ArduPilot · rmackay9 · Dec 10, 2022 · Nov 21, 2022 · Nov 21, 2022 · Nov 12, 2022
diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
@@ -15,8 +15,8 @@ jobs:
           submodules: 'recursive'
       - uses: cygwin/cygwin-install-action@master
         with:
-          packages: install cygwin32-gcc-g++ python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git libexpat procps gettext
-      - name: Install cygwin
+          packages: cygwin64 gcc-g++=10.2.0-1 python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
+      - name: Prepare Python environment
         env:
           HOME: ${{ runner.workspace }}/ardupilot
         run: |
@@ -33,7 +33,7 @@ jobs:
         id: check_files
         uses: andstor/file-existence-action@v1
         with:
-          files: "artifacts/ArduPlane.elf.exe, artifacts/ArduCopter.elf.exe, artifacts/ArduHeli.elf.exe, artifacts/ArduRover.elf.exe, artifacts/ArduSub.elf.exe"
+          files: "artifacts/*"
           allow_failure: true
 
       - name: Archive build

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,35 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.3.2-rc1 10-Dec-2022
+Changes from 4.3.1
+1) Arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
+2) uBlox M10 support
+3) Autopilot specific changes
+    a) CubeOrange defaults to using 2nd IMU as primary
+    b) SIRF and SBP GPS disabled on BeastF7v2, MatekF405-STD, MAtekF405-Wing, omnibusf4pro
+4) Bug fixes
+    a) AutoTune gains loaded correctly during pilot testing
+    b) Camera driver's CAM_MIN_INTERVAL fixed if pilot manually triggers extra picture
+    c) EKF3 fix when using EK3_RNG_USE_HGT/SPD params and rangefinder provides bad readings
+    d) Main loop slowdown after arming fixed (parameter logging was causing delays)
+    e) Main loop's fast tasks always run (caused twitches in Loiter on heavily loaded CPUs)
+    f) MAVLink commands received on private channels checked for valid target sysid
+    g) ModalAI cameras support fixed (ODOMETRY message frame was consumed incorrectly)
+    h) Param reset after firmware load fixed on these boards
+        - BeastF7v2
+        - CubeYellow-bdshot
+        - f405-MatekAirspeed
+        - FlywooF745Nano
+        - KakuteF4Mini
+        - KakuteF7-bdshot
+        - MatekF405-bdshot
+        - MatekF405-STD
+        - MatekF405-Wing-bdshot
+        - MatekF765-SE
+        - MatekF765-Wing-bdshot
+    i) Siyi A8 gimbal support fixed
+    j) Windows builds move to compiling only 64-bit executables
+------------------------------------------------------------------
 Copter 4.3.1 05-Dec-2022 / 4.3.1-rc1 17-Nov-2022
 Changes from 4.3.0
 1) Autopilot specific enhancements

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.3.1"
+#define THISFIRMWARE "ArduCopter V4.3.2-rc1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,3,2,FIRMWARE_VERSION_TYPE_RC
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 2
+#define FW_TYPE FIRMWARE_VERSION_TYPE_RC
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -23,6 +23,7 @@
 #include "Plane.h"
 
 #define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros, priority)
+#define FAST_TASK(func) FAST_TASK_CLASS(Plane, &plane, func)
 
 
 /*
@@ -49,16 +50,18 @@ SCHED_TASK_CLASS arguments:
  - expected time (in MicroSeconds) that the method should take to run
  - priority (0 through 255, lower number meaning higher priority)
 
+FAST_TASK entries are run on every loop even if that means the loop
+overruns its allotted time
  */
 const AP_Scheduler::Task Plane::scheduler_tasks[] = {
                            // Units:   Hz      us
-    SCHED_TASK(ahrs_update,           400,    400,   3),
+    FAST_TASK(ahrs_update),
+    FAST_TASK(update_control_mode),
+    FAST_TASK(stabilize),
+    FAST_TASK(set_servos),
     SCHED_TASK(read_radio,             50,    100,   6),
     SCHED_TASK(check_short_failsafe,   50,    100,   9),
     SCHED_TASK(update_speed_height,    50,    200,  12),
-    SCHED_TASK(update_control_mode,   400,    100,  15),
-    SCHED_TASK(stabilize,             400,    100,  18),
-    SCHED_TASK(set_servos,            400,    100,  21),
     SCHED_TASK(update_throttle_hover, 100,     90,  24),
     SCHED_TASK(read_control_switch,     7,    100,  27),
     SCHED_TASK(update_GPS_50Hz,        50,    300,  30),

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
@@ -618,7 +618,9 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
         // user is doing an AUTOTUNE with yaw rate control
         const float rudd_expo = rudder_in_expo(true);
         const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
-        commanded_rudder = yawController.get_rate_out(yaw_rate,  speed_scaler, false);
+        // add in the corrdinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
+        const float coordination_yaw_rate = degrees(GRAVITY_MSS * tanf(radians(nav_roll_cd*0.01f))/MAX(aparm.airspeed_min,smoothed_airspeed));
+        commanded_rudder = yawController.get_rate_out(yaw_rate+coordination_yaw_rate,  speed_scaler, false);
         using_rate_controller = true;
     } else {
         if (control_mode == &mode_stabilize && rudder_in != 0) {

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,26 @@
+Release 4.3.2-beta1 Nov 21st 2022
+---------------------------------
+
+Changes from 4.3.1
+- ARKV6X support
+- MatekH743 supports 8 bi-directional dshot channels
+- Pixhawk1 boards support MS5607 baros
+- SpeedbyBee F405v3 support
+- DroneCAN Airspeed sensor support including hygrometer readings
+- Pre-arm warning if multiple UARTs with SERIALx_PROTOCOL = RCIN
+- Siyi gimbal support
+- Arm check warning loses duplicate "AHRS" prefix
+- AtomRCF405NAVI bootloader file name fixed
+- BRD_SAFETY_MASK fixed on boards with both FMU safety switch and IOMCU
+- Compass calibration continues even if a single compass's cal fails
+- Gremsy gimbal driver sends autopilot info at lower rate to save bandwidth
+- Invensense 42605 and 42609 IMUs use anti-aliasing filter and notch filter
+- OSD stats screen fix
+- RC input on serial port uses first UART with SERIALx_PROTOCOL = 23 (was using last)
+- RunCam caching fix with enablement and setup on 3-pos switch
+- RTK CAN GPS fix when GPSs conneted to separate CAN ports on autopilot
+- fixed yaw rate for fixed wing autotune
+
 Release 4.3.1 24th Oct 2022
 ---------------------------
 

diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
@@ -143,9 +143,9 @@ void Plane::calc_airspeed_errors()
     // Get the airspeed_estimate, update smoothed airspeed estimate
     // NOTE:  we use the airspeed estimate function not direct sensor
     //        as TECS may be using synthetic airspeed
-    float airspeed_measured = 0;
+    float airspeed_measured = 0.1;
     if (ahrs.airspeed_estimate(airspeed_measured)) {
-        smoothed_airspeed = smoothed_airspeed * 0.8f + airspeed_measured * 0.2f;
+        smoothed_airspeed = MAX(0.1, smoothed_airspeed * 0.8f + airspeed_measured * 0.2f);
     }
 
     // low pass filter speed scaler, with 1Hz cutoff, at 10Hz

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -963,7 +963,7 @@ void QuadPlane::run_z_controller(void)
         // never run Z controller in tailsitter transtion
         return;
     }
-    if ((now - last_pidz_active_ms) > 20) {
+    if ((now - last_pidz_active_ms) > 20 || !pos_control->is_active_z()) {
         // set vertical speed and acceleration limits
         pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
 

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.3.1"
+#define THISFIRMWARE "ArduPlane V4.3.2beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,3,2,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 2
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
@@ -1,5 +1,33 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.3.0-beta6 10-Dec-2022
+Changes from 4.3.0-beta5
+1) Arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
+2) uBlox M10 support
+3) Autopilot specific changes
+    a) CubeOrange defaults to using 2nd IMU as primary
+    b) SIRF and SBP GPS disabled on BeastF7v2, MatekF405-STD, MAtekF405-Wing, omnibusf4pro
+4) Bug fixes
+    a) Camera driver's CAM_MIN_INTERVAL fixed if pilot manually triggers extra picture
+    b) Main loop slowdown after arming fixed (parameter logging was causing delays)
+    c) Main loop's fast tasks always run (caused twitches in Loiter on heavily loaded CPUs)
+    d) MAVLink commands received on private channels checked for valid target sysid
+    e) ModalAI cameras support fixed (ODOMETRY message frame was consumed incorrectly)
+    f) Param reset after firmware load fixed on these boards
+        - BeastF7v2
+        - CubeYellow-bdshot
+        - f405-MatekAirspeed
+        - FlywooF745Nano
+        - KakuteF4Mini
+        - KakuteF7-bdshot
+        - MatekF405-bdshot
+        - MatekF405-STD
+        - MatekF405-Wing-bdshot
+        - MatekF765-SE
+        - MatekF765-Wing-bdshot
+    g) Siyi A8 gimbal support fixed
+    h) Windows builds move to compiling only 64-bit executables
+------------------------------------------------------------------
 Rover 4.3.0-beta5 17-Nov-2022
 Changes from 4.3.0-beta4
 1) Autopilot specific enhancements

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.3.0-beta5"
+#define THISFIRMWARE "ArduRover V4.3.0-beta6"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_BETA+5
+#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_BETA+6
 
 #define FW_MAJOR 4
 #define FW_MINOR 3

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
@@ -10,6 +10,11 @@
 import atexit
 import fnmatch
 import copy
+try:
+    import distutils.dir_util
+except ImportError:
+    # we copy with this with try/except in copy_tree, below
+    pass
 import glob
 import optparse
 import os
@@ -20,7 +25,6 @@
 import sys
 import time
 import traceback
-from distutils.dir_util import copy_tree
 
 import rover
 import arducopter
@@ -661,6 +665,13 @@ def generate_badge(self):
             f.write(badge)
 
 
+def copy_tree(f, t, dirs_exist_ok=False):
+    try:
+        distutils.dir_util.copy_tree(f, t)
+    except Exception:
+        shutil.copytree(f, t, dirs_exist_ok=dirs_exist_ok)
+
+
 def write_webresults(results_to_write):
     """Write webpage results."""
     t = mavtemplate.MAVTemplate()
@@ -671,7 +682,7 @@ def write_webresults(results_to_write):
         f.close()
     for f in glob.glob(util.reltopdir('Tools/autotest/web/*.png')):
         shutil.copy(f, buildlogs_path(os.path.basename(f)))
-    copy_tree(util.reltopdir("Tools/autotest/web/css"), buildlogs_path("css"))
+    copy_tree(util.reltopdir("Tools/autotest/web/css"), buildlogs_path("css"), dirs_exist_ok=True)
     results_to_write.generate_badge()
 
 

diff --git a/Tools/bootloaders/BeastF7v2_bl.bin b/Tools/bootloaders/BeastF7v2_bl.bin