Rename sim_periph_gps to sim_gps_universal, recreate sim_periph_gps

.github/workflows/test_coverage.yml

@@ -72,7 +72,7 @@ jobs:
             Tools/scripts/run_coverage.py -f
           else
             Tools/scripts/run_coverage.py -i
-            ./waf configure --board sitl_periph_gps --debug --coverage
+            ./waf configure --board sitl_periph_universal --debug --coverage
             ./waf build --target bin/AP_Periph
             Tools/scripts/run_coverage.py -i
             Tools/autotest/autotest.py test.CAN --debug --coverage

.github/workflows/test_sitl_periph.yml

@@ -187,12 +187,12 @@ jobs:
           PATH="/github/home/.local/bin:$PATH"
           python modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py -O dsdlc_generated modules/DroneCAN/DSDL/uavcan modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/com --run-test
 
-      - name: build sitl_periph_gps
+      - name: build sitl_periph_universal
         shell: bash
         run: |
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl_periph_gps
+          ./waf configure --board sitl_periph_universal
           ./waf build --target bin/AP_Periph
           ccache -s
           ccache -z

Tools/AP_Periph/can.cpp

@@ -34,6 +34,7 @@
 #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <AP_HAL_SITL/CANSocketIface.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
 #endif
 
 #define IFACE_ALL ((1U<<(HAL_NUM_CAN_IFACES))-1U)

Tools/ardupilotwaf/boards.py

@@ -837,14 +837,65 @@ def get_name(self):
         return self.__class__.__name__
 
 
-class sitl_periph_gps(sitl):
+class sitl_periph(sitl):
     def configure_env(self, cfg, env):
         cfg.env.AP_PERIPH = 1
-        super(sitl_periph_gps, self).configure_env(cfg, env)
+        super(sitl_periph, self).configure_env(cfg, env)
         env.DEFINES.update(
             HAL_BUILD_AP_PERIPH = 1,
             PERIPH_FW = 1,
-            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph"',
+            HAL_RAM_RESERVE_START = 0,
+
+            CANARD_ENABLE_CANFD = 1,
+            CANARD_ENABLE_TAO_OPTION = 1,
+            CANARD_MULTI_IFACE = 1,
+
+            # FIXME: SITL library should not be using AP_AHRS:
+            AP_AHRS_ENABLED = 1,
+            AP_AHRS_BACKEND_DEFAULT_ENABLED = 0,
+            AP_AHRS_DCM_ENABLED = 1,  # need a default backend
+            HAL_EXTERNAL_AHRS_ENABLED = 0,
+
+            HAL_MAVLINK_BINDINGS_ENABLED = 1,
+
+            AP_AIRSPEED_AUTOCAL_ENABLE = 0,
+            AP_CAN_SLCAN_ENABLED = 0,
+            AP_ICENGINE_ENABLED = 0,
+            AP_MISSION_ENABLED = 0,
+            AP_RCPROTOCOL_ENABLED = 0,
+            AP_RTC_ENABLED = 0,
+            AP_SCHEDULER_ENABLED = 0,
+            AP_SCRIPTING_ENABLED = 0,
+            AP_STATS_ENABLED = 0,
+            AP_UART_MONITOR_ENABLED = 1,
+            COMPASS_CAL_ENABLED = 0,
+            COMPASS_LEARN_ENABLED = 0,
+            COMPASS_MOT_ENABLED = 0,
+            HAL_CAN_DEFAULT_NODE_ID = 0,
+            HAL_CANMANAGER_ENABLED = 0,
+            HAL_GCS_ENABLED = 0,
+            HAL_GENERATOR_ENABLED = 0,
+            HAL_LOGGING_ENABLED = 0,
+            HAL_LOGGING_MAVLINK_ENABLED = 0,
+            HAL_PROXIMITY_ENABLED = 0,
+            HAL_RALLY_ENABLED = 0,
+            HAL_SUPPORT_RCOUT_SERIAL = 0,
+            AP_TERRAIN_AVAILABLE = 0,
+        )
+
+        try:
+            env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
+        except ValueError:
+            pass
+        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
+
+class sitl_periph_universal(sitl_periph):
+    def configure_env(self, cfg, env):
+        super(sitl_periph_universal, self).configure_env(cfg, env)
+        env.DEFINES.update(
+            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_universal"',
+            APJ_BOARD_ID = 100,
+
             HAL_PERIPH_ENABLE_GPS = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
             HAL_PERIPH_ENABLE_MAG = 1,
@@ -856,48 +907,25 @@ def configure_env(self, cfg, env):
             HAL_PERIPH_ENABLE_RC_OUT = 1,
             HAL_PERIPH_ENABLE_ADSB = 1,
             HAL_PERIPH_ENABLE_SERIAL_OPTIONS = 1,
-            AP_ICENGINE_ENABLED = 0,
             AP_AIRSPEED_ENABLED = 1,
-            AP_AIRSPEED_AUTOCAL_ENABLE = 0,
-            AP_AHRS_ENABLED = 1,
-            AP_UART_MONITOR_ENABLED = 1,
-            HAL_CAN_DEFAULT_NODE_ID = 0,
-            HAL_RAM_RESERVE_START = 0,
-            APJ_BOARD_ID = 100,
-            HAL_GCS_ENABLED = 0,
-            HAL_MAVLINK_BINDINGS_ENABLED = 1,
-            HAL_LOGGING_ENABLED = 0,
-            HAL_LOGGING_MAVLINK_ENABLED = 0,
-            AP_MISSION_ENABLED = 0,
-            HAL_RALLY_ENABLED = 0,
-            AP_SCHEDULER_ENABLED = 0,
-            CANARD_ENABLE_TAO_OPTION = 1,
-            AP_RCPROTOCOL_ENABLED = 0,
-            CANARD_ENABLE_CANFD = 1,
-            CANARD_MULTI_IFACE = 1,
-            HAL_CANMANAGER_ENABLED = 0,
-            COMPASS_CAL_ENABLED = 0,
-            COMPASS_MOT_ENABLED = 0,
-            COMPASS_LEARN_ENABLED = 0,
             AP_BATTERY_ESC_ENABLED = 1,
-            HAL_EXTERNAL_AHRS_ENABLED = 0,
-            HAL_GENERATOR_ENABLED = 0,
-            AP_STATS_ENABLED = 0,
-            HAL_SUPPORT_RCOUT_SERIAL = 0,
-            AP_CAN_SLCAN_ENABLED = 0,
-            HAL_PROXIMITY_ENABLED = 0,
-            AP_SCRIPTING_ENABLED = 0,
-            HAL_NAVEKF3_AVAILABLE = 0,
             HAL_PWM_COUNT = 32,
             HAL_WITH_ESC_TELEM = 1,
-            AP_RTC_ENABLED = 0,
+            AP_TERRAIN_AVAILABLE = 1,
         )
 
-        try:
-            env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
-        except ValueError:
-            pass
-        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
+class sitl_periph_gps(sitl_periph):
+    def configure_env(self, cfg, env):
+        cfg.env.AP_PERIPH = 1
+        super(sitl_periph_gps, self).configure_env(cfg, env)
+        env.DEFINES.update(
+            HAL_BUILD_AP_PERIPH = 1,
+            PERIPH_FW = 1,
+            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_gps"',
+            APJ_BOARD_ID = 101,
+
+            HAL_PERIPH_ENABLE_GPS = 1,
+        )
 
 class esp32(Board):
     abstract = True

Tools/autotest/autotest.py

@@ -286,7 +286,7 @@ def should_run_step(step):
     "Blimp": "blimp",
     "BalanceBot": "ardurover",
     "Sailboat": "ardurover",
-    "SITLPeriphGPS": "sitl_periph_gp.AP_Periph",
+    "SITLPeriphUniversal": "sitl_periph_universal.AP_Periph",
     "CAN": "arducopter",
 }
 
@@ -362,8 +362,8 @@ def find_specific_test_to_run(step):
 }
 
 supplementary_test_binary_map = {
-    "test.CAN": ["sitl_periph_gps:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
-                 "sitl_periph_gps:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
+    "test.CAN": ["sitl_periph_universal:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
+                 "sitl_periph_universal:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
 }
 
 
@@ -441,8 +441,8 @@ def run_step(step):
     if step == 'build.Sub':
         vehicle_binary = 'bin/ardusub'
 
-    if step == 'build.SITLPeriphGPS':
-        vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
+    if step == 'build.SITLPeriphUniversal':
+        vehicle_binary = 'sitl_periph_universal.bin/AP_Periph'
 
     if step == 'build.Replay':
         return util.build_replay(board='SITL')
@@ -1085,7 +1085,7 @@ def format_epilog(self, formatter):
         'build.Blimp',
         'test.Blimp',
 
-        'build.SITLPeriphGPS',
+        'build.SITLPeriphUniversal',
         'test.CAN',
 
         # convertgps disabled as it takes 5 hours

Tools/autotest/pysim/vehicleinfo.py

@@ -424,10 +424,10 @@ def __init__(self):
             },
         },
     },
-    "sitl_periph_gps": {
+    "sitl_periph_universal": {
         "frames": {
-            "gps": {
-                "configure_target": "sitl_periph_gps",
+            "universal": {
+                "configure_target": "sitl_periph_universal",
                 "waf_target": "bin/AP_Periph",
                 "default_params_filename": "default_params/periph.parm",
                 },

Tools/autotest/sim_vehicle.py

@@ -672,8 +672,8 @@ def start_antenna_tracker(opts):
 def start_CAN_Periph(opts, frame_info):
     """Compile and run the sitl_periph"""
 
-    progress("Preparing sitl_periph_gps")
-    options = vinfo.options["sitl_periph_gps"]['frames']['gps']
+    progress("Preparing sitl_periph_universal")
+    options = vinfo.options["sitl_periph_universal"]['frames']['universal']
     defaults_path = frame_info.get('periph_params_filename', None)
     if defaults_path is None:
         defaults_path = options.get('default_params_filename', None)
@@ -686,9 +686,9 @@ def start_CAN_Periph(opts, frame_info):
 
     if not cmd_opts.no_rebuild:
         do_build(opts, options)
-    exe = os.path.join(root_dir, 'build/sitl_periph_gps', 'bin/AP_Periph')
+    exe = os.path.join(root_dir, 'build/sitl_periph_universal', 'bin/AP_Periph')
     cmd = ["nice"]
-    cmd_name = "sitl_periph_gps"
+    cmd_name = "sitl_periph_universal"
     if opts.valgrind:
         cmd_name += " (valgrind)"
         cmd.append("valgrind")

Tools/scripts/build_ci.sh

@@ -132,7 +132,7 @@ for t in $CI_BUILD_TARGET; do
         echo "Building SITL Periph GPS"
         $waf configure --board sitl
         $waf copter
-        run_autotest "Copter" "build.SITLPeriphGPS" "test.CAN"
+        run_autotest "Copter" "build.SITLPeriphUniversal" "test.CAN"
         continue
     fi
     if [ "$t" == "sitltest-plane" ]; then

Tools/scripts/run_coverage.py

@@ -238,8 +238,8 @@ def update_stats(self) -> None:
                                     root_dir + "/build/linux/modules/*",
                                     root_dir + "/build/sitl/libraries/*",
                                     root_dir + "/build/sitl/modules/*",
-                                    root_dir + "/build/sitl_periph_gps/libraries/*",
-                                    root_dir + "/build/sitl_periph_gps/modules/*",
+                                    root_dir + "/build/sitl_periph_universal/libraries/*",
+                                    root_dir + "/build/sitl_periph_universal/modules/*",
                                     root_dir + "/libraries/*/examples/*",
                                     root_dir + "/libraries/*/tests/*",
                                     "-o", self.INFO_FILE

libraries/AP_AHRS/AP_AHRS.cpp

@@ -1932,35 +1932,38 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
 
 #if AP_AHRS_DCM_ENABLED
     // Handle fallback for fixed wing planes (including VTOL's) and ground vehicles.
-    if (ret != EKFType::DCM &&
-        (_vehicle_class == VehicleClass::FIXED_WING ||
-         _vehicle_class == VehicleClass::GROUND)) {
-
+    if (_vehicle_class == VehicleClass::FIXED_WING ||
+        _vehicle_class == VehicleClass::GROUND) {
         bool should_use_gps = true;
-        nav_filter_status filt_state;
+        nav_filter_status filt_state {};
+        switch (ret) {
+        case EKFType::DCM:
+            // already using DCM
+            break;
 #if HAL_NAVEKF2_AVAILABLE
-        if (ret == EKFType::TWO) {
+        case EKFType::TWO:
             EKF2.getFilterStatus(filt_state);
             should_use_gps = EKF2.configuredToUseGPSForPosXY();
-        }
+            break;
 #endif
 #if HAL_NAVEKF3_AVAILABLE
-        if (ret == EKFType::THREE) {
+        case EKFType::THREE:
             EKF3.getFilterStatus(filt_state);
             should_use_gps = EKF3.configuredToUseGPSForPosXY();
-        }
+            break;
 #endif
 #if AP_AHRS_SIM_ENABLED
-        if (ret == EKFType::SIM) {
+        case EKFType::SIM:
             get_filter_status(filt_state);
-        }
+            break;
 #endif
 #if HAL_EXTERNAL_AHRS_ENABLED
-        if (ret == EKFType::EXTERNAL) {
+        case EKFType::EXTERNAL:
             get_filter_status(filt_state);
             should_use_gps = true;
-        }
+            break;
 #endif
+        }
 
         // Handle fallback for the case where the DCM or EKF is unable to provide attitude or height data.
         const bool can_use_dcm = dcm.yaw_source_available() || fly_forward;

libraries/AP_AHRS/AP_AHRS_config.h

@@ -21,11 +21,11 @@
 #endif
 
 #ifndef HAL_NAVEKF3_AVAILABLE
-#define HAL_NAVEKF3_AVAILABLE AP_INERTIALSENSOR_ENABLED
+#define HAL_NAVEKF3_AVAILABLE AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_AHRS_SIM_ENABLED
-#define AP_AHRS_SIM_ENABLED AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
+#define AP_AHRS_SIM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_AHRS_POSITION_RESET_ENABLED

libraries/AP_CheckFirmware/AP_CheckFirmware.h

@@ -39,7 +39,7 @@ enum class check_fw_result_t : uint8_t {
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(APJ_BOARD_ID)
-// this allows for sitl_periph_gps to build
+// this allows for sitl_periph to build
 #define APJ_BOARD_ID 0
 #endif
 

libraries/AP_Relay/AP_Relay.cpp

@@ -29,6 +29,10 @@
 #include <AP_CANManager/AP_CANManager.h>
 #endif
 
+#if AP_SIM_ENABLED
+#include <SITL/SITL.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #define RELAY1_PIN_DEFAULT 13