Merge branch 'master' into coverity_scan

CHANGELOG.md

@@ -1,7 +1,7 @@
-Paparazzi v5.9_devel
-====================
+Paparazzi v5.9.0_testing
+========================
 
-Currently ongoing development.
+First release candidate for v5.10
 
 General
 -------
@@ -25,6 +25,7 @@ General
   [#1675] (https://github.com/paparazzi/paparazzi/pull/1675)
 - flight plans: simpler geofence safety behaviour definition
   [#1664] (https://github.com/paparazzi/paparazzi/pull/1644)
+  [#1802] (https://github.com/paparazzi/paparazzi/pull/1802)
 - module build system: improvements to efficiently replace subsystems
   [#1534] (https://github.com/paparazzi/paparazzi/pull/1534)
   [#1590] (https://github.com/paparazzi/paparazzi/pull/1590)
@@ -60,6 +61,12 @@ General
   [#1758] (https://github.com/paparazzi/paparazzi/pull/1758)
 - cockpit: workaround lablgtk 2.18 Debian/Ubuntu bug
   [#1647] (https://github.com/paparazzi/paparazzi/pull/1647)
+- GCS: plot shapes on the map
+  [#1809] (https://github.com/paparazzi/paparazzi/pull/1809)
+- paparazzicenter: experimental Python version
+  [#1811] (https://github.com/paparazzi/paparazzi/pull/1811)
+- try to prevent speech spam in GCS
+  [#1842] (https://github.com/paparazzi/paparazzi/pull/1842)
 
 Airborne
 --------
@@ -104,11 +111,14 @@ Airborne
   [#1648] (https://github.com/paparazzi/paparazzi/pull/1648)
   [#1735] (https://github.com/paparazzi/paparazzi/pull/1735)
   [#1764] (https://github.com/paparazzi/paparazzi/pull/1764)
+  [#1806] (https://github.com/paparazzi/paparazzi/pull/1806)
 - computer vision: optical flow landing module
   [#1611] (https://github.com/paparazzi/paparazzi/pull/1611)
 - computer vision: openCV examples
   [#1663] (https://github.com/paparazzi/paparazzi/pull/1663)
   [#1789] (https://github.com/paparazzi/paparazzi/pull/1789)
+  [#1798] (https://github.com/paparazzi/paparazzi/pull/1798)
+  [#1824] (https://github.com/paparazzi/paparazzi/pull/1824)
 - computer vision: image appearance representation using texton distribution
   [#1692] (https://github.com/paparazzi/paparazzi/pull/1692)
 - UTM handling upgrades
@@ -124,6 +134,11 @@ Airborne
   [#1625] (https://github.com/paparazzi/paparazzi/pull/1625)
   [#1638] (https://github.com/paparazzi/paparazzi/pull/1638)
   [#1740] (https://github.com/paparazzi/paparazzi/pull/1740)
+  [#1788] (https://github.com/paparazzi/paparazzi/pull/1788)
+- telemetry over intermcu
+  [#1821] (https://github.com/paparazzi/paparazzi/pull/1821)
+- unified sys_mon and rtos_mon modules
+  [#1846] (https://github.com/paparazzi/paparazzi/pull/1846)
 
 Rotorcraft firmware
 -------------------
@@ -149,6 +164,15 @@ Rotorcraft firmware
 - guidance for hybrid drones
   [#1769] (https://github.com/paparazzi/paparazzi/pull/1769)
 
+Fixed-wing firmware
+-------------------
+
+- split AP and FBW taks when using ChibiOS
+  [#1767] (https://github.com/paparazzi/paparazzi/pull/1767)
+- Hard-fault recovery wen using ChibiOS
+  [#1815] (https://github.com/paparazzi/paparazzi/pull/1815)
+
+
 Drivers/HW support
 ------------------
 
@@ -167,8 +191,14 @@ Drivers/HW support
   [#1562] (https://github.com/paparazzi/paparazzi/pull/1562)
 - Parrot Bebop: fix for firmware 3.2.0
   [#1745] (https://github.com/paparazzi/paparazzi/pull/1745)
+  [#1828] (https://github.com/paparazzi/paparazzi/pull/1828)
 - Parrot Bebop: camera upgrade
   [#1750] (https://github.com/paparazzi/paparazzi/pull/1750)
+  [#1766] (https://github.com/paparazzi/paparazzi/pull/1766)
+  [#1818] (https://github.com/paparazzi/paparazzi/pull/1818)
+  [#1825] (https://github.com/paparazzi/paparazzi/pull/1825)
+  [#1826] (https://github.com/paparazzi/paparazzi/pull/1826)
+  [#1834] (https://github.com/paparazzi/paparazzi/pull/1834)
 - Parrot ARDrone2/Bebop: startup fixes
   [#1571] (https://github.com/paparazzi/paparazzi/pull/1571)
   [#1588] (https://github.com/paparazzi/paparazzi/pull/1588)

Doxyfile

@@ -1964,7 +1964,9 @@ PREDEFINED             = USE_GPS \
                          RADIO_CONTROL \
                          GUIDANCE_V_C \
                          DATALINK \
+                         DOWNLINK \
                          USE_PERIODIC_TELEMETRY_REPORT \
+                         PERIODIC_TELEMETRY \
                          __attribute__(x)=
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this

conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml

@@ -35,6 +35,7 @@
 
 
   <modules>
+    <module name="sys_mon"/>
   </modules>
 
   <servos driver="Pwm">

conf/airframes/BR/conf.xml

@@ -17,7 +17,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml   settings/control/stabilization_indi.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
   />
@@ -28,7 +28,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml   settings/control/stabilization_indi.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
   />
@@ -39,7 +39,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/control/stabilization_att_int_quat.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_colorfilter.xml modules/video_capture.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="green"
   />
@@ -105,7 +105,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml "
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />

conf/airframes/CDW/cdw_conf.xml

@@ -17,7 +17,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml  settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
   />

conf/airframes/ENAC/conf_enac.xml

@@ -6,7 +6,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_safety.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml] settings/estimation/ahrs_float_invariant.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml] "
    gui_color="red"
    settings_modules=""
   />
@@ -39,7 +39,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml [settings/estimation/ahrs_int_cmpl_quat.xml] [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]"
+   settings="settings/rotorcraft_basic.xml  [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]"
    settings_modules=""
    gui_color="#ffff00000000"
   />
@@ -61,7 +61,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
    settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml"
    gui_color="#3cf2d51335a7"
   />

conf/airframes/ENAC/fixed-wing/apogee.xml

@@ -39,7 +39,7 @@
     <!-- Sensors -->
     <module name="gps" type="ublox"/>
 
-    <!--module name="rtos_mon"/-->
+    <!--module name="sys_mon"/-->
 
     <!--module name="spi_master"/-->
     <!-- <module name="mcp355x"> -->

conf/airframes/ENAC/fixed-wing/jp.xml

@@ -69,7 +69,7 @@
     <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_2"/>
     </module>
-    <!--module name="rtos_mon"/-->
+    <!--module name="sys_mon"/-->
   </firmware>
 
   <!-- commands section -->

conf/airframes/ESDEN/esden_conf.xml

@@ -138,7 +138,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="white"
   />
@@ -149,7 +149,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="blue"
   />
@@ -160,7 +160,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="white"
   />

conf/airframes/FLIXR/flixr_conf.xml

@@ -6,7 +6,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml  settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
    settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
    gui_color="blue"
   />
@@ -17,7 +17,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/control/stabilization_att_int_quat.xml"
    settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="blue"
   />
@@ -28,7 +28,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/demo.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/estimation/ahrs_int_cmpl_quat.xml settings/test_actuators_pwm.xml"
+   settings=" settings/test_actuators_pwm.xml"
    settings_modules="modules/imu_common.xml"
    gui_color="blue"
   />
@@ -50,7 +50,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_int_cmpl_quat.xml [settings/estimation/ahrs_float_mlkf.xml] settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml"
+   settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml   settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml"
    settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="blue"
   />
@@ -61,7 +61,7 @@
    radio="radios/TGY9x_jeti.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
    settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
@@ -72,7 +72,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml "
    settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
@@ -83,7 +83,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml "
    settings_modules=""
    gui_color="blue"
   />
@@ -94,7 +94,7 @@
    radio="radios/TGY9x_jeti.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
    settings_modules="modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
@@ -116,7 +116,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_float_mlkf.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml "
    settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="blue"
   />