Merge branch 'ArduPilot:master' into raw_IMU_hz

.github/workflows/test_sitl_periph.yml

@@ -185,6 +185,7 @@ jobs:
       - name: run dronecan dsdlc generator test
         run: |
           PATH="/github/home/.local/bin:$PATH"
+          python -m pip install --upgrade dronecan
           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_universal

AntennaTracker/Log.cpp

@@ -87,15 +87,15 @@ const struct LogStructure Tracker::log_structure[] = {
        "VPOS", "QLLefff", "TimeUS,Lat,Lng,Alt,VelX,VelY,VelZ", "sddmnnn", "FGGB000", true }
 };
 
-void Tracker::Log_Write_Vehicle_Startup_Messages()
+uint8_t Tracker::get_num_log_structures() const
 {
-    logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED);
-    gps.Write_AP_Logger_Log_Startup_messages();
+    return ARRAY_SIZE(log_structure);
 }
 
-void Tracker::log_init(void)
+void Tracker::Log_Write_Vehicle_Startup_Messages()
 {
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED);
+    gps.Write_AP_Logger_Log_Startup_messages();
 }
 
 #endif // HAL_LOGGING_ENABLED

AntennaTracker/Parameters.cpp

@@ -566,12 +566,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -590,23 +584,7 @@ const AP_Param::Info Tracker::var_info[] = {
 
 void Tracker::load_parameters(void)
 {
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
-
-        // erase all parameters
-        hal.console->printf("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        hal.console->printf("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = AP_HAL::micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
@@ -618,7 +596,10 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
 
 #if HAL_HAVE_SAFETY_SWITCH
     // configure safety switch to allow stopping the motors while armed

AntennaTracker/Tracker.cpp

@@ -164,13 +164,6 @@ void Tracker::stats_update(void)
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-Tracker::Tracker(void)
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
-{
-}
-
 Tracker tracker;
 AP_Vehicle& vehicle = tracker;
 

AntennaTracker/Tracker.h

@@ -64,8 +64,6 @@ class Tracker : public AP_Vehicle {
     friend class ModeGuided;
     friend class Mode;
 
-    Tracker(void);
-
     void arm_servos();
     void disarm_servos();
 
@@ -74,10 +72,6 @@ class Tracker : public AP_Vehicle {
 
     uint32_t start_time_ms = 0;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     /**
        antenna control channels
     */
@@ -160,12 +154,20 @@ class Tracker : public AP_Vehicle {
     // GCS_Mavlink.cpp
     void send_nav_controller_output(mavlink_channel_t chan);
 
+#if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Attitude();
     void Log_Write_Vehicle_Baro(float pressure, float altitude);
     void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
     void Log_Write_Vehicle_Startup_Messages();
-    void log_init(void);
+#endif
 
     // Parameters.cpp
     void load_parameters(void) override;

AntennaTracker/system.cpp

@@ -24,10 +24,6 @@ void Tracker::init_ardupilot()
     // try to initialise stream rates in the main loop.
     gcs().update_send();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

ArduCopter/AP_Arming.cpp

@@ -233,12 +233,12 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
 
         // Inverted flight feature disabled for Heli Single and Dual frames
         if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
-            rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {
+            rc().find_channel_for_option(RC_Channel::AUX_FUNC::INVERTED) != nullptr) {
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Inverted flight option not supported");
             return false;
         }
         // Ensure an Aux Channel is configured for motor interlock
-        if (rc().find_channel_for_option(RC_Channel::aux_func_t::MOTOR_INTERLOCK) == nullptr) {
+        if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) == nullptr) {
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Motor Interlock not configured");
             return false;
         }

ArduCopter/Copter.cpp

@@ -820,9 +820,6 @@ bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
  */
 Copter::Copter(void)
     :
-#if HAL_LOGGING_ENABLED
-    logger(g.log_bitmask),
-#endif
     flight_modes(&g.flight_mode1),
     simple_cos_yaw(1.0f),
     super_simple_cos_yaw(1.0),

ArduCopter/Copter.h

@@ -251,10 +251,6 @@ class Copter : public AP_Vehicle {
     RC_Channel *channel_throttle;
     RC_Channel *channel_yaw;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // flight modes convenience array
     AP_Int8 *flight_modes;
     const uint8_t num_flight_modes = 6;
@@ -846,6 +842,13 @@ class Copter : public AP_Vehicle {
     void standby_update();
 
 #if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
@@ -866,7 +869,6 @@ class Copter : public AP_Vehicle {
     void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
     void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);
     void Log_Write_Vehicle_Startup_Messages();
-    void log_init(void);
 #endif  // HAL_LOGGING_ENABLED
 
     // mode.cpp

ArduCopter/Log.cpp

@@ -560,6 +560,11 @@ const struct LogStructure Copter::log_structure[] = {
       "GUIA",  "QBffffffff",    "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true },
 };
 
+uint8_t Copter::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Copter::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -571,9 +576,4 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-void Copter::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED

ArduCopter/Parameters.cpp

@@ -554,12 +554,6 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT",         AP_BattMonitor),
@@ -1238,6 +1232,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @DisplayName: EKF Failsafe filter cutoff
     // @Description: EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.
     // @Range: 0 10
+    // @Units: Hz
     // @User: Advanced
     AP_GROUPINFO("FS_EKF_FILT", 8, ParametersG2, fs_ekf_filt_hz, FS_EKF_FILT_DEFAULT),
 
@@ -1344,25 +1339,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Copter::load_parameters(void)
 {
-    hal.util->set_soft_armed(false);
-
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
-
-        // erase all parameters
-        DEV_PRINTF("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        DEV_PRINTF("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
 #if AP_LANDINGGEAR_ENABLED
@@ -1410,11 +1388,13 @@ void Copter::load_parameters(void)
     }
 #endif
 
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
 
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
-
 }
 
 // handle conversion of PID gains

ArduCopter/RC_Channel.cpp

@@ -69,7 +69,7 @@ RC_Channel * RC_Channels_Copter::get_arming_channel(void) const
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch(ch_option) {
@@ -156,7 +156,7 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
         case AUX_FUNC::FLIP:

ArduCopter/RC_Channel.h

@@ -11,8 +11,8 @@ class RC_Channel_Copter : public RC_Channel
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
-    bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
 
 private:
 

ArduCopter/ReleaseNotes.txt

@@ -1,4 +1,32 @@
 ArduPilot Copter Release Notes:
+-------------------------------
+
+Copter 4.5.0-beta2 14-February-2024
+
+Changes from 4.5.0-beta1:
+
+1) New Autopilots supported
+ - YJUAV_A6Ultra
+ - AnyLeaf H7
+
+2) System level changes
+ - fixed float rounding issue in HAL_Linux millis and micros functions
+ - fixed loading of defaults.parm parameters for dynamic parameter subtrees
+ - fixed discrimination between GHST and CRSF protocols
+ - fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
+ - fixed handling of network sockets in scripting when used after close
+ - fixed bit timing of CANFD buses
+
+3) Copter specific changes
+ - added filter to EKF variances for EKF failsafe
+
+4) Camera and gimbal enhancements
+ - wait for non-zero camera version in SIYI driver
+
+5) Miscellaneous
+ - do relay parameter conversion for parachute parameters if ever has been used
+ - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
+
 ------------------------------------------------------------------
 Copter 4.5.0-beta1 30-Jan-2025
 Changes from 4.4.4

ArduCopter/ekf_check.cpp

@@ -123,7 +123,7 @@ bool Copter::ekf_over_threshold()
     }
 
     uint32_t now_us = AP_HAL::micros();
-    float dt = (now_us - last_ekf_check_us) / 1000000.0f;
+    float dt = (now_us - last_ekf_check_us) * 1e-6f;
 
     // always update filtered values as this serves the vibration check as well
     position_var = pos_variance_filt.apply(position_var, dt);

ArduCopter/system.cpp

@@ -44,10 +44,6 @@ void Copter::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // update motor interlock state
     update_using_interlock();
 

ArduCopter/tuning.cpp

@@ -22,7 +22,7 @@ void Copter::tuning()
     }
 
     // exit immediately if a function is assigned to channel 6
-    if ((RC_Channel::aux_func_t)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
+    if ((RC_Channel::AUX_FUNC)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
         return;
     }
 

ArduPlane/Attitude.cpp

@@ -420,6 +420,7 @@ void Plane::stabilize()
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder);
         SRV_Channels::set_output_scaled(SRV_Channel::k_steering, rudder);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
 #endif
     } else {
         plane.control_mode->run();