Plane: 4.4.1-beta1 preparation

ArduPlane/ReleaseNotes.txt

@@ -1,3 +1,26 @@
+Release 4.4.1-beta1 5th September 2023
+--------------------------------------
+
+Changes from 4.4.1
+
+- support Himark DroneCAN servos
+- support Hobbywing DroneCAN ESCs
+- fixed control surface deflection on quadplanes in VTOL takeoff wait
+- fixed bug in parameter default handling in SITL
+- allow selection of mission sdcard storage on custom.ardupilot.org
+- added support for SDMODELH7V1
+- fixed battery monitor default for QiotekZealotF427 and QiotekZealotH743
+- support 8 bit directional dshot channels on KakuteH7-wing
+- improved handling of high vibration in EKF3 with new EK3_GLITCH_RADIUS options
+- allow reset of battery SoC for DroneCAN battery monitors
+- update GPIOs for Navigator board in HAL_Linux
+- pull RTS lines low on Pixhawk6C on startup
+- added log_file_content in scripting for aerobatics
+- added asymmetry factor for skid steering on rovers
+- updated defaults for luminousbee5 boards
+
+Happy flying!
+
 Release 4.4.0 18th August 2023
 ------------------------------
 

Tools/scripts/build_options.py

@@ -251,6 +251,7 @@ def __init__(self,
     Feature('Other', 'NMEA_OUTPUT', 'HAL_NMEA_OUTPUT_ENABLED', 'Enable NMEA Output', 0, None),
     Feature('Other', 'BARO_WIND_COMP', 'HAL_BARO_WIND_COMP_ENABLED', 'Enable Baro Wind Compensation', 0, None),
     Feature('Other', 'ADVANCED_FAILSAFE', 'AP_ADVANCEDFAILSAFE_ENABLED', 'Enable Advanced Failsafe features', 0, None),
+    Feature('Other', 'SDCARD_MISSION', 'AP_SDCARD_STORAGE_ENABLED', 'Enable storing mission on microSD cards', 0, None),
 
     Feature('GPS Drivers', 'UBLOX', 'AP_GPS_UBLOX_ENABLED', 'Enable u-blox GPS', 1, None),
     Feature('GPS Drivers', 'SBP2', 'AP_GPS_SBP2_ENABLED', 'Enable SBP2 GPS', 0, 'SBP'),
@@ -280,6 +281,8 @@ def __init__(self,
     Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, None),
     Feature('Actuators', 'RobotisServo', 'AP_ROBOTISSERVO_ENABLED', 'Enable RobotisServo Protocol', 0, None),
     Feature('Actuators', 'FETTecOneWire', 'AP_FETTEC_ONEWIRE_ENABLED', 'Enable FETTec OneWire ESCs', 0, None),
+    Feature('Actuators', 'HimarkServo', 'AP_DRONECAN_HIMARK_SERVO_ENABLED', 'Enable Himark DroneCAN servos', 0, None),
+    Feature('Actuators', 'HobbywingESC', 'AP_DRONECAN_HOBBYWING_ESC_ENABLED', 'Enable Hobbywing DroneCAN ESCs', 0, None),
 
 ]
 

Tools/scripts/extract_features.py

@@ -176,6 +176,11 @@ def __init__(self, filename, nm="arm-none-eabi-nm"):
             ('AP_NOTIFY_PROFILED_ENABLED', r'ProfiLED::init_ports'),
             ('AP_NOTIFY_PROFILED_SPI_ENABLED', r'ProfiLED_SPI::rgb_set_id'),
             ('AP_NOTIFY_NEOPIXEL_ENABLED', r'NeoPixel::init_ports'),
+
+            ('AP_DRONECAN_HIMARK_SERVO_ENABLED', 'AP_UAVCAN::SRV_send_himark'),
+            ('AP_DRONECAN_HOBBYWING_ESC_ENABLED', 'AP_UAVCAN::hobbywing_ESC_update'),
+
+            ('AP_SDCARD_STORAGE_ENABLED', 'StorageAccess::attach_file'),
         ]
 
     def progress(self, msg):

libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp

@@ -295,15 +295,22 @@ void AP_BattMonitor_UAVCAN::read()
     }
 }
 
+// Return true if the DroneCAN state of charge should be used.
+// Return false if state of charge should be calculated locally by counting mah.
+bool AP_BattMonitor_UAVCAN::use_CAN_SoC() const
+{
+    // a UAVCAN battery monitor may not be able to supply a state of charge. If it can't then
+    // the user can set the option to use current integration in the backend instead.
+    // SOC of 127 is used as an invalid SOC flag ie system configuration errors or SOC estimation unavailable
+    return !(option_is_set(AP_BattMonitor_Params::Options::Ignore_UAVCAN_SoC) ||
+            _mppt.is_detected ||
+            (_soc == 127));
+}
+
 /// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
 bool AP_BattMonitor_UAVCAN::capacity_remaining_pct(uint8_t &percentage) const
 {
-    if ((uint32_t(_params._options.get()) & uint32_t(AP_BattMonitor_Params::Options::Ignore_UAVCAN_SoC)) ||
-        _mppt.is_detected ||
-        _soc == 127) {
-        // a UAVCAN battery monitor may not be able to supply a state of charge. If it can't then
-        // the user can set the option to use current integration in the backend instead.
-        // SOC of 127 is used as an invalid SOC flag ie system configuration errors or SOC estimation unavailable
+    if (!use_CAN_SoC()) {
         return AP_BattMonitor_Backend::capacity_remaining_pct(percentage);
     }
 
@@ -316,6 +323,27 @@ bool AP_BattMonitor_UAVCAN::capacity_remaining_pct(uint8_t &percentage) const
     return true;
 }
 
+// reset remaining percentage to given value
+bool AP_BattMonitor_UAVCAN::reset_remaining(float percentage)
+{
+    if (use_CAN_SoC()) {
+        // Cannot reset external state of charge
+        return false;
+    }
+
+    WITH_SEMAPHORE(_sem_battmon);
+
+    if (!AP_BattMonitor_Backend::reset_remaining(percentage)) {
+        // Base class reset failed
+        return false;
+    }
+
+    // Reset interim state that is used internally, this is then copied back to the main state in the read() call
+    _interim_state.consumed_mah = _state.consumed_mah;
+    _interim_state.consumed_wh = _state.consumed_wh;
+    return true;
+}
+
 /// get_cycle_count - return true if cycle count can be provided and fills in cycles argument
 bool AP_BattMonitor_UAVCAN::get_cycle_count(uint16_t &cycles) const
 {

libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h

@@ -60,6 +60,9 @@ class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
 
     void mppt_set_powered_state(bool power_on) override;
 
+    // reset remaining percentage to given value
+    bool reset_remaining(float percentage) override;
+
 private:
     void handle_battery_info(const BattInfoCb &cb);
     void handle_battery_info_aux(const BattInfoAuxCb &cb);
@@ -85,6 +88,10 @@ class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
     static const char* mppt_fault_string(const MPPT_FaultFlags fault);
 #endif
 
+    // Return true if the DroneCAN state of charge should be used.
+    // Return false if state of charge should be calculated locally by counting mah.
+    bool use_CAN_SoC() const;
+
     AP_BattMonitor::BattMonitor_State _interim_state;
     BattMonitor_UAVCAN_Type _type;
 

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/hwdef.dat

@@ -136,9 +136,9 @@ PD0 CAN1_RX CAN1
 PD1 CAN1_TX CAN1
 
 # Motors
-PA8  TIM1_CH1   TIM1  PWM(1)  GPIO(50) 
+PA8  TIM1_CH1   TIM1  PWM(1)  GPIO(50) BIDIR
 PE11 TIM1_CH2   TIM1  PWM(2)  GPIO(51)
-PE13 TIM1_CH3   TIM1  PWM(3)  GPIO(52) 
+PE13 TIM1_CH3   TIM1  PWM(3)  GPIO(52) BIDIR
 PE14 TIM1_CH4   TIM1  PWM(4)  GPIO(53)
 PD14 TIM4_CH3   TIM4  PWM(5)  GPIO(54) BIDIR
 PD15 TIM4_CH4   TIM4  PWM(6)  GPIO(55)

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat

@@ -1,6 +1,10 @@
 # hw definition file for processing by chibios_hwdef.py
 # for the HolybroV6C hardware
 
+
+# default to all pins low to avoid ESD issues
+#DEFAULTGPIO OUTPUT LOW PULLDOWN
+
 # MCU class and specific type
 MCU STM32H7xx STM32H743xx
 
@@ -35,9 +39,6 @@ SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 USART3 OTG2
 # default the 2nd interface to MAVLink2
 define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
 
-# default to all pins low to avoid ESD issues
-DEFAULTGPIO OUTPUT LOW PULLDOWN
-
 # USB
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
@@ -50,13 +51,13 @@ PA14 JTCK-SWCLK SWD
 # telem1
 PE8  UART7_TX UART7
 PE7  UART7_RX UART7
-PE9  UART7_RTS UART7
+PE9  UART7_RTS UART7 LOW PULLDOWN
 PE10 UART7_CTS UART7
 
 # telem2
 PC12 UART5_TX UART5
 PD2 UART5_RX UART5
-PC8 UART5_RTS UART5
+PC8 UART5_RTS UART5 LOW PULLDOWN
 PC9 UART5_CTS UART5
 
 # GPS1

libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat

@@ -198,7 +198,7 @@ PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
 PC4 VDD_5V_SENS ADC1 SCALE(2)
 PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
 
-define HAL_BATT_MONITOR 4
+define HAL_BATT_MONITOR_DEFAULT 4
 define HAL_BATT_VOLT_PIN 13
 define HAL_BATT_CURR_PIN 12
 define HAL_BATT_VOLT_SCALE 20

libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotH743/hwdef.dat

@@ -135,7 +135,7 @@ PC5 PRESSURE_SENS ADC1 SCALE(2)
 PB1 RSSI_IN ADC1 SCALE(2)
 
 # setup the parameter for the ADC power module
-define HAL_BATT_MONITOR 4
+define HAL_BATT_MONITOR_DEFAULT 4
 define HAL_BATT_VOLT_PIN 16
 define HAL_BATT_CURR_PIN 17
 define HAL_BATT_VOLT_SCALE 20.000

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V1/README.md

@@ -0,0 +1,183 @@
+## SDMODEL SDH7 V1
+
+![SDH7V1](SDH7V1_top.png)
+
+![SDH7V1](SDH7V1_bottom.png)
+
+above image and some content courtesy of SDMODEL
+
+## Specifications¶
+
+    Processor
+        STM32H743 32-bit processor
+        AT7456E OSD
+        128 MByte flash for logging
+
+    Sensors
+        BMI270 IMU (accel and gyro only, no compass)
+        BMP280 barometer
+
+    Power
+        2S - 8S Lipo input voltage with voltage monitoring
+        9V, 1.5A BEC for powering Video Transmitter
+
+    Interfaces
+        9x PWM outputs (9th pwm output is for NeoPixel LED string via the LED pad)
+        1x RC input
+        6x UARTs/serial for GPS and other peripherals
+        1x I2C port for external compass
+        USB-C port
+        Switchable VTX power
+        All UARTS support hardware inversion. SBUS, SmartPort, and other inverted protocols work on any UART without "uninvert hack"
+        External current monitor input
+
+## Pinout
+
+PADS
+
+========= ===================
+Pin 	  Function
+========= ===================
+VTX 9v    9V for HD System or other VTX, by default ON/OFF is controlled by RELAY2. See Relay Switch Can be controlled by RELAY2
+SDA, SCL  I2C connection (for peripherals)
+5V 	  5v output (1.5A max)
+3v3 	  3.3v output (0.25A max)
+Vi 	  Video input from FPV camera
+Vo 	  Video output to video transmitter
+CAM 	  To camera OSD control
+G or GND  Ground
+RSI 	  Analog RSSI (0-3.3v) input from receiver
+R3, T3    UART3 RX and TX
+R4, T4    UART4 RX and TX
+R6, T6    UART6 RX and TX (UART6 RX is also located in the SH plug)
+LED 	  WS2182 addressable LED signal wire
+Z- 	  Piezo buzzer negative leg
+========= ===================
+
+Connectors
+
+ESC PORT1 (JST-SH-8P-1)
+========= ===================
+Pin 	  Function
+========= ===================
+B+ 	  Battery positive voltage (2S-8S)
+R7 	  UART7 RX
+GND 	  Ground
+CURRENT   CURRENT
+M1 	  Motor signal output 1
+M2 	  Motor signal output 2
+M3 	  Motor signal output 3
+M4 	  Motor signal output 4
+========= ===================
+
+ESC PORT2 (JST-SH-8P-2)
+========= ===================
+Pin 	  Function
+========= ===================
+B+ 	   Battery positive voltage (2S-8S)
+R7 	   UART7 RX
+GND 	   Ground
+CURRENT    CURRENT
+M5 	   Motor signal output 5
+M6 	   Motor signal output 6
+M7 	   Motor signal output 7
+M8 	   Motor signal output 8
+========= ===================
+
+DJI Connector JST-SH-6P-3
+========= ===================
+Pin 	  Function
+========= ===================
+Vtx+ 	  9V for HD System or other VTX, by default ON/OFF is controlled by RELAY2. See Relay Switch
+G 	  Ground
+T1 	  UART1 TX
+R1 	  UART1 RX
+G 	  Ground
+R6 	  UART6 RX
+========= ===================
+
+## UART Mapping¶
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (Telem1) DMA-enabled
+ - SERIAL2 -> not available externally, internally connected to currently unsupported BT-LE module
+ - SERIAL3 -> UART3 (SmartAudio VTX protocol by default)
+ - SERIAL4 -> UART4 (GPS) DMA-enabled
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6 (Setup for serial RX Protocol SBUS by default) DMA-enabled
+ - SERIAL7 -> UART7 (RX7 only available, normally used for ESC telemetry protocol by default)
+
+The SERIAL7 port (UART7) is normally for ESC telemetry, and has an R7 pin on both of the ESC connectors.
+
+Any UART may be re-tasked by changing its protocol parameter.
+
+## Copter Default Frame Type¶
+
+For Copter firmware the FRAME_TYPE is already defaulted to type "12" (BetaFlight X) allowing existing BetaFlight configurations with ESCs attached to have the correct motor ordering without changes to the FRAME_TYPE and FRAME_CLASS parameters or ESC wiring.
+
+## RC Input¶
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols except PPM. See Radio Control Systems for details for a specific RC system. SERIAL6_PROTOCOL is set to "23", by default, to enable this.
+
+ - SBUS/DSM/SRXL connects to the R6 pin.
+ - FPort requires connection to T6 and SERIAL6_OPTIONS be set to "7".
+ - CRSF also requires a T6 connection, in addition to R6, and automatically provides telemetry. Set SERIAL6_OPTIONS to "0".
+ - SRXL2 requires a connecton to T6 and automatically provides telemetry. Set SERIAL6_OPTIONS to "4".
+
+Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
+FrSky Telemetry¶
+
+FrSky Telemetry is supported using the Tx pin of any UART. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL2).
+
+ - SERIAL2_PROTOCOL 10
+ - SERIAL2_OPTIONS 7
+
+## OSD Support¶
+
+The SDH7V1 supports OSD using OSD_TYPE 1 (MAX7456 driver). The defaults are also setup to allow DJI Goggle OSD support on UART1.
+PWM Output¶
+
+The KakuteH7 supports up to 8 PWM outputs. Outputs are available via two JST-SH connectors. All 8 outputs support DShot and bi-directional DShot, as well as all PWM types.
+
+The PWM is in 3 groups:
+
+ - PWM 1, 2 in group1
+ - PWM 3, 4 in group2
+ - PWM 5, 6 in group3
+ - PWM 7, 8 in group4
+ - PWM 9 (LED) in group5
+
+Channels within the same group need to use the same output rate, whether PWM or Dshot. If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+## LED Output¶
+
+The LED output is configured by default to support NeoPixel LED strings.
+Battery Monitoring¶
+
+The board has a built-in voltage sensor via the B+ pin, but no internal current sensor. An external current sensor can be connected to the CUR pin.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 10.1
+ - BATT_AMP_PERVLT varies depending on external current sensor
+
+## Compass¶
+
+The SDMODEL SDH7V1 does not have a built-in compass, however you can attach an external compass using I2C on the SDA and SCL pads.
+Firmware¶
+
+## Loading Firmware¶
+
+Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Later updates should be done with the *.apj firmware files.
+
+## Connection Diagram
+
+![SDH7V1](SDH7V1_connection.png)
+

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V1/defaults.parm

@@ -0,0 +1 @@
+@include ../KakuteH7v2/defaults.parm

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V1/hwdef-bl.dat

@@ -0,0 +1,4 @@
+include ../KakuteH7v2/hwdef-bl.dat
+
+# board ID for firmware load
+APJ_BOARD_ID 1111

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V1/hwdef.dat

@@ -0,0 +1,4 @@
+include ../KakuteH7v2/hwdef.dat
+
+# board ID for firmware load
+APJ_BOARD_ID 1111