !HAL_MINIMIZE_FEATURES
+# define MODE_ZIGZAG_ENABLED ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Turtle - allow vehicle to be flipped over after a crash
 #ifndef MODE_TURTLE_ENABLED
-# define MODE_TURTLE_ENABLED !HAL_MINIMIZE_FEATURES && !defined(DISABLE_DSHOT) && FRAME_CONFIG != HELI_FRAME
+# define MODE_TURTLE_ENABLED HAL_DSHOT_ENABLED && FRAME_CONFIG != HELI_FRAME
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Flowhold - use optical flow to hover in place
 #ifndef MODE_FLOWHOLD_ENABLED
-# define MODE_FLOWHOLD_ENABLED !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+# define MODE_FLOWHOLD_ENABLED AP_OPTICALFLOW_ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
 
 //////////////////////////////////////////////////////////////////////////////
 // Weathervane - allow vehicle to yaw into wind
 #ifndef WEATHERVANE_ENABLED
-# define WEATHERVANE_ENABLED !HAL_MINIMIZE_FEATURES
+# define WEATHERVANE_ENABLED ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
 
 //////////////////////////////////////////////////////////////////////////////
 // Autorotate - autonomous auto-rotation - helicopters only
+#ifndef MODE_AUTOROTATE_ENABLED
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     #if FRAME_CONFIG == HELI_FRAME
         #ifndef MODE_AUTOROTATE_ENABLED
-        # define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES
+        # define MODE_AUTOROTATE_ENABLED ENABLED
         #endif
     #else
         # define MODE_AUTOROTATE_ENABLED DISABLED
     #endif
 #else
     # define MODE_AUTOROTATE_ENABLED DISABLED
 #endif
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
@@ -561,7 +564,7 @@
 #endif
 
 #ifndef AC_OAPATHPLANNER_ENABLED
- #define AC_OAPATHPLANNER_ENABLED   !HAL_MINIMIZE_FEATURES
+ #define AC_OAPATHPLANNER_ENABLED   ENABLED
 #endif
 
 #if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED

ArduCopter/mode.h

@@ -567,7 +567,7 @@ class ModeAuto : public Mode {
     void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
     void do_spline_wp(const AP_Mission::Mission_Command& cmd);
     void get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline);
-#if NAV_GUIDED == ENABLED
+#if AC_NAV_GUIDED == ENABLED
     void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
     void do_guided_limits(const AP_Mission::Mission_Command& cmd);
 #endif
@@ -605,7 +605,7 @@ class ModeAuto : public Mode {
     bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
     bool verify_circle(const AP_Mission::Mission_Command& cmd);
     bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
-#if NAV_GUIDED == ENABLED
+#if AC_NAV_GUIDED == ENABLED
     bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
 #endif
     bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
@@ -1726,6 +1726,7 @@ class ModeAvoidADSB : public ModeGuided {
 
 };
 
+#if AP_FOLLOW_ENABLED
 class ModeFollow : public ModeGuided {
 
 public:
@@ -1755,6 +1756,7 @@ class ModeFollow : public ModeGuided {
 
     uint32_t last_log_ms;   // system time of last time desired velocity was logging
 };
+#endif
 
 class ModeZigZag : public Mode {