From 50332ab23f4061f055186c85c88a2dc2fa788442 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 09:07:00 +1100
Subject: [PATCH 01/83] AP_Periph: check decode for DNA message

---
 Tools/AP_Periph/can.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 1c658463a6e84a..c985403fd282d3 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -434,7 +434,10 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
     // Copying the unique ID from the message
     uavcan_protocol_dynamic_node_id_Allocation msg;
 
-    uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg);
+    if (uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg)) {
+        // failed decode
+        return;
+    }
 
     // Obtaining the local unique ID
     uint8_t my_unique_id[sizeof(msg.unique_id.data)];

From 208f47e84f8a8610b63ce81367ee8989ca84ae32 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 09:07:28 +1100
Subject: [PATCH 02/83] DroneCAN: update DSDL compiler, libcanard and
 pydronecan

fixed handling of bad multi-frame messages
---
 modules/DroneCAN/dronecan_dsdlc | 2 +-
 modules/DroneCAN/libcanard      | 2 +-
 modules/DroneCAN/pydronecan     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/modules/DroneCAN/dronecan_dsdlc b/modules/DroneCAN/dronecan_dsdlc
index ebaf96860a11a4..2465ace6c8cb01 160000
--- a/modules/DroneCAN/dronecan_dsdlc
+++ b/modules/DroneCAN/dronecan_dsdlc
@@ -1 +1 @@
-Subproject commit ebaf96860a11a4cc43c01df6b651df143c6cde2d
+Subproject commit 2465ace6c8cb0148e3ff5865aa9e4dd17d691a71
diff --git a/modules/DroneCAN/libcanard b/modules/DroneCAN/libcanard
index 22102c717db29c..0ae477b82bc18d 160000
--- a/modules/DroneCAN/libcanard
+++ b/modules/DroneCAN/libcanard
@@ -1 +1 @@
-Subproject commit 22102c717db29cc2a2c2869ff80f3e4389704d89
+Subproject commit 0ae477b82bc18daf642383079a02710f69294aa8
diff --git a/modules/DroneCAN/pydronecan b/modules/DroneCAN/pydronecan
index 19fdf2e5b38324..1f494e9a56ac99 160000
--- a/modules/DroneCAN/pydronecan
+++ b/modules/DroneCAN/pydronecan
@@ -1 +1 @@
-Subproject commit 19fdf2e5b383243ccdb1094edae0603cf11469e8
+Subproject commit 1f494e9a56ac9930f1e11c2f453789414b10d54e

From 38b5d942fdfedb8e352e0ff3c470f1a10fa5cc1c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 10:32:35 +1100
Subject: [PATCH 03/83] waf: avoid trying to compile .github directory as DSDL

---
 wscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wscript b/wscript
index c21a031e52f920..61fffcb8beb58e 100644
--- a/wscript
+++ b/wscript
@@ -725,7 +725,7 @@ def _build_dynamic_sources(bld):
     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
         bld(
             features='dronecangen',
-            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
+            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/[a-z]* libraries/AP_DroneCAN/dsdl/[a-z]*', dir=True, src=False),
             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
             name='dronecan',
             export_includes=[

From eaf40fbfb33da95b5d407606b51207f50644b834 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 11:11:40 +1100
Subject: [PATCH 04/83] waf: help diagnose dronecangen errors

---
 .github/workflows/test_sitl_periph.yml |  1 +
 Tools/ardupilotwaf/dronecangen.py      | 11 ++++++++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index e538b7aa58700f..06580252dd8029 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.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
diff --git a/Tools/ardupilotwaf/dronecangen.py b/Tools/ardupilotwaf/dronecangen.py
index f6e067da3ea237..1ba2a10941e54e 100644
--- a/Tools/ardupilotwaf/dronecangen.py
+++ b/Tools/ardupilotwaf/dronecangen.py
@@ -9,6 +9,7 @@
 import os
 import os.path
 from xml.etree import ElementTree as et
+import subprocess
 
 class dronecangen(Task.Task):
     """generate uavcan header files"""
@@ -21,9 +22,10 @@ def run(self):
         src = self.env.get_flat('SRC')
         dsdlc = self.env.get_flat("DC_DSDL_COMPILER")
 
-        ret = self.exec_command(['{}'.format(python),
-                                 '{}'.format(dsdlc),
-                                 '-O{}'.format(out)] + [x.abspath() for x in self.inputs])
+        cmd = ['{}'.format(python),
+               '{}'.format(dsdlc),
+               '-O{}'.format(out)] + [x.abspath() for x in self.inputs]
+        ret = self.exec_command(cmd)
         if ret != 0:
             # ignore if there was a signal to the interpreter rather
             # than a real error in the script. Some environments use a
@@ -32,6 +34,9 @@ def run(self):
                 Logs.warn('dronecangen crashed with code: {}'.format(ret))
                 ret = 0
             else:
+                Logs.warn('dronecangen: cmd=%s ' % str(cmd))
+                # re-run command with stdout visible to see errors
+                subprocess.call(cmd)
                 Logs.error('dronecangen returned {} error code'.format(ret))
         return ret
 

From bb8047c026f3bc5cc4fac1d74e6441e1fabcd8af Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 22:52:49 +1100
Subject: [PATCH 05/83] AP_Scripting: correct compilation with
 AP_FILESYSTEM_FORMAT_ENABLED is false

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 libraries/AP_Scripting/generator/description/bindings.desc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 7a2d88e470d7e0..299bd2b27e3c71 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -891,7 +891,9 @@ userdata AP_Filesystem::stat_t method is_directory boolean
 singleton AP_Filesystem rename fs
 singleton AP_Filesystem method stat boolean string AP_Filesystem::stat_t'Null
 singleton AP_Filesystem method format boolean
+singleton AP_Filesystem method format depends AP_FILESYSTEM_FORMAT_ENABLED
 singleton AP_Filesystem method get_format_status uint8_t'skip_check
+singleton AP_Filesystem method get_format_status depends AP_FILESYSTEM_FORMAT_ENABLED
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h

From 7199ccacda6bf7df16269067b7134178e239ed90 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 13:36:51 +1100
Subject: [PATCH 06/83] AP_Bootloader: cope with RAM0_START not matching
 between bl and periph

this allows us to stay in bootloader based solely on RTC_BOOT_CANBL
without the RAM0 area matching between bootloader and periph fw

fixes an issue with current bootloaders where the old bl may not match
current RAM0 value
---
 Tools/AP_Bootloader/AP_Bootloader.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index da268f948f6249..b3b9caa5fdd07f 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -136,8 +136,9 @@ int main(void)
     }
 #endif  // AP_CHECK_FIRMWARE_ENABLED
 #ifndef BOOTLOADER_DEV_LIST
-    else if (timeout != 0) {
-        // fast boot for good firmware
+    else if (timeout == HAL_BOOTLOADER_TIMEOUT) {
+        // fast boot for good firmware if we haven't been told to stay
+        // in bootloader
         try_boot = true;
         timeout = 1000;
     }

From 74e742f2c6f0502e7a50ed22ba5cf3087663744b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 14:20:11 +1100
Subject: [PATCH 07/83] Tools: rebuild peripheral bootloaders

fixes issue with RAM0 mismatch
---
 Tools/bootloaders/AR-F407SmartBat_bl.bin      |  Bin 21736 -> 20904 bytes
 Tools/bootloaders/AR-F407SmartBat_bl.elf      |  Bin 168240 -> 167804 bytes
 Tools/bootloaders/AR-F407SmartBat_bl.hex      | 2666 ++++++-----
 Tools/bootloaders/ARK_CANNODE_bl.bin          |  Bin 22044 -> 22044 bytes
 Tools/bootloaders/ARK_CANNODE_bl.hex          | 2740 +++++------
 Tools/bootloaders/ARK_GPS_bl.bin              |  Bin 20496 -> 19688 bytes
 Tools/bootloaders/ARK_GPS_bl.hex              | 2512 +++++-----
 Tools/bootloaders/ARK_RTK_GPS_bl.bin          |  Bin 20496 -> 19680 bytes
 Tools/bootloaders/ARK_RTK_GPS_bl.hex          | 2511 +++++-----
 .../bootloaders/AeroFox-Airspeed-DLVR_bl.bin  |  Bin 15924 -> 15172 bytes
 Tools/bootloaders/AeroFox-Airspeed_bl.bin     |  Bin 15932 -> 15172 bytes
 Tools/bootloaders/AeroFox-GNSS_F9P_bl.bin     |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/AeroFox-PMU_bl.bin          |  Bin 18500 -> 17684 bytes
 Tools/bootloaders/BirdCANdy_bl.bin            |  Bin 20488 -> 19672 bytes
 Tools/bootloaders/BirdCANdy_bl.elf            |  Bin 167676 -> 166872 bytes
 Tools/bootloaders/BirdCANdy_bl.hex            | 2511 +++++-----
 Tools/bootloaders/C-RTK2-HP_bl.bin            |  Bin 20584 -> 19776 bytes
 Tools/bootloaders/CUAV_GPS_bl.bin             |  Bin 20592 -> 19776 bytes
 Tools/bootloaders/CUAV_GPS_bl.elf             |  Bin 167800 -> 166996 bytes
 Tools/bootloaders/CUAV_GPS_bl.hex             | 2523 +++++-----
 Tools/bootloaders/CarbonixF405_bl.bin         |  Bin 29476 -> 28684 bytes
 Tools/bootloaders/CarbonixL496_bl.bin         |  Bin 29136 -> 28344 bytes
 .../CubeOrange-periph-heavy_bl.bin            |  Bin 32184 -> 33128 bytes
 .../CubeOrange-periph-heavy_bl.hex            | 4077 +++++++++--------
 Tools/bootloaders/CubeOrange-periph_bl.bin    |  Bin 32176 -> 33120 bytes
 Tools/bootloaders/CubeOrange-periph_bl.hex    | 4075 ++++++++--------
 Tools/bootloaders/CubePilot-CANMod_bl.bin     |  Bin 31904 -> 32816 bytes
 Tools/bootloaders/CubePilot-CANMod_bl.hex     | 4045 ++++++++--------
 Tools/bootloaders/CubePilot-PPPGW_bl.bin      |  Bin 90532 -> 90876 bytes
 Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin |  Bin 92968 -> 93312 bytes
 Tools/bootloaders/FreeflyRTK_bl.bin           |  Bin 28316 -> 27524 bytes
 Tools/bootloaders/FreeflyRTK_bl.elf           |  Bin 173876 -> 173052 bytes
 Tools/bootloaders/FreeflyRTK_bl.hex           | 3491 +++++++-------
 Tools/bootloaders/G4-ESC_bl.bin               |  Bin 22804 -> 22420 bytes
 Tools/bootloaders/Here4AP_bl.bin              |  Bin 21676 -> 22564 bytes
 Tools/bootloaders/Here4FC_bl.bin              |  Bin 25472 -> 26360 bytes
 Tools/bootloaders/Here4FC_bl.hex              | 3240 ++++++-------
 Tools/bootloaders/Hitec-Airspeed_bl.bin       |  Bin 19084 -> 18708 bytes
 Tools/bootloaders/Hitec-Airspeed_bl.elf       |  Bin 159956 -> 159660 bytes
 Tools/bootloaders/Hitec-Airspeed_bl.hex       | 2363 +++++-----
 Tools/bootloaders/HitecMosaic_bl.bin          |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/HitecMosaic_bl.elf          |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/HitecMosaic_bl.hex          | 2385 +++++-----
 Tools/bootloaders/HolybroG4_Compass_bl.bin    |  Bin 22524 -> 22156 bytes
 Tools/bootloaders/HolybroG4_GPS_bl.bin        |  Bin 22812 -> 22428 bytes
 Tools/bootloaders/HolybroG4_GPS_bl.elf        |  Bin 168052 -> 167756 bytes
 Tools/bootloaders/HolybroG4_GPS_bl.hex        | 2826 ++++++------
 Tools/bootloaders/HolybroGPS_bl.bin           |  Bin 23048 -> 22232 bytes
 Tools/bootloaders/HolybroGPS_bl.elf           |  Bin 169688 -> 168880 bytes
 Tools/bootloaders/HolybroGPS_bl.hex           | 2831 ++++++------
 Tools/bootloaders/MatekL431-ADSB_bl.bin       |  Bin 18516 -> 17700 bytes
 Tools/bootloaders/MatekL431-ADSB_bl.hex       | 2265 +++++----
 Tools/bootloaders/MatekL431-Airspeed_bl.bin   |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-Airspeed_bl.hex   | 2265 +++++----
 Tools/bootloaders/MatekL431-BattMon_bl.bin    |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-DShot_bl.bin      |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-EFI_bl.bin        |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-GPS_bl.bin        |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-Periph_bl.bin     |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-Periph_bl.hex     | 2265 +++++----
 Tools/bootloaders/MatekL431-Proximity_bl.bin  |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-RC_bl.bin         |  Bin 18516 -> 17700 bytes
 .../bootloaders/MatekL431-Rangefinder_bl.bin  |  Bin 18532 -> 17716 bytes
 Tools/bootloaders/MatekL431-Serial_bl.bin     |  Bin 17668 -> 17708 bytes
 Tools/bootloaders/MatekL431-bdshot_bl.bin     |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/Nucleo-G491_bl.bin          |  Bin 19060 -> 18684 bytes
 Tools/bootloaders/Nucleo-G491_bl.elf          |  Bin 164564 -> 164268 bytes
 Tools/bootloaders/Nucleo-G491_bl.hex          | 2360 +++++-----
 Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin      |  Bin 93756 -> 94092 bytes
 Tools/bootloaders/Pixracer-periph_bl.bin      |  Bin 29700 -> 28908 bytes
 Tools/bootloaders/Pixracer-periph_bl.hex      | 3664 ++++++++-------
 Tools/bootloaders/Sierra-L431_bl.bin          |  Bin 22020 -> 21204 bytes
 .../bootloaders/Sierra-PrecisionPoint_bl.bin  |  Bin 29572 -> 28780 bytes
 .../bootloaders/Sierra-PrecisionPoint_bl.hex  | 3648 ++++++++-------
 Tools/bootloaders/Sierra-TrueNavIC_bl.bin     |  Bin 17732 -> 17724 bytes
 Tools/bootloaders/Sierra-TrueNavIC_bl.hex     | 2145 +++++----
 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin |  Bin 18276 -> 18708 bytes
 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex | 2043 +++++----
 Tools/bootloaders/Sierra-TrueNavPro_bl.bin    |  Bin 18556 -> 17740 bytes
 Tools/bootloaders/Sierra-TrueNorth_bl.bin     |  Bin 18532 -> 17716 bytes
 Tools/bootloaders/Sierra-TrueSpeed_bl.bin     |  Bin 18540 -> 17724 bytes
 Tools/bootloaders/ZubaxGNSS_bl.bin            |  Bin 18576 -> 17848 bytes
 Tools/bootloaders/ZubaxGNSS_bl.elf            |  Bin 158820 -> 158016 bytes
 Tools/bootloaders/ZubaxGNSS_bl.hex            | 2157 +++++----
 Tools/bootloaders/f103-ADSB_bl.bin            |  Bin 15916 -> 15156 bytes
 Tools/bootloaders/f103-ADSB_bl.elf            |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-ADSB_bl.hex            | 1823 ++++----
 Tools/bootloaders/f103-Airspeed_bl.bin        |  Bin 15916 -> 15164 bytes
 Tools/bootloaders/f103-Airspeed_bl.elf        |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-Airspeed_bl.hex        | 1823 ++++----
 Tools/bootloaders/f103-GPS_bl.bin             |  Bin 15916 -> 15156 bytes
 Tools/bootloaders/f103-GPS_bl.hex             | 1823 ++++----
 Tools/bootloaders/f103-HWESC_bl.bin           |  Bin 15908 -> 15156 bytes
 Tools/bootloaders/f103-HWESC_bl.hex           | 1823 ++++----
 Tools/bootloaders/f103-QiotekPeriph_bl.bin    |  Bin 15924 -> 15164 bytes
 Tools/bootloaders/f103-QiotekPeriph_bl.hex    | 1824 ++++----
 Tools/bootloaders/f103-RangeFinder_bl.bin     |  Bin 15924 -> 15164 bytes
 Tools/bootloaders/f103-RangeFinder_bl.elf     |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-RangeFinder_bl.hex     | 1824 ++++----
 Tools/bootloaders/f103-Trigger_bl.bin         |  Bin 15908 -> 15156 bytes
 Tools/bootloaders/f103-Trigger_bl.elf         |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-Trigger_bl.hex         | 1823 ++++----
 Tools/bootloaders/f303-GPS_bl.bin             |  Bin 19436 -> 18716 bytes
 Tools/bootloaders/f303-GPS_bl.hex             | 2385 +++++-----
 Tools/bootloaders/f303-HWESC_bl.bin           |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/f303-HWESC_bl.hex           | 2385 +++++-----
 Tools/bootloaders/f303-M10025_bl.bin          |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/f303-M10025_bl.hex          | 2385 +++++-----
 Tools/bootloaders/f303-M10070_bl.bin          |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/f303-M10070_bl.elf          |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/f303-M10070_bl.hex          | 2385 +++++-----
 Tools/bootloaders/f303-MatekGPS_bl.bin        |  Bin 19444 -> 18716 bytes
 Tools/bootloaders/f303-MatekGPS_bl.elf        |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/f303-MatekGPS_bl.hex        | 2386 +++++-----
 Tools/bootloaders/f303-PWM_bl.bin             |  Bin 19436 -> 18716 bytes
 Tools/bootloaders/f303-TempSensor_bl.bin      |  Bin 19444 -> 18724 bytes
 Tools/bootloaders/f303-Universal_bl.bin       |  Bin 19436 -> 18716 bytes
 Tools/bootloaders/f303-Universal_bl.elf       |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/f303-Universal_bl.hex       | 2385 +++++-----
 Tools/bootloaders/f405-MatekAirspeed_bl.bin   |  Bin 27816 -> 27024 bytes
 Tools/bootloaders/f405-MatekAirspeed_bl.hex   | 3428 +++++++-------
 Tools/bootloaders/f405-MatekGPS_bl.bin        |  Bin 27816 -> 27024 bytes
 Tools/bootloaders/f405-MatekGPS_bl.hex        | 3428 +++++++-------
 Tools/bootloaders/mRo-M10095_bl.bin           |  Bin 22556 -> 22188 bytes
 Tools/bootloaders/mRo-M10095_bl.elf           |  Bin 167820 -> 167524 bytes
 Tools/bootloaders/mRo-M10095_bl.hex           | 2795 ++++++-----
 Tools/bootloaders/mRoCANPWM-M10126_bl.bin     |  Bin 22540 -> 22172 bytes
 Tools/bootloaders/mRoKitCANrevC_bl.bin        |  Bin 18732 -> 18724 bytes
 Tools/bootloaders/mRoKitCANrevC_bl.hex        |  482 +-
 Tools/bootloaders/rGNSS_bl.bin                |  Bin 22540 -> 22172 bytes
 Tools/bootloaders/sw-nav-f405_bl.bin          |  Bin 19136 -> 18328 bytes
 Tools/bootloaders/sw-nav-f405_bl.hex          | 2342 +++++-----
 Tools/bootloaders/sw-spar-f407_bl.bin         |  Bin 28152 -> 27336 bytes
 Tools/bootloaders/sw-spar-f407_bl.hex         | 3469 +++++++-------
 134 files changed, 54644 insertions(+), 55982 deletions(-)
 mode change 100644 => 100755 Tools/bootloaders/ARK_CANNODE_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-PrecisionPoint_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-TrueNavPro_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-TrueNorth_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-TrueSpeed_bl.bin

diff --git a/Tools/bootloaders/AR-F407SmartBat_bl.bin b/Tools/bootloaders/AR-F407SmartBat_bl.bin
index 41d9182f70450880f27bb76e0351982bd6e61fa1..cf7061c74f640fb3c4dac5e09ed069478517a57f 100755
GIT binary patch
delta 5547
zcmb_A3v^Rew&&b?liu{3&|gAQdy_UaHATX-#eyRJ-a;?fVr7IurQlOjc?_k4OLRtC
z21Voz&d5PQ0fmPkKAmMlC!-xF4;37BDKo9;vwg^-{0tu*PH1axn<n?|lNJ`RX1%xG
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z+d2h_lK~b0JPEKD;6@&x+pg=(fl228JUTx4k$)ic+1!7q=sG>uPE_%~^0)o}lwGU%
zpVDr-!NmU*r8nq|nvjUD`EmV-A~hCl{o}2(H|v(^Dn|rbL>|`F>Lh3-lTKX$7RfQ4
z#pId~l6gpKABQHQ(@$?3jK+dIeLRXz#DWN^engjO0=;ioFAMa*aDu$Qt4MjZ(%p@V
z*>@7vxI*QXO1@hsS6tpuBKFe*h*rjC%9WRmt8u?hM)`=A$3!2>cgmQa9@*6ee8oE|
zv%0f=HqeySgCv1Y9}aXOx-T~AuDHnAAj-$iQ$b!r)T1)dbHVz-Cst$UnV>))9%enK
zgP>SF1K;B@7;E9_Yf)4b?&j#fjg(t=RbK96vK)PyBqiKxXwbv}2ihu$l3>S=lNAXy
zNq<!Z+OHz$JwyTte!PbKLVN@NidYSW))zG73isgsTKEZVr<zsnknx)-p=>13zmO${
z0{k6$*5FQ`7E67*e(-SXbXk%Sof6|{0r}YQ48DUXiB3F)tV*<Uy?2u56SFK%P*~Hm
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zZ)1mDX6+)9mgH<c5`D6R2GGHG22lH?iq_T>&TroBs76w{(y11euB$|SEwx6!AR{}X
z)+jDXQTC`sHOXvLhv<)^8+?ZGHWyvkrJsxJe~6FhqJT?r@$2vn291FZvNOp&#T^ww
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diff --git a/Tools/bootloaders/AR-F407SmartBat_bl.elf b/Tools/bootloaders/AR-F407SmartBat_bl.elf
index 49212ab4543676e9acf155fae40be62159e25871..f527113d056bcb7da5f0df814be9fab8a182901f 100755
GIT binary patch
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diff --git a/Tools/bootloaders/AR-F407SmartBat_bl.hex b/Tools/bootloaders/AR-F407SmartBat_bl.hex
index 5f4de701c613b2..5731dadd7704f9 100644
--- a/Tools/bootloaders/AR-F407SmartBat_bl.hex
+++ b/Tools/bootloaders/AR-F407SmartBat_bl.hex
@@ -1,1361 +1,1309 @@
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diff --git a/Tools/bootloaders/ARK_CANNODE_bl.bin b/Tools/bootloaders/ARK_CANNODE_bl.bin
old mode 100644
new mode 100755
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diff --git a/Tools/bootloaders/ARK_CANNODE_bl.hex b/Tools/bootloaders/ARK_CANNODE_bl.hex
index 352197b9428a9e..4f899ae93904d8 100644
--- a/Tools/bootloaders/ARK_CANNODE_bl.hex
+++ b/Tools/bootloaders/ARK_CANNODE_bl.hex
@@ -1,1376 +1,1376 @@
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diff --git a/Tools/bootloaders/ARK_GPS_bl.hex b/Tools/bootloaders/ARK_GPS_bl.hex
index e705911e53c6aa..efc643d73f845f 100644
--- a/Tools/bootloaders/ARK_GPS_bl.hex
+++ b/Tools/bootloaders/ARK_GPS_bl.hex
@@ -1,1283 +1,1233 @@
 :020000040800F2
-:1000000000070020F5040008E52600089D260008EA
-:10001000C52600089D260008BD260008F704000834
-:10002000F7040008F7040008F7040008D9360008B0
-:10003000F7040008F7040008F7040008F7040008B4
-:10004000F7040008F7040008F7040008F7040008A4
-:10005000F7040008F7040008E54400080D4500080F
-:10006000354500085D45000885450008F70400088F
-:10007000F7040008F7040008F7040008F704000874
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diff --git a/Tools/bootloaders/ARK_RTK_GPS_bl.hex b/Tools/bootloaders/ARK_RTK_GPS_bl.hex
index 74f82628901d96..a9dedf72f0d2ed 100644
--- a/Tools/bootloaders/ARK_RTK_GPS_bl.hex
+++ b/Tools/bootloaders/ARK_RTK_GPS_bl.hex
@@ -1,1283 +1,1232 @@
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diff --git a/Tools/bootloaders/AeroFox-Airspeed-DLVR_bl.bin b/Tools/bootloaders/AeroFox-Airspeed-DLVR_bl.bin
index 6ecf3bd9743e612b9689f6e3b2e46cbd8b9b679b..ba9a627090e008ef806047d53f87446ea9d461a2 100755
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diff --git a/Tools/bootloaders/AeroFox-Airspeed_bl.bin b/Tools/bootloaders/AeroFox-Airspeed_bl.bin
index 03d0aecf8a24257fccf29c3abb1a743fa6a53430..05cff056a4a85d53d1996524b114ad70da11bfa6 100755
GIT binary patch
delta 2589
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diff --git a/Tools/bootloaders/AeroFox-GNSS_F9P_bl.bin b/Tools/bootloaders/AeroFox-GNSS_F9P_bl.bin
index c83805c9feb01f1906770c37d85b40af8c2bb14b..a5415f8768da73fb289d4bc1db3e5ebf9f0eac11 100755
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diff --git a/Tools/bootloaders/AeroFox-PMU_bl.bin b/Tools/bootloaders/AeroFox-PMU_bl.bin
index 359a9d498bb3c88e32e2077585bf53c76623623d..a8a4fec817da6a8f0264a1db2dd6a1dbead7435e 100755
GIT binary patch
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diff --git a/Tools/bootloaders/BirdCANdy_bl.bin b/Tools/bootloaders/BirdCANdy_bl.bin
index d1858f4735aee35fbe5ac3effaa6e41fc7160259..4c07f052d0cfdd075caacabe82520a6bf0a537dc 100755
GIT binary patch
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delta 6226
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diff --git a/Tools/bootloaders/BirdCANdy_bl.elf b/Tools/bootloaders/BirdCANdy_bl.elf
index 2a38b21e51206f7ed68347917a631bfbff7889fd..fb979f4826587911b5a240419a6d41ef7395f2ab 100755
GIT binary patch
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diff --git a/Tools/bootloaders/BirdCANdy_bl.hex b/Tools/bootloaders/BirdCANdy_bl.hex
index 2f9950b2c8cbc8..dc28b0b5ad6313 100644
--- a/Tools/bootloaders/BirdCANdy_bl.hex
+++ b/Tools/bootloaders/BirdCANdy_bl.hex
@@ -1,1283 +1,1232 @@
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diff --git a/Tools/bootloaders/CUAV_GPS_bl.bin b/Tools/bootloaders/CUAV_GPS_bl.bin
index ba018a0af705609c8476d1a29fb63124141f5884..ab7b6d90b770333524f073652b627e6a3e24f21b 100755
GIT binary patch
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delta 6288
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diff --git a/Tools/bootloaders/CUAV_GPS_bl.elf b/Tools/bootloaders/CUAV_GPS_bl.elf
index e07dbb7f30c867089bf960468630d0eb5e91a057..09c376bbafc8644939c137089ea881035dc17dd6 100755
GIT binary patch
delta 22016
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diff --git a/Tools/bootloaders/CUAV_GPS_bl.hex b/Tools/bootloaders/CUAV_GPS_bl.hex
index 3ffd8f8b5699b2..6a5a98d0633ec8 100644
--- a/Tools/bootloaders/CUAV_GPS_bl.hex
+++ b/Tools/bootloaders/CUAV_GPS_bl.hex
@@ -1,1289 +1,1238 @@
 :020000040800F2
-:1000000000070020F5040008F1260008A9260008D2
-:10001000D1260008A9260008C9260008F704000810
-:10002000F7040008F7040008F7040008E5360008A4
-:10003000F7040008F7040008F7040008F7040008B4
-:10004000F7040008F7040008F7040008F7040008A4
-:10005000F7040008F7040008F144000819450008F7
-:10006000414500086945000891450008F70400086B
-:10007000F7040008F7040008F7040008F704000874
-:10008000F7040008F7040008F70400085D260008DC
-:100090008926000899260008F7040008B9450008D9
-:1000A000F7040008F7040008F7040008F704000844
-:1000B000B5460008F7040008F7040008F704000834
-:1000C000F7040008F7040008F7040008F704000824
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diff --git a/Tools/bootloaders/CarbonixL496_bl.bin b/Tools/bootloaders/CarbonixL496_bl.bin
index 47736493150d3c2649d8ef4e3cae93e875743987..73aab00f2af6d80a5728a0bc590f46dd35ab722d 100755
GIT binary patch
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diff --git a/Tools/bootloaders/CubeOrange-periph-heavy_bl.bin b/Tools/bootloaders/CubeOrange-periph-heavy_bl.bin
index c912c780818ced0719c8c70d81aa4d9259adbf92..cd09e9be90ed95ebf6a1dd7475da2c30ec26d3ad 100755
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diff --git a/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex b/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex
index 6b527aec21bde3..d7433019f9d1c4 100644
--- a/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex
+++ b/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex
@@ -1,2014 +1,2073 @@
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diff --git a/Tools/bootloaders/CubeOrange-periph_bl.hex b/Tools/bootloaders/CubeOrange-periph_bl.hex
index c1a27f91483174..c5edc232014275 100644
--- a/Tools/bootloaders/CubeOrange-periph_bl.hex
+++ b/Tools/bootloaders/CubeOrange-periph_bl.hex
@@ -1,2013 +1,2072 @@
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diff --git a/Tools/bootloaders/CubePilot-CANMod_bl.hex b/Tools/bootloaders/CubePilot-CANMod_bl.hex
index e8bf2bd2d4d8ea..79443030873fff 100644
--- a/Tools/bootloaders/CubePilot-CANMod_bl.hex
+++ b/Tools/bootloaders/CubePilot-CANMod_bl.hex
@@ -1,1996 +1,2053 @@
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diff --git a/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin b/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin
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diff --git a/Tools/bootloaders/FreeflyRTK_bl.bin b/Tools/bootloaders/FreeflyRTK_bl.bin
index 08144e90fa3ee69f41e1ae36162db172716da90a..1175d29c49119ff579d96f72b150126152e13e02 100755
GIT binary patch
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diff --git a/Tools/bootloaders/FreeflyRTK_bl.elf b/Tools/bootloaders/FreeflyRTK_bl.elf
index 64ba9bdb6458b6b723310ce039192a249f03ac9b..02128459b3222595fae1eb5d31fa0af1d4a8a68c 100755
GIT binary patch
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diff --git a/Tools/bootloaders/FreeflyRTK_bl.hex b/Tools/bootloaders/FreeflyRTK_bl.hex
index f96d350ee15827..28cf89bbcb4601 100644
--- a/Tools/bootloaders/FreeflyRTK_bl.hex
+++ b/Tools/bootloaders/FreeflyRTK_bl.hex
@@ -1,1772 +1,1723 @@
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diff --git a/Tools/bootloaders/Here4AP_bl.bin b/Tools/bootloaders/Here4AP_bl.bin
index a815282c2037dc9cf23d17c19d545cfa06d9572b..be76f1f4814ac1a003cf983e321bd0b0460b8304 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Here4FC_bl.bin b/Tools/bootloaders/Here4FC_bl.bin
index 72a593edecc45152abcfe20b724f01684e5edd7b..b84daeaa0e02db07f858d7362f93a7227d2f0796 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Here4FC_bl.hex b/Tools/bootloaders/Here4FC_bl.hex
index 2ca9ef747bf0b0..3d421f5cea1709 100644
--- a/Tools/bootloaders/Here4FC_bl.hex
+++ b/Tools/bootloaders/Here4FC_bl.hex
@@ -1,1594 +1,1650 @@
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diff --git a/Tools/bootloaders/Hitec-Airspeed_bl.elf b/Tools/bootloaders/Hitec-Airspeed_bl.elf
index 4d314a924ab6451cd63f497efb5538b2c5a496e8..af0727e16d901106ff22db05527785042c739cd1 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Hitec-Airspeed_bl.hex b/Tools/bootloaders/Hitec-Airspeed_bl.hex
index efa3593106fa24..d820559c415220 100644
--- a/Tools/bootloaders/Hitec-Airspeed_bl.hex
+++ b/Tools/bootloaders/Hitec-Airspeed_bl.hex
@@ -1,1195 +1,1172 @@
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diff --git a/Tools/bootloaders/HitecMosaic_bl.bin b/Tools/bootloaders/HitecMosaic_bl.bin
index 055e5bd818531e499ee5845c81264f124f65eb40..435a304f49aa5d91ad482232d03367a693dd256e 100755
GIT binary patch
delta 5401
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diff --git a/Tools/bootloaders/HitecMosaic_bl.elf b/Tools/bootloaders/HitecMosaic_bl.elf
index 3fe7c2f127917bf88fe35f6efd647348a06c869c..6ae0d4bffdf87039703a1935201db0aed64bd25a 100755
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diff --git a/Tools/bootloaders/HitecMosaic_bl.hex b/Tools/bootloaders/HitecMosaic_bl.hex
index 91872d56ef6c4e..224893272ad5a2 100644
--- a/Tools/bootloaders/HitecMosaic_bl.hex
+++ b/Tools/bootloaders/HitecMosaic_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/HolybroG4_GPS_bl.bin b/Tools/bootloaders/HolybroG4_GPS_bl.bin
index 6889581a3b3206fc17882425b41d9fc9c6fc9a0d..53050cf9b337aeda47edf430d874e14a967d3207 100755
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diff --git a/Tools/bootloaders/HolybroG4_GPS_bl.elf b/Tools/bootloaders/HolybroG4_GPS_bl.elf
index 66b34a15b100fbb6fcf0f757ce07890d0ba8a932..02ecaa187323282b463169fda95c70573cbba44b 100755
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diff --git a/Tools/bootloaders/HolybroG4_GPS_bl.hex b/Tools/bootloaders/HolybroG4_GPS_bl.hex
index b8ae6e861be360..2b20bbc5869292 100644
--- a/Tools/bootloaders/HolybroG4_GPS_bl.hex
+++ b/Tools/bootloaders/HolybroG4_GPS_bl.hex
@@ -1,1428 +1,1404 @@
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diff --git a/Tools/bootloaders/HolybroGPS_bl.bin b/Tools/bootloaders/HolybroGPS_bl.bin
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diff --git a/Tools/bootloaders/HolybroGPS_bl.elf b/Tools/bootloaders/HolybroGPS_bl.elf
index 6a549f4e5e58c64c716a7bb4197956ac2c853cdd..f825cb5e4c7fa2b82885669c046bedbf6fbe7861 100755
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diff --git a/Tools/bootloaders/HolybroGPS_bl.hex b/Tools/bootloaders/HolybroGPS_bl.hex
index faba48087fa096..e88d878c8e8565 100644
--- a/Tools/bootloaders/HolybroGPS_bl.hex
+++ b/Tools/bootloaders/HolybroGPS_bl.hex
@@ -1,1443 +1,1392 @@
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diff --git a/Tools/bootloaders/MatekL431-ADSB_bl.hex b/Tools/bootloaders/MatekL431-ADSB_bl.hex
index 5718b9a9ff16fd..e456865cec53c7 100644
--- a/Tools/bootloaders/MatekL431-ADSB_bl.hex
+++ b/Tools/bootloaders/MatekL431-ADSB_bl.hex
@@ -1,1160 +1,1109 @@
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diff --git a/Tools/bootloaders/MatekL431-Airspeed_bl.hex b/Tools/bootloaders/MatekL431-Airspeed_bl.hex
index 641e598c7d3506..3032cd0d784b21 100644
--- a/Tools/bootloaders/MatekL431-Airspeed_bl.hex
+++ b/Tools/bootloaders/MatekL431-Airspeed_bl.hex
@@ -1,1160 +1,1109 @@
 :020000040800F2
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diff --git a/Tools/bootloaders/MatekL431-BattMon_bl.bin b/Tools/bootloaders/MatekL431-BattMon_bl.bin
index f7b0d44adc7248a4c62fb5483ecf9cfbc12dc55a..f4848018aea28eee4733798f540ca4d04fb87d59 100755
GIT binary patch
delta 5071
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diff --git a/Tools/bootloaders/MatekL431-DShot_bl.bin b/Tools/bootloaders/MatekL431-DShot_bl.bin
index 7120c1086811fe1081045ff5dbd603c55c86cd2a..9c60044eeadc0f9fa40afcaa196e568501657eeb 100755
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diff --git a/Tools/bootloaders/MatekL431-EFI_bl.bin b/Tools/bootloaders/MatekL431-EFI_bl.bin
index f68f10dc363bade0009b2db92948f1bb122e777d..d6a79d5a2b424ea786c21589e1f7921985a07d73 100755
GIT binary patch
delta 5071
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diff --git a/Tools/bootloaders/MatekL431-GPS_bl.bin b/Tools/bootloaders/MatekL431-GPS_bl.bin
index 266291e731af4ceee2d10a73c2602d27319916af..61041d64f69345367a1a0160131814d86f22dc9b 100755
GIT binary patch
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diff --git a/Tools/bootloaders/MatekL431-Periph_bl.bin b/Tools/bootloaders/MatekL431-Periph_bl.bin
index c7798ec3909c68f774ff7006a802e898c2ebfd68..67f6620fef0afe079edbe87293bf7c96399e8296 100755
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diff --git a/Tools/bootloaders/MatekL431-Periph_bl.hex b/Tools/bootloaders/MatekL431-Periph_bl.hex
index 9166fa5402b711..65523f87d58768 100644
--- a/Tools/bootloaders/MatekL431-Periph_bl.hex
+++ b/Tools/bootloaders/MatekL431-Periph_bl.hex
@@ -1,1160 +1,1109 @@
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diff --git a/Tools/bootloaders/MatekL431-Proximity_bl.bin b/Tools/bootloaders/MatekL431-Proximity_bl.bin
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diff --git a/Tools/bootloaders/MatekL431-RC_bl.bin b/Tools/bootloaders/MatekL431-RC_bl.bin
index 49bf5329c25df39c048a69c77c6c35430f91e746..6e63c57fb8ea44a12d3a8111d28ce478e650c8ca 100755
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diff --git a/Tools/bootloaders/MatekL431-Rangefinder_bl.bin b/Tools/bootloaders/MatekL431-Rangefinder_bl.bin
index bab890793634ce7fad4595a953253b760beadb04..3dc296d2fe3363f3fa76ab467ca7412acdba203a 100755
GIT binary patch
delta 5071
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diff --git a/Tools/bootloaders/MatekL431-Serial_bl.bin b/Tools/bootloaders/MatekL431-Serial_bl.bin
index 80b78370907fa835cf3efa8e324d91e8898dc12b..657d8e11630bf945e02173ad3d05fab5ff5e3bf0 100755
GIT binary patch
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diff --git a/Tools/bootloaders/MatekL431-bdshot_bl.bin b/Tools/bootloaders/MatekL431-bdshot_bl.bin
index 5c422467a3ca097065d1fa51aaef152ebad0be48..7ae5e09ea5f11c11782c8d3740aa3e7c1b39ad5f 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Nucleo-G491_bl.bin b/Tools/bootloaders/Nucleo-G491_bl.bin
index f7939575c7a403bcda4a0297f4f1fc4fe26ea8e0..495bcdfae2d248f4842f1eec372fb97f5b1847d6 100755
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diff --git a/Tools/bootloaders/Nucleo-G491_bl.elf b/Tools/bootloaders/Nucleo-G491_bl.elf
index 8b3b6d6c5a911270dc06a5bf9194444fec95a429..6f47c8397ac5e11bd95e99b49957540f0a624aed 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Nucleo-G491_bl.hex b/Tools/bootloaders/Nucleo-G491_bl.hex
index 048444290b5b45..8234019cd1b8a9 100644
--- a/Tools/bootloaders/Nucleo-G491_bl.hex
+++ b/Tools/bootloaders/Nucleo-G491_bl.hex
@@ -1,1194 +1,1170 @@
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diff --git a/Tools/bootloaders/Pixracer-periph_bl.bin b/Tools/bootloaders/Pixracer-periph_bl.bin
index a1c5cc5e4a347a5e1f684f42c8874188c611c87f..ffa1ea7a60e9bfb90540c301bb3dc1fcf89654bf 100755
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diff --git a/Tools/bootloaders/Pixracer-periph_bl.hex b/Tools/bootloaders/Pixracer-periph_bl.hex
index 33a8a8e4b61199..cfcfa42018b425 100644
--- a/Tools/bootloaders/Pixracer-periph_bl.hex
+++ b/Tools/bootloaders/Pixracer-periph_bl.hex
@@ -1,1859 +1,1809 @@
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diff --git a/Tools/bootloaders/Sierra-PrecisionPoint_bl.bin b/Tools/bootloaders/Sierra-PrecisionPoint_bl.bin
old mode 100644
new mode 100755
index fe14c80e861bcb495a5e4ed6a477fff23f75c00c..bdefa4b06a1be63ccdad5327b8500f3a6e044f47
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diff --git a/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex b/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex
index 11826b369e91be..c91ff23b4ba604 100644
--- a/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex
+++ b/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex
@@ -1,1851 +1,1801 @@
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diff --git a/Tools/bootloaders/Sierra-TrueNavIC_bl.hex b/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
index cc08da520c12ab..186fcc74c01b03 100644
--- a/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
+++ b/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
@@ -1,19 +1,19 @@
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diff --git a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin
index 628100d66be528738536bb8f48ebd84066f01c87..9efbd78c54b0074971c738973feb346f2dff25fc 100755
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diff --git a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
index a252f716cf17ca..1fc93056ac280e 100644
--- a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
+++ b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
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diff --git a/Tools/bootloaders/Sierra-TrueNavPro_bl.bin b/Tools/bootloaders/Sierra-TrueNavPro_bl.bin
old mode 100644
new mode 100755
index 156c1b588eeede8c341593cb8d3a01ec5fb5d56f..590377496982d7ccbd1fcb05d09fd7fcaa944f9e
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diff --git a/Tools/bootloaders/Sierra-TrueNorth_bl.bin b/Tools/bootloaders/Sierra-TrueNorth_bl.bin
old mode 100644
new mode 100755
index f03c94358947acc963634a31feeddf9da02bdf46..dea074102898d9ce1a48cad34b743b4512cbf064
GIT binary patch
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diff --git a/Tools/bootloaders/Sierra-TrueSpeed_bl.bin b/Tools/bootloaders/Sierra-TrueSpeed_bl.bin
old mode 100644
new mode 100755
index 216fbb887ca5ef82e3b74101bd1f6eebb626d058..e771932c7121486e9e4dadcd9aa602ccca7b4012
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diff --git a/Tools/bootloaders/ZubaxGNSS_bl.bin b/Tools/bootloaders/ZubaxGNSS_bl.bin
index a3eaf5eb2ec827ec660a7da40c826ec4214cb0d2..fdf74b4bccb1994af1584738708ac0dc00fc37a4 100755
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diff --git a/Tools/bootloaders/ZubaxGNSS_bl.elf b/Tools/bootloaders/ZubaxGNSS_bl.elf
index aaf300ca07199c5787970e525e58ab93bb47d0c4..0219c9c985908fc6e3784b43c64fe5d104ca5f22 100755
GIT binary patch
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diff --git a/Tools/bootloaders/ZubaxGNSS_bl.hex b/Tools/bootloaders/ZubaxGNSS_bl.hex
index 48dccd0022483e..9ed6b6d79b60ca 100644
--- a/Tools/bootloaders/ZubaxGNSS_bl.hex
+++ b/Tools/bootloaders/ZubaxGNSS_bl.hex
@@ -1,27 +1,27 @@
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diff --git a/Tools/bootloaders/f103-ADSB_bl.bin b/Tools/bootloaders/f103-ADSB_bl.bin
index 7e698ca14ea11fb878e26cfeb8c07f0d07880a9e..e5b39d3ed4c582f92e14d0b085a45f909679422b 100755
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index 9776e83a7c9680e74d55a7660766135bb3d0e44e..6367e054e64bc52c6a25904c6aa6c613c2bc8b5f 100755
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diff --git a/Tools/bootloaders/f103-ADSB_bl.hex b/Tools/bootloaders/f103-ADSB_bl.hex
index 1cd83a81d0fc07..9e8b46c7b04f8b 100644
--- a/Tools/bootloaders/f103-ADSB_bl.hex
+++ b/Tools/bootloaders/f103-ADSB_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-Airspeed_bl.bin b/Tools/bootloaders/f103-Airspeed_bl.bin
index 9e902bbc2315562b69b29673ed46cc1508ac1093..0e9f9717928a7bb7c2acb4c04e4d02937df21f15 100755
GIT binary patch
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diff --git a/Tools/bootloaders/f103-Airspeed_bl.elf b/Tools/bootloaders/f103-Airspeed_bl.elf
index 2756e4071d71947b517019cb6606b12459cbf19f..a6698a04181ecab4757cba079520e6ae33fe5c0a 100755
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diff --git a/Tools/bootloaders/f103-Airspeed_bl.hex b/Tools/bootloaders/f103-Airspeed_bl.hex
index 11db8402437a6e..f178c60d7e2453 100644
--- a/Tools/bootloaders/f103-Airspeed_bl.hex
+++ b/Tools/bootloaders/f103-Airspeed_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-GPS_bl.bin b/Tools/bootloaders/f103-GPS_bl.bin
index 5b6a77a88f3fd64f941fed2d4e5853aa8e7f0794..93f5cd3265c417d518b26e1bdf7cb6ee523a5c38 100755
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diff --git a/Tools/bootloaders/f103-GPS_bl.hex b/Tools/bootloaders/f103-GPS_bl.hex
index 301d4e22175d65..d0268c3c3546fe 100644
--- a/Tools/bootloaders/f103-GPS_bl.hex
+++ b/Tools/bootloaders/f103-GPS_bl.hex
@@ -1,26 +1,26 @@
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+:1037D00023B1054A93690BB1D0699847BDE8084009
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+:103B1000E803000000000000009C0100000000001D
+:103B2000640000000000000040420F00FE2A010077
+:043B3000D2040000BB
 :00000001FF
diff --git a/Tools/bootloaders/f103-HWESC_bl.bin b/Tools/bootloaders/f103-HWESC_bl.bin
index 1ff1cd6a394bcac1348ddc5e9cf24b9206d8fb3b..13633ea1dffc640624f049b5a186344a7e07d67e 100755
GIT binary patch
delta 2492
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delta 3388
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diff --git a/Tools/bootloaders/f103-HWESC_bl.hex b/Tools/bootloaders/f103-HWESC_bl.hex
index 9dcc716daf87d0..92994d12b64922 100644
--- a/Tools/bootloaders/f103-HWESC_bl.hex
+++ b/Tools/bootloaders/f103-HWESC_bl.hex
@@ -1,26 +1,26 @@
 :020000040800F2
-:10000000000900202D080008A91C0008791C000820
-:10001000951C0008791C00088D1C00082F0800089A
-:100020002F0800082F0800082F080008DD370008F7
-:100030002F0800082F0800082F080008F13C0008CE
-:100040002F0800082F0800082F0800082F080008B4
-:100050002F0800082F080008213A00084D3A000830
-:10006000793A0008A53A0008D13A00082F0800089C
-:100070002F0800082F0800082F0800082F08000884
-:100080002F0800082F0800082F080008A52C0008DA
-:10009000112D0008652D0008B92D0008FD3A000853
-:1000A0002F0800082F0800082F0800082F08000854
-:1000B0002F0800082F0800082F0800082F08000844
-:1000C0002F0800082F0800082F0800082F08000834
-:1000D0002F0800082F0800082F0800082F08000824
-:1000E000653B00082F0800082F0800082F080008AB
-:1000F0002F0800082F0800082F0800082F08000804
-:100100002F0800082F0800082F0800082F080008F3
-:100110002F0800082F0800082F0800082F080008E3
-:100120002F0800082F0800082F0800082F080008D3
-:100130002F0800082F0800082F0800082F080008C3
-:100140002F0800082F0800082F0800082F080008B3
-:100150002F0800082F0800082F0800082F080008A3
+:100000000009002025050008991900086919000851
+:1000100085190008691900087D19000827050008DE
+:10002000270500082705000827050008F134000807
+:10003000270500082705000827050008053A0008DD
+:1000400027050008270500082705000827050008E0
+:100050002705000827050008353700086137000824
+:100060008D370008B9370008E53700082705000874
+:1000700027050008270500082705000827050008B0
+:10008000270500082705000827050008952900080E
+:10009000012A0008552A0008A92A0008113800087A
+:1000A0002705000827050008270500082705000880
+:1000B0002705000827050008270500082705000870
+:1000C0002705000827050008270500082705000860
+:1000D0002705000827050008270500082705000850
+:1000E00079380008270500082705000827050008BB
+:1000F0002705000827050008270500082705000830
+:10010000270500082705000827050008270500081F
+:10011000270500082705000827050008270500080F
+:1001200027050008270500082705000827050008FF
+:1001300027050008270500082705000827050008EF
+:1001400027050008270500082705000827050008DF
+:1001500027050008270500082705000827050008CF
 :100160004FF0FF0C1CEAD0521EBF1CEAD15392EA9A
 :100170000C0F93EA0C0F6FD01A4480EA010C400276
 :1001800018BF5FEA41211ED04FF0006343EA5010D0
@@ -81,917 +81,870 @@
 :1004F0009E03B3EB126209D44FEA002343F000439A
 :1005000023FA02F070474FF00000704712F1610FBC
 :1005100001D1420202D14FF0FF3070474FF000008E
-:10052000704700BF53B94AB9002908BF00281CBF53
-:100530004FF0FF314FF0FF3000F076B9ADF1080C0D
-:100540006DE904CE00F006F8DDF804E0DDE90223F1
-:1005500004B070472DE9F047089E0D4604468846D2
-:10056000002B4DD18A42944668D9B2FA82F252B138
-:1005700001FA02F3C2F1200120FA01F10CFA02FCA7
-:1005800041EA030894404FEA1C41B8FBF1F71FFA17
-:100590008CFE01FB178807FB0EF0230C43EA08438F
-:1005A00098420AD91CEB030307F1FF3580F01E8146
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diff --git a/Tools/bootloaders/f103-QiotekPeriph_bl.bin b/Tools/bootloaders/f103-QiotekPeriph_bl.bin
index ffde9e119ef8ff5a5ee3b48e1d1ac6a1f36c5db1..4faa840de53728172a31d44b3465a154b307d8ee 100755
GIT binary patch
delta 2600
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diff --git a/Tools/bootloaders/f103-QiotekPeriph_bl.hex b/Tools/bootloaders/f103-QiotekPeriph_bl.hex
index 072f1569b8776f..dce4580e2f9f5c 100644
--- a/Tools/bootloaders/f103-QiotekPeriph_bl.hex
+++ b/Tools/bootloaders/f103-QiotekPeriph_bl.hex
@@ -1,26 +1,26 @@
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 :00000001FF
diff --git a/Tools/bootloaders/f103-RangeFinder_bl.bin b/Tools/bootloaders/f103-RangeFinder_bl.bin
index bc59ee7adab86cdc46b55f4cc057a83e42352dc8..3e4607027cd1b16882d8dcc79c4bc19f983690cd 100755
GIT binary patch
delta 2600
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delta 3427
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diff --git a/Tools/bootloaders/f103-RangeFinder_bl.elf b/Tools/bootloaders/f103-RangeFinder_bl.elf
index 4f85de7a629ca5e25fff733cf01fde0ae6a69115..ea56a0cb072fb77530d795ee94bbd1c001107092 100755
GIT binary patch
delta 13836
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diff --git a/Tools/bootloaders/f103-RangeFinder_bl.hex b/Tools/bootloaders/f103-RangeFinder_bl.hex
index d9010ef8e65a7a..941d652c2c0a31 100644
--- a/Tools/bootloaders/f103-RangeFinder_bl.hex
+++ b/Tools/bootloaders/f103-RangeFinder_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-Trigger_bl.bin b/Tools/bootloaders/f103-Trigger_bl.bin
index a2de5dfcab8091c0575027976d864cb9951d33a8..faf1f07fa405f98f3a071eace3f0f99b1f9813dc 100755
GIT binary patch
delta 2510
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delta 3384
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diff --git a/Tools/bootloaders/f103-Trigger_bl.elf b/Tools/bootloaders/f103-Trigger_bl.elf
index dc9a90b5ba556fe012f6240cf397182a0ae6408e..55bc626ca3852473d38d9dc9bff0a1a4d73ccd31 100755
GIT binary patch
delta 13746
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diff --git a/Tools/bootloaders/f103-Trigger_bl.hex b/Tools/bootloaders/f103-Trigger_bl.hex
index fe677d32dd3236..e61b87f2ef1892 100644
--- a/Tools/bootloaders/f103-Trigger_bl.hex
+++ b/Tools/bootloaders/f103-Trigger_bl.hex
@@ -1,26 +1,26 @@
 :020000040800F2
-:10000000000900202D080008A91C0008791C000820
-:10001000951C0008791C00088D1C00082F0800089A
-:100020002F0800082F0800082F080008DD370008F7
-:100030002F0800082F0800082F080008F13C0008CE
-:100040002F0800082F0800082F0800082F080008B4
-:100050002F0800082F080008213A00084D3A000830
-:10006000793A0008A53A0008D13A00082F0800089C
-:100070002F0800082F0800082F0800082F08000884
-:100080002F0800082F0800082F080008A52C0008DA
-:10009000112D0008652D0008B92D0008FD3A000853
-:1000A0002F0800082F0800082F0800082F08000854
-:1000B0002F0800082F0800082F0800082F08000844
-:1000C0002F0800082F0800082F0800082F08000834
-:1000D0002F0800082F0800082F0800082F08000824
-:1000E000653B00082F0800082F0800082F080008AB
-:1000F0002F0800082F0800082F0800082F08000804
-:100100002F0800082F0800082F0800082F080008F3
-:100110002F0800082F0800082F0800082F080008E3
-:100120002F0800082F0800082F0800082F080008D3
-:100130002F0800082F0800082F0800082F080008C3
-:100140002F0800082F0800082F0800082F080008B3
-:100150002F0800082F0800082F0800082F080008A3
+:100000000009002025050008991900086919000851
+:1000100085190008691900087D19000827050008DE
+:10002000270500082705000827050008F134000807
+:10003000270500082705000827050008053A0008DD
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+:100050002705000827050008353700086137000824
+:100060008D370008B9370008E53700082705000874
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+:10008000270500082705000827050008952900080E
+:10009000012A0008552A0008A92A0008113800087A
+:1000A0002705000827050008270500082705000880
+:1000B0002705000827050008270500082705000870
+:1000C0002705000827050008270500082705000860
+:1000D0002705000827050008270500082705000850
+:1000E00079380008270500082705000827050008BB
+:1000F0002705000827050008270500082705000830
+:10010000270500082705000827050008270500081F
+:10011000270500082705000827050008270500080F
+:1001200027050008270500082705000827050008FF
+:1001300027050008270500082705000827050008EF
+:1001400027050008270500082705000827050008DF
+:1001500027050008270500082705000827050008CF
 :100160004FF0FF0C1CEAD0521EBF1CEAD15392EA9A
 :100170000C0F93EA0C0F6FD01A4480EA010C400276
 :1001800018BF5FEA41211ED04FF0006343EA5010D0
@@ -81,917 +81,870 @@
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 :1005000023FA02F070474FF00000704712F1610FBC
 :1005100001D1420202D14FF0FF3070474FF000008E
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-:100590008CFE01FB178807FB0EF0230C43EA08438F
-:1005A00098420AD91CEB030307F1FF3580F01E8146
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diff --git a/Tools/bootloaders/f303-GPS_bl.bin b/Tools/bootloaders/f303-GPS_bl.bin
index 52d37cb46e4f8f0645f465df9b7cfebb6314eef2..98a2afed0f6904a5589cca32a91ec1318a75609f 100755
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diff --git a/Tools/bootloaders/f303-GPS_bl.hex b/Tools/bootloaders/f303-GPS_bl.hex
index 8411e72140b114..dba536f8458946 100644
--- a/Tools/bootloaders/f303-GPS_bl.hex
+++ b/Tools/bootloaders/f303-GPS_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-HWESC_bl.hex b/Tools/bootloaders/f303-HWESC_bl.hex
index e35db883a3e8dc..3d882502410125 100644
--- a/Tools/bootloaders/f303-HWESC_bl.hex
+++ b/Tools/bootloaders/f303-HWESC_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-M10025_bl.hex b/Tools/bootloaders/f303-M10025_bl.hex
index 7d09f547760507..703e54b675df3c 100644
--- a/Tools/bootloaders/f303-M10025_bl.hex
+++ b/Tools/bootloaders/f303-M10025_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-M10070_bl.elf b/Tools/bootloaders/f303-M10070_bl.elf
index 403ba5566ccc741fe2476691246c6a28c60a78b1..92ed42ffe9ceddbadebb136df1ef09e6be226de1 100755
GIT binary patch
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diff --git a/Tools/bootloaders/f303-M10070_bl.hex b/Tools/bootloaders/f303-M10070_bl.hex
index 9f424cf403bd91..40838464d60ae7 100644
--- a/Tools/bootloaders/f303-M10070_bl.hex
+++ b/Tools/bootloaders/f303-M10070_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-MatekGPS_bl.bin b/Tools/bootloaders/f303-MatekGPS_bl.bin
index b011dbc79a2cee39dc05be896dceab144c9d447c..cc7f9dc927a9a90550c68091b2e0a42d52b12c01 100755
GIT binary patch
delta 5370
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diff --git a/Tools/bootloaders/f303-MatekGPS_bl.elf b/Tools/bootloaders/f303-MatekGPS_bl.elf
index dd3736d8abc76a3a1a0e64a61f942a328a02fd95..ca17f19803d4d12eb06fac355a705efe0bef6d4c 100755
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diff --git a/Tools/bootloaders/f303-MatekGPS_bl.hex b/Tools/bootloaders/f303-MatekGPS_bl.hex
index fa31d391a6aafc..1a59ad847b383c 100644
--- a/Tools/bootloaders/f303-MatekGPS_bl.hex
+++ b/Tools/bootloaders/f303-MatekGPS_bl.hex
@@ -1,1218 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-PWM_bl.bin b/Tools/bootloaders/f303-PWM_bl.bin
index 17ae202d0e3a8a038bdb07e2ca438c830cfdcb52..566e37bec0e0fb2d089a44bca13075ba37111b81 100755
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diff --git a/Tools/bootloaders/f303-TempSensor_bl.bin b/Tools/bootloaders/f303-TempSensor_bl.bin
index 928f635ffa6f972f7a349ec0e5d7439aa842b85b..ec7a3652b5fdf99ce003070a0bc5baf32e602f27 100755
GIT binary patch
delta 5371
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diff --git a/Tools/bootloaders/f303-Universal_bl.bin b/Tools/bootloaders/f303-Universal_bl.bin
index eb9bebcbb2aca6683e36d6ebcd082364297358cb..2261e310ae5b91449594a0993a47d9813bb4e60e 100755
GIT binary patch
delta 5402
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A)&Kwi

delta 6078
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diff --git a/Tools/bootloaders/f303-Universal_bl.elf b/Tools/bootloaders/f303-Universal_bl.elf
index 711136577c2da2076867c52af950fcafbc767913..535bb279e61fe0effb97aa7df153f0d231b6e277 100755
GIT binary patch
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diff --git a/Tools/bootloaders/f303-Universal_bl.hex b/Tools/bootloaders/f303-Universal_bl.hex
index feb060e57e8088..da1e3f4bf6f3e9 100644
--- a/Tools/bootloaders/f303-Universal_bl.hex
+++ b/Tools/bootloaders/f303-Universal_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f405-MatekAirspeed_bl.hex b/Tools/bootloaders/f405-MatekAirspeed_bl.hex
index 989d82a4d68cb8..929f367d44a551 100644
--- a/Tools/bootloaders/f405-MatekAirspeed_bl.hex
+++ b/Tools/bootloaders/f405-MatekAirspeed_bl.hex
@@ -1,1741 +1,1691 @@
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diff --git a/Tools/bootloaders/f405-MatekGPS_bl.hex b/Tools/bootloaders/f405-MatekGPS_bl.hex
index 68e31533fbae0b..41122bf1ad2bde 100644
--- a/Tools/bootloaders/f405-MatekGPS_bl.hex
+++ b/Tools/bootloaders/f405-MatekGPS_bl.hex
@@ -1,1741 +1,1691 @@
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diff --git a/Tools/bootloaders/mRo-M10095_bl.elf b/Tools/bootloaders/mRo-M10095_bl.elf
index f516a144bc382beb013c8be3a6a02ae7e7de5610..d2ac1fbe7627202146beec3faebea980d9aba3dc 100755
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diff --git a/Tools/bootloaders/mRo-M10095_bl.hex b/Tools/bootloaders/mRo-M10095_bl.hex
index 097fbdc19b25cd..6787419734ba19 100644
--- a/Tools/bootloaders/mRo-M10095_bl.hex
+++ b/Tools/bootloaders/mRo-M10095_bl.hex
@@ -1,1412 +1,1389 @@
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diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.bin b/Tools/bootloaders/mRoKitCANrevC_bl.bin
index de138c355e8415f97d42d6b9e73247bfc2633452..e7841c82b9a5eb2143673deb10d0aa241468bc55 100755
GIT binary patch
delta 1448
zcmXw3eQZ-z6hHU9_O)BveK3aG%GTGueZfGw;iPkJ>$>sw(QF09#JHFgBRYhHZG5;)
zU@MF$9|q*Apwc*Wm?0>uW$MH-6bKjytP%(W$S_DcGBmfNu(y7C3-OP8?>RT;p8LD!
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delta 1438
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zQh7_3{@9S=V9<?=J37-d8@{s0Z)7x>Cj+@eZEC<I^0H}pwtb4Pu~TRSdRL70VV{B}
zcG|}LTc=s&5z}fJmXLW>I~Aj>*k9yg)d9TiYMTEihaIj;b6BZuS^MUi^0Kmu%9f^g
XUjhJ9ZEeTj$XTmb&O9K!b?^TVmjFcj

diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.hex b/Tools/bootloaders/mRoKitCANrevC_bl.hex
index 3ba95d12767dcc..2cfa28e9fc55a5 100644
--- a/Tools/bootloaders/mRoKitCANrevC_bl.hex
+++ b/Tools/bootloaders/mRoKitCANrevC_bl.hex
@@ -25,7 +25,7 @@
 :10017000B3010008B3010008B3010008B30100088F
 :10018000B3010008B3010008B3010008B30100087F
 :10019000B3010008B3010008B3010008B30100086F
-:1001A0001D0F00080000000000000000000000001B
+:1001A000210F000800000000000000000000000017
 :1001B00002E000F000F8FEE772B6374880F30888E6
 :1001C000364880F3098836483649086040F2000016
 :1001D000CCF200004EF63471CEF200010860BFF39D
@@ -42,208 +42,208 @@
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diff --git a/Tools/bootloaders/sw-nav-f405_bl.bin b/Tools/bootloaders/sw-nav-f405_bl.bin
index 308f76f1fb5f454e616e4bc001bfa531ee8fd3c8..e4bcac19c24eaf7e0e04781f2eaee33718435d6d 100755
GIT binary patch
delta 5133
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diff --git a/Tools/bootloaders/sw-nav-f405_bl.hex b/Tools/bootloaders/sw-nav-f405_bl.hex
index cb588d700be370..2b27b817de76df 100644
--- a/Tools/bootloaders/sw-nav-f405_bl.hex
+++ b/Tools/bootloaders/sw-nav-f405_bl.hex
@@ -1,1198 +1,1148 @@
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diff --git a/Tools/bootloaders/sw-spar-f407_bl.hex b/Tools/bootloaders/sw-spar-f407_bl.hex
index 88c60c7a045d44..5e0a9fabd55e0f 100644
--- a/Tools/bootloaders/sw-spar-f407_bl.hex
+++ b/Tools/bootloaders/sw-spar-f407_bl.hex
@@ -1,1762 +1,1711 @@
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+:1067B00050696C6F740025424F415244252D424C64
+:1067C000002553455249414C2500000002000000BD
+:1067D0000000000079400008E5400008400040004B
+:1067E00050630020606300200200000000000000F1
+:1067F0000300000000000000294100080000000024
+:106800001000000070630020000000000100000084
+:10681000000000000C660020010102001D4C000871
+:106820002D4B0008C94B0008AD4B00084300000089
+:106830003468000809024300020100C03209040064
+:1068400000010202010005240010010524010001DD
+:10685000042402020524060001070582030800FF44
+:1068600009040100020A00000007050102400000BF
+:106870000705810240000000120000008068000847
+:1068800012011001020000400912415700020102EA
+:10689000030100000403090425424F41524425002E
+:1068A00073772D737061722D66343037003031325A
+:1068B00033343536373839414243444546000000C9
+:1068C00000400000004000000040000000400000C8
+:1068D00000000100000002000000020000000200B1
+:1068E000000000006D42000825450008D145000861
+:1068F000400040006C6600206C6600200100000033
+:106900007C660020800000004001000003000000C1
+:106910006D61696E0069646C650000000000802A8A
+:1069200000000000AAAAAAAA00000024FFFF00009D
+:106930000000000000A00A00006800000000000045
+:10694000AA6AAAAA000000007FFF000000009009C8
+:10695000000000000000010000000000AAAAAAAA8E
+:1069600000000000FFFE000000000000000000002A
+:106970001A000000000000009AAAAAAA0000000065
+:10698000FFFF000099000000000000000000000070
+:1069900000000000AAAAAAAA00000000FFFF000051
+:1069A00000000000000000000000000000000000E7
+:1069B000AAAAAAAA00000000FFFF00000000000031
+:1069C000000000000000000000000000AAAAAAAA1F
+:1069D00000000000FFFF00000000000000000000B9
+:1069E00000000000000000000A000000000000009D
+:1069F0000300000000000000000000000000000094
+:106A00000000000000000000000000000000000086
+:106A100000000000000000007017000000000000EF
+:106A2000000007000000000040420F00FE2A0100A5
+:106A3000D2040000FF00960000000008009600004D
+:106A40000000080004000000946800080000000036
+:106A50000000000000000000000000000000000036
+:106A60000000000050230020000000000000000093
+:106A70000000000000000000000000000000000016
+:106A80000000000000000000000000000000000006
+:106A900000000000000000000000000000000000F6
+:106AA00000000000000000000000000000000000E6
+:106AB00000000000000000000000000000000000D6
+:086AC0000000000000000000CE
 :00000001FF

From aaad98e8985fe8c63ae2720f3af45fb963ab09c6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Feb 2024 16:02:31 +1100
Subject: [PATCH 08/83] AP_RCProtocol: correct compilation when crossfire not
 compiled in

---
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
index a51c9dd795c88d..b0b678d8a5f8f1 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -435,10 +435,15 @@ void AP_RCProtocol_GHST::process_handshake(uint32_t baudrate)
         || baudrate != CRSF_BAUDRATE
         || baudrate == GHST_BAUDRATE
         || uart->get_baud_rate() == GHST_BAUDRATE
-        || !protocol_enabled(AP_RCProtocol::GHST)
-        || protocol_enabled(AP_RCProtocol::CRSF)) {
+        || !protocol_enabled(AP_RCProtocol::GHST)) {
         return;
     }
+#if AP_RCPROTOCOL_CRSF_ENABLED
+    if (protocol_enabled(AP_RCProtocol::CRSF)) {
+        // don't fight CRSF
+        return;
+    }
+#endif
 
     uart->begin(GHST_BAUDRATE);
 }

From dfc1b841868c0e5790bf5056c8847c51f0312a82 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 19 Dec 2023 13:42:24 -0600
Subject: [PATCH 09/83] AC_Fence: fix autofence enable in takeoff mode

---
 libraries/AC_Fence/AC_Fence.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index ac9d7f50a031ab..c1e3b4cebb56b4 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -205,6 +205,9 @@ void AC_Fence::disable_floor()
 */
 void AC_Fence::auto_enable_fence_after_takeoff(void)
 {
+    if (_enabled) {
+        return;
+    } 
     switch(auto_enabled()) {
         case AC_Fence::AutoEnable::ALWAYS_ENABLED:
         case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:

From d91ff440e7d635d95a7478ff2126075ba039d807 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 19 Dec 2023 13:42:24 -0600
Subject: [PATCH 10/83] ArduPlane: fix autofence enable in takeoff mode

---
 ArduPlane/mode_takeoff.cpp | 31 +++++++++++++++++++------------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 2f70bef07115a3..37d0203fcf413f 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -134,34 +134,41 @@ void ModeTakeoff::update()
     // reset the loiter waypoint target to be correct bearing and dist
     // from starting location in case original yaw used to set it was off due to EKF
     // reset or compass interference from max throttle
+    const float altitude_cm = plane.current_loc.alt - start_loc.alt;
     if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
-        (plane.current_loc.alt - start_loc.alt >= level_alt*100 ||
+        (altitude_cm >= level_alt*100 ||
          start_loc.get_distance(plane.current_loc) >= dist)) {
         // reset the target loiter waypoint using current yaw which should be close to correct starting heading
         const float direction = start_loc.get_bearing_to(plane.current_loc) * 0.01;
         plane.next_WP_loc = start_loc;
         plane.next_WP_loc.offset_bearing(direction, dist);
         plane.next_WP_loc.alt += alt*100.0;
-
         plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
-
-#if AP_FENCE_ENABLED
-        plane.fence.auto_enable_fence_after_takeoff();
-#endif
     }
 
     if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF) {
+        //below TAKOFF_LVL_ALT
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100.0);
         plane.takeoff_calc_roll();
         plane.takeoff_calc_pitch();
     } else {
-        plane.calc_nav_roll();
-        plane.calc_nav_pitch();
-        plane.calc_throttle();
-        //check if in long failsafe, if it is recall long failsafe now to get fs action via events call
+        if ((altitude_cm >= alt * 100 - 200)) { //within 2m of TKOFF_ALT ,or above and loitering
+#if AP_FENCE_ENABLED
+            plane.fence.auto_enable_fence_after_takeoff();
+#endif
+            plane.calc_nav_roll();
+            plane.calc_nav_pitch();
+            plane.calc_throttle();
+        } else { // still climbing to TAKEOFF_ALT; may be loitering
+            plane.calc_throttle();
+            plane.takeoff_calc_roll();
+            plane.takeoff_calc_pitch();
+        }
+        
+        //check if in long failsafe due to being in initial TAKEOFF stage; if it is, recall long failsafe now to get fs action via events call
         if (plane.long_failsafe_pending) {
-        plane.long_failsafe_pending = false;
-        plane.failsafe_long_on_event(FAILSAFE_LONG, ModeReason::MODE_TAKEOFF_FAILSAFE);
+            plane.long_failsafe_pending = false;
+            plane.failsafe_long_on_event(FAILSAFE_LONG, ModeReason::MODE_TAKEOFF_FAILSAFE);
         }
     }
 }

From 3aa742e1b905b1cd4ecdb729e46993e39f391b5b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 28 Jan 2024 00:09:15 +0000
Subject: [PATCH 11/83] Plane: rework `isHeadingLinedUp` function for loiter
 breakout

---
 ArduPlane/mode.h          |  1 +
 ArduPlane/mode_loiter.cpp | 67 ++++++++++++++++++++++++++++++++-------
 2 files changed, 56 insertions(+), 12 deletions(-)

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index b7f4732e924fe7..83da193de00590 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -343,6 +343,7 @@ class ModeLoiter : public Mode
     void navigate() override;
 
     bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
+    bool isHeadingLinedUp_cd(const int32_t bearing_cd, const int32_t heading_cd);
     bool isHeadingLinedUp_cd(const int32_t bearing_cd);
 
     bool allows_throttle_nudging() const override { return true; }
diff --git a/ArduPlane/mode_loiter.cpp b/ArduPlane/mode_loiter.cpp
index 05ce3a69568572..b37f3bdcb0311e 100644
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@@ -42,28 +42,71 @@ bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location
     // Return true if current heading is aligned to vector to targetLoc.
     // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
 
-    if (loiterCenterLoc.get_distance(targetLoc) < 1.05f * fabsf(plane.loiter.radius)) {
-        /* Whenever next waypoint is within the loiter radius plus 5%,
-           maintaining loiter would prevent us from ever pointing toward the next waypoint.
-           Hence break out of loiter immediately
-         */
+    // Corrected radius for altitude
+    const float loiter_radius = plane.nav_controller->loiter_radius(fabsf(plane.loiter.radius));
+    if (!is_positive(loiter_radius)) {
+        // Zero is invalid, protect against divide by zero for destination inside loiter radius case
         return true;
     }
 
-    // Bearing in centi-degrees
-    const int32_t bearing_cd = plane.current_loc.get_bearing_to(targetLoc);
-    return isHeadingLinedUp_cd(bearing_cd);
+    // Calculate relative position of the vehicle relative to loiter center projected onto the closest point of the loiter circle
+    // This removes error due to radial position as the nav controller attempts to track the circle
+    const Vector2f projected_pos = loiterCenterLoc.get_distance_NE(plane.current_loc).normalized() * loiter_radius;
+
+    // Target position relative to loiter center
+    const Vector2f target_pos = loiterCenterLoc.get_distance_NE(targetLoc);
+
+    // Distance between loiter circle and target
+    const float target_dist = target_pos.length();
+    if (!is_positive(target_dist)) {
+        // Target is coincident with loiter center, no heading will be closer than any other
+        return true;
+    }
+
+    // Target bearing in centi-degrees
+    int32_t target_bearing_cd;
+
+    if (target_dist >= loiter_radius) {
+        // Destination outside loiter radius, heading will always line up with destination
+
+        // Vector from between projected vehicle position and target postion
+        const Vector2f pos_to_target = target_pos - projected_pos;
+        target_bearing_cd = degrees(pos_to_target.angle()) * 100;
+
+    } else {
+        // Destination is inside loiter, heading will never line up with destination
+
+        // Advance turn point by the angle of a segment with chord "a"
+        // This results in turning earlier as the target point approaches the center
+        // If target is on radius angle of 0 and angle of 60 deg if target is on center 
+        const float a = loiter_radius - target_dist;
+        const float segment_angle = 2.0 * asinf(a / (2.0 * loiter_radius));
+
+        // Pick the intersection point that will be hit first for the current loiter direction, add 90 deg to get the tangent angle
+        target_bearing_cd = degrees(wrap_PI(target_pos.angle() + (M_PI_2 - segment_angle) * plane.loiter.direction)) * 100;
+
+    }
+
+    // Ideal heading in centi-degrees, +- 90 to get tangent to loiter circle at closest point
+    const int32_t current_heading_cd = degrees(wrap_PI(projected_pos.angle() + M_PI_2 * plane.loiter.direction)) * 100;
+
+    return isHeadingLinedUp_cd(target_bearing_cd, current_heading_cd);
 }
 
 
-bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd)
-{
-    // Return true if current heading is aligned to bearing_cd.
-    // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
+bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd) {
 
     // get current heading.
     const int32_t heading_cd = (wrap_360(degrees(ahrs.groundspeed_vector().angle())))*100;
 
+    return isHeadingLinedUp_cd(bearing_cd, heading_cd);
+}
+
+
+bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd, const int32_t heading_cd)
+{
+    // Return true if current heading is aligned to bearing_cd.
+    // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
     const int32_t heading_err_cd = wrap_180_cd(bearing_cd - heading_cd);
 
     /*

From 6b32227d2ff82a84acadd280d74d9ef02f34219b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 6 Feb 2024 01:01:02 +0000
Subject: [PATCH 12/83] Plane: output nav scripting throttle with rest of nav
 scripting stuff

---
 ArduPlane/Attitude.cpp  | 1 +
 ArduPlane/mode_auto.cpp | 1 -
 ArduPlane/servos.cpp    | 6 ------
 3 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index b566d4ca730bf9..0996a50b725ab4 100644
--- a/ArduPlane/Attitude.cpp
+++ b/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();
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index f1a9f5de5540b2..73753e1fa44ca5 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -102,7 +102,6 @@ void ModeAuto::update()
         // NAV_SCRIPTING has a desired roll and pitch rate and desired throttle
         plane.nav_roll_cd = ahrs.roll_sensor;
         plane.nav_pitch_cd = ahrs.pitch_sensor;
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
 #endif
     } else {
         // we are doing normal AUTO flight, the special cases
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c0cab9f9de4f41..3f4310def0850f 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -582,12 +582,6 @@ void Plane::set_throttle(void)
     // Update voltage scaling
     g2.fwd_batt_cmp.update();
 
-#if AP_SCRIPTING_ENABLED
-    if (nav_scripting_active()) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
-    }
-#endif
-
     if (control_mode->use_battery_compensation()) {
         // Apply voltage compensation to throttle output from flight mode
         const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));

From eb0c66fc9000a602406ceb43fca7abf1f78ceb9e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:48:46 +1100
Subject: [PATCH 13/83] AP_AHRS: move logger object up to AP_Vehicle

---
 libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index a4138916877693..f0f240dbf4eb68 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -20,8 +20,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 
 static AP_SerialManager serial_manager;
-AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
 
 class DummyVehicle : public AP_Vehicle {
 public:
@@ -36,7 +34,17 @@ class DummyVehicle : public AP_Vehicle {
         ins.init(100);
         ahrs.init();
     }
+    AP_Int32 unused_log_bitmask;
+    struct LogStructure log_structure[1] = {
+    };
+    const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
 
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override {
+        return 0;
+    }
 };
 
 static DummyVehicle vehicle;

From dc74f9773939d39f766acb6549c2e1c4918b9653 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 14/83] AP_Compass: move logger object up to AP_Vehicle

---
 libraries/AP_Compass/Compass_learn.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp
index 12861e3fe29ca3..f39933f1fe928a 100644
--- a/libraries/AP_Compass/Compass_learn.cpp
+++ b/libraries/AP_Compass/Compass_learn.cpp
@@ -9,6 +9,8 @@
 
 #if COMPASS_LEARN_ENABLED
 
+#include <AP_Logger/AP_Logger.h>
+
 extern const AP_HAL::HAL &hal;
 
 // constructor

From e39fad1411615640693a9a43d5e63da3d590f2d8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 15/83] AP_Logger: move logger object up to AP_Vehicle

---
 libraries/AP_Logger/AP_Logger.cpp                        | 9 +++++----
 libraries/AP_Logger/AP_Logger.h                          | 6 +++---
 .../examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp   | 4 ++--
 .../AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp | 4 ++--
 4 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index fb55e52f4ddeb5..5477e5b7516afe 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -193,8 +193,7 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
 
 #define streq(x, y) (!strcmp(x, y))
 
-AP_Logger::AP_Logger(const AP_Int32 &log_bitmask)
-    : _log_bitmask(log_bitmask)
+AP_Logger::AP_Logger()
 {
     AP_Param::setup_object_defaults(this, var_info);
     if (_singleton != nullptr) {
@@ -204,8 +203,10 @@ AP_Logger::AP_Logger(const AP_Int32 &log_bitmask)
     _singleton = this;
 }
 
-void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
+void AP_Logger::init(const AP_Int32 &log_bitmask, const struct LogStructure *structures, uint8_t num_types)
 {
+    _log_bitmask = &log_bitmask;
+
     // convert from 8 bit to 16 bit LOG_FILE_BUFSIZE
     _params.file_bufsize.convert_parameter_width(AP_PARAM_INT8);
 
@@ -629,7 +630,7 @@ bool AP_Logger::should_log(const uint32_t mask) const
 {
     bool armed = vehicle_is_armed();
 
-    if (!(mask & _log_bitmask)) {
+    if (!(mask & *_log_bitmask)) {
         return false;
     }
     if (!armed && !log_while_disarmed()) {
diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index cab112ea654c38..77abfb47577aaa 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -187,7 +187,7 @@ class AP_Logger
 public:
     FUNCTOR_TYPEDEF(vehicle_startup_message_Writer, void);
 
-    AP_Logger(const AP_Int32 &log_bitmask);
+    AP_Logger();
 
     /* Do not allow copies */
     CLASS_NO_COPY(AP_Logger);
@@ -198,7 +198,7 @@ class AP_Logger
     }
 
     // initialisation
-    void Init(const struct LogStructure *structure, uint8_t num_types);
+    void init(const AP_Int32 &log_bitmask, const struct LogStructure *structure, uint8_t num_types);
     void set_num_types(uint8_t num_types) { _num_types = num_types; }
 
     bool CardInserted(void);
@@ -426,7 +426,7 @@ class AP_Logger
     #define LOGGER_MAX_BACKENDS 2
     uint8_t _next_backend;
     AP_Logger_Backend *backends[LOGGER_MAX_BACKENDS];
-    const AP_Int32 &_log_bitmask;
+    const AP_Int32 *_log_bitmask;
 
     enum class Backend_Type : uint8_t {
         NONE       = 0,
diff --git a/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp b/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp
index efa9c4253aa14d..76e8aac2b696c3 100644
--- a/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp
+++ b/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp
@@ -106,7 +106,7 @@ class AP_LoggerTest_AllTypes : public AP_HAL::HAL::Callbacks {
 private:
 
     AP_Int32 log_bitmask;
-    AP_Logger logger{log_bitmask};
+    AP_Logger logger;
     AP_Scheduler scheduler;
 
     void Log_Write_TypeMessages();
@@ -248,7 +248,7 @@ void AP_LoggerTest_AllTypes::setup(void)
     hal.console->printf("Logger All Types 1.0\n");
 
     log_bitmask.set((uint32_t)-1);
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(log_bitmask, log_structure, ARRAY_SIZE(log_structure));
     logger.set_vehicle_armed(true);
     logger.Write_Message("AP_Logger Test");
 
diff --git a/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp b/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp
index fcb6aeb95a52cf..b3b14eef05b1dd 100644
--- a/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp
+++ b/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp
@@ -41,7 +41,7 @@ class AP_LoggerTest {
 private:
 
     AP_Int32 log_bitmask;
-    AP_Logger logger{log_bitmask};
+    AP_Logger logger;
     AP_Scheduler scheduler;
 
 };
@@ -53,7 +53,7 @@ void AP_LoggerTest::setup(void)
     hal.console->printf("Logger Log Test 1.0\n");
 
     log_bitmask.set((uint32_t)-1);
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(log_bitmask, log_structure, ARRAY_SIZE(log_structure));
     logger.set_vehicle_armed(true);
     logger.Write_Message("AP_Logger Test");
 #ifdef DEBUG_RATES

From 0694154f1c69b004caa4ceb7ebb29f2a0cacf1e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 16/83] AP_Vehicle: move logger object up to AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 10 ++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  9 +++++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 37507b41a2d53d..bfaa356e8f90d9 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -264,6 +264,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(scripting, "SCR_", 28, AP_Vehicle, AP_Scripting),
 #endif
 
+#if HAL_LOGGING_ENABLED
+    // @Group: LOG
+    // @Path: ../AP_Logger/AP_Logger.cpp
+    AP_SUBGROUPINFO(logger, "LOG",  29, AP_Vehicle, AP_Logger),
+#endif
+
     AP_GROUPEND
 };
 
@@ -372,6 +378,10 @@ void AP_Vehicle::setup()
     can_mgr.init();
 #endif
 
+#if HAL_LOGGING_ENABLED
+    logger.init(get_log_bitmask(), get_log_structures(), get_num_log_structures());
+#endif
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 953ea8d7c5c547..33797531a6ab48 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -37,6 +37,7 @@
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
+#include <AP_Logger/AP_Logger.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
 #include <AP_Param/AP_Param.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
@@ -317,6 +318,14 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 #endif
     RangeFinder rangefinder;
 
+#if HAL_LOGGING_ENABLED
+    AP_Logger logger;
+    // method supplied by vehicle to provide log bitmask:
+    virtual const AP_Int32 &get_log_bitmask() = 0;
+    virtual const struct LogStructure *get_log_structures() const = 0;
+    virtual uint8_t get_num_log_structures() const = 0;
+#endif
+
 #if AP_RSSI_ENABLED
     AP_RSSI rssi;
 #endif

From 4e97561d5bb550eff97b4e3477bbce7794d3d915 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 17/83] ArduCopter: move logger object up to AP_Vehicle

---
 ArduCopter/Copter.cpp     |  3 ---
 ArduCopter/Copter.h       | 12 +++++++-----
 ArduCopter/Log.cpp        | 10 +++++-----
 ArduCopter/Parameters.cpp | 11 +++++------
 ArduCopter/system.cpp     |  4 ----
 5 files changed, 17 insertions(+), 23 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 5374c79357765a..dda496b3e0921f 100644
--- a/ArduCopter/Copter.cpp
+++ b/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),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 53576d969bd714..3c922cb14073fd 100644
--- a/ArduCopter/Copter.h
+++ b/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
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 4d9e4ef87b01b6..d1d530ca1355e4 100644
--- a/ArduCopter/Log.cpp
+++ b/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
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 35b1780ff9cc1a..d5d7174ff19ff6 100644
--- a/ArduCopter/Parameters.cpp
+++ b/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),
@@ -1410,6 +1404,11 @@ void Copter::load_parameters(void)
     }
 #endif
 
+    // 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
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 31b96628245b64..5347a67901039b 100644
--- a/ArduCopter/system.cpp
+++ b/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();
 

From fcd7c5beb945746546d8948b9687085ac1403e07 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:13:01 +1100
Subject: [PATCH 18/83] ArduPlane: move logger object up to AP_Vehicle

---
 ArduPlane/Log.cpp        | 13 +++++--------
 ArduPlane/Parameters.cpp | 11 +++++------
 ArduPlane/Plane.cpp      |  3 ---
 ArduPlane/Plane.h        | 16 ++++++++++------
 ArduPlane/system.cpp     |  4 ----
 5 files changed, 20 insertions(+), 27 deletions(-)

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 2df80fbbc1415c..7b2249e6243745 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -483,6 +483,11 @@ const struct LogStructure Plane::log_structure[] = {
 #endif
 };
 
+uint8_t Plane::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Plane::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -498,12 +503,4 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-/*
-  initialise logging subsystem
- */
-void Plane::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 639aa73039e6a2..beb418b3456e87 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -908,12 +908,6 @@ const AP_Param::Info Plane::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),
@@ -1579,5 +1573,10 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // 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
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index 07055294b523a0..4be3c0df7c60e8 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -24,9 +24,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Plane class
  */
 Plane::Plane(void)
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 3769e44a543c5f..3d08a2bca9add5 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -192,10 +192,6 @@ class Plane : public AP_Vehicle {
     RC_Channel *channel_flap;
     RC_Channel *channel_airbrake;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;
     float pitch_limit_min;
@@ -886,9 +882,16 @@ class Plane : public AP_Vehicle {
     int16_t calc_nav_yaw_course(void);
     int16_t calc_nav_yaw_ground(void);
 
-    // Log.cpp
-    uint32_t last_log_fast_ms;
+#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_FullRate(void);
     void Log_Write_Attitude(void);
     void Log_Write_Control_Tuning();
@@ -900,6 +903,7 @@ class Plane : public AP_Vehicle {
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AETR();
     void log_init();
+#endif
 
     // Parameters.cpp
     void load_parameters(void) override;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 56998c367904db..eab2ecef94084b 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -64,10 +64,6 @@ void Plane::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 

From 80fa66104290e43a980ac3927b62e4d96ed55da9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:21:25 +1100
Subject: [PATCH 19/83] ArduSub: move logger object up to AP_Vehicle

---
 ArduSub/Log.cpp        | 10 +++++-----
 ArduSub/Parameters.cpp | 11 +++++------
 ArduSub/Sub.cpp        |  3 ---
 ArduSub/Sub.h          | 11 +++++++----
 ArduSub/system.cpp     |  4 ----
 5 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 63d3feb8ff222d..45603f2d3aed1f 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -275,6 +275,11 @@ const struct LogStructure Sub::log_structure[] = {
       "GUIP",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
 };
 
+uint8_t Sub::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Sub::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -284,9 +289,4 @@ void Sub::Log_Write_Vehicle_Startup_Messages()
 }
 
 
-void Sub::log_init()
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 168990b01f4c82..82771fb8082031 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -561,12 +561,6 @@ const AP_Param::Info Sub::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),
@@ -814,6 +808,11 @@ void Sub::load_parameters()
         AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
     }
 #endif
+
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
 }
 
 void Sub::convert_old_parameters()
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 304ed327249e55..877f3bf8c17cae 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -25,9 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
  */
 Sub::Sub()
     :
-#if HAL_LOGGING_ENABLED
-          logger(g.log_bitmask),
-#endif
           control_mode(Mode::Number::MANUAL),
           motors(MAIN_LOOP_RATE),
           auto_mode(Auto_WP),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 53de38af092b79..2419e0fc799345 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -146,10 +146,6 @@ class Sub : public AP_Vehicle {
     RC_Channel *channel_forward;
     RC_Channel *channel_lateral;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     AP_LeakDetector leak_detector;
 
     struct {
@@ -403,6 +399,13 @@ class Sub : public AP_Vehicle {
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void rotate_body_frame_to_NE(float &x, float &y);
 #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;
+
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
     void Log_Write_Data(LogDataID id, int32_t value);
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index f86637c5a143ab..b72b9889c11853 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -52,10 +52,6 @@ void Sub::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise rc channels including setting mode
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
     rc().init();

From ff1ccdf2eed6a9c628cfa9383508b750b9d633d6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:27:57 +1100
Subject: [PATCH 20/83] Blimp: move logger object up to AP_Vehicle

---
 Blimp/Blimp.cpp      |  3 ---
 Blimp/Blimp.h        | 14 +++++++-------
 Blimp/Log.cpp        | 11 ++++++-----
 Blimp/Parameters.cpp | 11 +++++------
 Blimp/system.cpp     |  4 ----
 5 files changed, 18 insertions(+), 25 deletions(-)

diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 3231580eaf619c..05b5c459160e06 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -286,9 +286,6 @@ void Blimp::rotate_NE_to_BF(Vector2f &vec)
  */
 Blimp::Blimp(void)
     :
-#if HAL_LOGGING_ENABLED
-      logger(g.log_bitmask),
-#endif
       flight_modes(&g.flight_mode1),
       control_mode(Mode::Number::MANUAL),
       rc_throttle_control_in_filter(1.0f),
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 9566f9294e1f17..826d92b98c49fe 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -113,10 +113,6 @@ class Blimp : public AP_Vehicle
     RC_Channel *channel_up;
     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;
@@ -354,8 +350,14 @@ class Blimp : public AP_Vehicle
     void landinggear_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_Performance();
     void Log_Write_Attitude();
     void Log_Write_PIDs();
     void Log_Write_EKF_POS();
@@ -365,11 +367,9 @@ class Blimp : public AP_Vehicle
     void Log_Write_Data(LogDataID id, uint16_t value);
     void Log_Write_Data(LogDataID id, float value);
     void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
-    void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
 
 
     void Log_Write_Vehicle_Startup_Messages();
-    void log_init(void);
     void Write_FINI(float right, float front, float down, float yaw);
     void Write_FINO(float *amp, float *off);
 #endif
diff --git a/Blimp/Log.cpp b/Blimp/Log.cpp
index 7d62fc9d5ebc6b..e7fcea3cfbdc24 100644
--- a/Blimp/Log.cpp
+++ b/Blimp/Log.cpp
@@ -393,6 +393,12 @@ const struct LogStructure Blimp::log_structure[] = {
     },
 };
 
+uint8_t Blimp::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+
+}
+
 void Blimp::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -402,9 +408,4 @@ void Blimp::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-void Blimp::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index f0641e0cf28229..805f704d7584b7 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -341,12 +341,6 @@ const AP_Param::Info Blimp::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-#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),
@@ -895,6 +889,11 @@ void Blimp::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index 5bde10d45bb60f..b95b2db9d61581 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -29,10 +29,6 @@ void Blimp::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     init_rc_in();               // sets up rc channels from radio
 
     // allocate the motors class

From 74f2c5a8811bce0e8304f6b9eebb6c6bb55f64e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:33:32 +1100
Subject: [PATCH 21/83] AntennaTracker: move logger object up to AP_Vehicle

---
 AntennaTracker/Log.cpp        | 10 +++++-----
 AntennaTracker/Parameters.cpp | 11 +++++------
 AntennaTracker/Tracker.cpp    |  7 -------
 AntennaTracker/Tracker.h      | 16 +++++++++-------
 AntennaTracker/system.cpp     |  4 ----
 5 files changed, 19 insertions(+), 29 deletions(-)

diff --git a/AntennaTracker/Log.cpp b/AntennaTracker/Log.cpp
index 5a70a09eb44305..48048dc1a17cdc 100644
--- a/AntennaTracker/Log.cpp
+++ b/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
diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index c21d5dbf4f5d7e..35b20c530309bc 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/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
@@ -618,6 +612,11 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
 #endif
 
+    // 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
+
     hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
 
 #if HAL_HAVE_SAFETY_SWITCH
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index cd4a4eb5777e18..5fd202b1bdf4a6 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/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;
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 22c7687ef73ea9..8c745fcf41952a 100644
--- a/AntennaTracker/Tracker.h
+++ b/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;
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index db4438ded4c063..a9c2527fa8843b 100644
--- a/AntennaTracker/system.cpp
+++ b/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();

From aa4a805bb6fe053b6562e50aa140441f98ae2dd0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 8 Feb 2024 07:42:28 +1100
Subject: [PATCH 22/83] Rover: move logger object up to AP_Vehicle

---
 Rover/Log.cpp         | 17 ++---------------
 Rover/Parameters.cpp  | 11 +++++------
 Rover/Rover.cpp       |  3 ---
 Rover/Rover.h         | 16 +++++++++-------
 Rover/mode_guided.cpp |  6 ++++++
 Rover/sensors.cpp     |  2 ++
 Rover/system.cpp      |  4 ----
 7 files changed, 24 insertions(+), 35 deletions(-)

diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index f102fa95c0ca41..99fd471dccee4d 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -308,22 +308,9 @@ const LogStructure Rover::log_structure[] = {
       "GUIP",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
 };
 
-void Rover::log_init(void)
+uint8_t Rover::get_num_log_structures() const
 {
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    return ARRAY_SIZE(log_structure);
 }
 
-#else  // LOGGING_ENABLED
-
-// dummy functions
-void Rover::Log_Write_Attitude() {}
-void Rover::Log_Write_Depth() {}
-void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
-void Rover::Log_Write_Nav_Tuning() {}
-void Rover::Log_Write_Sail() {}
-void Rover::Log_Write_Throttle() {}
-void Rover::Log_Write_RC(void) {}
-void Rover::Log_Write_Steering() {}
-void Rover::Log_Write_Vehicle_Startup_Messages() {}
-
 #endif  // LOGGING_ENABLED
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 1c7ae1a07b2a65..2183768399e003 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -316,12 +316,6 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming),
 
-#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),
@@ -944,4 +938,9 @@ void Rover::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
 }
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 4d8c3e3fd29da9..b956267eef48e6 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -157,9 +157,6 @@ constexpr int8_t Rover::_failsafe_priorities[7];
 Rover::Rover(void) :
     AP_Vehicle(),
     param_loader(var_info),
-#if HAL_LOGGING_ENABLED
-    logger{g.log_bitmask},
-#endif
     modes(&g.mode1),
     control_mode(&mode_initializing)
 {
diff --git a/Rover/Rover.h b/Rover/Rover.h
index cbc508cd2c0a84..e12ed2db608b85 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -136,10 +136,6 @@ class Rover : public AP_Vehicle {
     RC_Channel *channel_pitch;
     RC_Channel *channel_walking_height;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // flight modes convenience array
     AP_Int8 *modes;
     const uint8_t num_modes = 6;
@@ -272,8 +268,6 @@ class Rover : public AP_Vehicle {
     } cruise_learn_t;
     cruise_learn_t cruise_learn;
 
-private:
-
     // Rover.cpp
 #if AP_SCRIPTING_ENABLED
     bool set_target_location(const Location& target_loc) override;
@@ -334,6 +328,14 @@ class Rover : public AP_Vehicle {
     // GCS_Mavlink.cpp
     void send_wheel_encoder_distance(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_Depth();
@@ -345,7 +347,7 @@ class Rover : public AP_Vehicle {
     void Log_Write_RC(void);
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
-    void log_init(void);
+#endif
 
     // mode.cpp
     Mode *mode_from_mode_num(enum Mode::Number num);
diff --git a/Rover/mode_guided.cpp b/Rover/mode_guided.cpp
index a1d18cf92d006d..96ab7e15651d46 100644
--- a/Rover/mode_guided.cpp
+++ b/Rover/mode_guided.cpp
@@ -322,7 +322,9 @@ bool ModeGuided::set_desired_location(const Location &destination, Location next
     // handle guided specific initialisation and logging
     _guided_mode = SubMode::WP;
     send_notification = true;
+#if HAL_LOGGING_ENABLED
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(destination.lat, destination.lng, 0), Vector3f(g2.wp_nav.get_speed_max(), 0.0f, 0.0f));
+#endif
     return true;
 }
 
@@ -338,8 +340,10 @@ void ModeGuided::set_desired_heading_and_speed(float yaw_angle_cd, float target_
     _desired_speed = target_speed;
     have_attitude_target = true;
 
+#if HAL_LOGGING_ENABLED
     // log new target
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(_desired_yaw_cd, 0.0f, 0.0f), Vector3f(_desired_speed, 0.0f, 0.0f));
+#endif
 }
 
 void ModeGuided::set_desired_heading_delta_and_speed(float yaw_delta_cd, float target_speed)
@@ -364,8 +368,10 @@ void ModeGuided::set_desired_turn_rate_and_speed(float turn_rate_cds, float targ
     _desired_speed = target_speed;
     have_attitude_target = true;
 
+#if HAL_LOGGING_ENABLED
     // log new target
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(_desired_yaw_rate_cds, 0.0f, 0.0f), Vector3f(_desired_speed, 0.0f, 0.0f));
+#endif
 }
 
 // set steering and throttle (both in the range -1 to +1)
diff --git a/Rover/sensors.cpp b/Rover/sensors.cpp
index 9153fd7e348c9e..aa9f7918912275 100644
--- a/Rover/sensors.cpp
+++ b/Rover/sensors.cpp
@@ -91,5 +91,7 @@ void Rover::update_wheel_encoder()
 void Rover::read_rangefinders(void)
 {
     rangefinder.update();
+#if HAL_LOGGING_ENABLED
     Log_Write_Depth();
+#endif
 }
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 67f0a8ebdfcbb3..35e76c4d472bc7 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -44,10 +44,6 @@ void Rover::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

From f7886ca14d1bb08df900023e352a6179c76c6848 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:28 +1100
Subject: [PATCH 23/83] AP_HAL: move logger object up to AP_Vehicle

---
 libraries/AP_HAL/examples/DSP_test/DSP_test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp b/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp
index f40e0653bc621e..23e079f23ead8c 100644
--- a/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp
+++ b/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp
@@ -32,7 +32,7 @@ static AP_SerialManager serial_manager;
 static AP_BoardConfig board_config;
 static AP_InertialSensor ins;
 AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
+static AP_Logger logger;
 
 class DummyVehicle {
 public:

From 477fa3e16160d18659946554da602455b877619c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:28 +1100
Subject: [PATCH 24/83] AP_InertialSensor: move logger object up to AP_Vehicle

---
 .../AP_InertialSensor/examples/INS_generic/INS_generic.cpp      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
index 1856e6f801ed9b..b5c8ad97fea719 100644
--- a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
+++ b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
@@ -22,7 +22,7 @@ static void run_test();
 // board specific config
 static AP_BoardConfig BoardConfig;
 static AP_Int32 log_bitmask;
-static AP_Logger logger{log_bitmask};
+static AP_Logger logger;
 
 void setup(void);
 void loop(void);

From fb7ccd327a2fc8625a57e5e05c7a4f2338c7bb89 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:28 +1100
Subject: [PATCH 25/83] AP_NMEA_Output: move logger object up to AP_Vehicle

---
 .../examples/NMEA_Output/nmea_output.cpp            | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
index b2d7f5e33fda33..b48716b12c3758 100644
--- a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
+++ b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
@@ -8,7 +8,6 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <GCS_MAVLink/GCS_Dummy.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
-#include <AP_Logger/AP_Logger.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
@@ -40,10 +39,6 @@ const struct AP_Param::Info var_info[] = {
 
 static AP_Param param{var_info};
 
-
-AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
-
 class DummyVehicle : public AP_Vehicle {
 public:
     AP_AHRS ahrs{AP_AHRS::FLAG_ALWAYS_USE_EKF};
@@ -55,6 +50,14 @@ class DummyVehicle : public AP_Vehicle {
     void init() {
         BoardConfig.init();
     }
+
+    // methods for AP_Vehicle:
+    AP_Int32 log_bitmask;
+    const AP_Int32 &get_log_bitmask() override { return log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return nullptr;
+    }
+    uint8_t get_num_log_structures() const override { return 0; }
 };
 
 static DummyVehicle vehicle;

From 92be3e72370c5440bf658ac7ba7c24eec02ddfdd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:29 +1100
Subject: [PATCH 26/83] AP_RTC: move logger object up to AP_Vehicle

---
 libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp b/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp
index 85c987a58d148b..18963e86528f6b 100644
--- a/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp
+++ b/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp
@@ -17,7 +17,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 static AP_BoardConfig board_config;
 static AP_SerialManager serial_manager;
 AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
+static AP_Logger logger;
 static AP_RTC _rtc;
 
 void setup(void)

From 9ce9f88254424ad30318578574f221d6b3586a07 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:29 +1100
Subject: [PATCH 27/83] AP_Scheduler: move logger object up to AP_Vehicle

---
 .../AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp    | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
index 04754e651a735a..5a9eb79d20ee78 100644
--- a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
+++ b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
@@ -17,8 +17,7 @@ GCS_Dummy _gcs;
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-AP_Int32 log_bitmask;
-AP_Logger AP_Logger{log_bitmask};
+AP_Logger logger;
 
 class SchedTest {
 public:

From 7b3a91996bc4bdb314d9cc2c015cde62f61842c8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 11:39:02 +1100
Subject: [PATCH 28/83] AP_GyroFFT: move logger object up to AP_Vehicle

---
 libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp b/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp
index 70b74f42283dd0..c607c88c53dfdc 100644
--- a/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp
+++ b/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp
@@ -29,7 +29,7 @@ static AP_BoardConfig board_config;
 static AP_InertialSensor ins;
 static AP_Baro baro;
 AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
+static AP_Logger logger;
 #if HAL_EXTERNAL_AHRS_ENABLED
 static AP_ExternalAHRS external_ahrs;
 #endif
@@ -123,7 +123,7 @@ void setup()
         sitl.gyro_file_rw.set(SITL::SIM::INSFileMode::INS_FILE_READ_STOP_ON_EOF);   // SIM_GYR_FILE_RW
     }
     logger_bitmask.set(128);    // IMU
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(logger_bitmask, log_structure, ARRAY_SIZE(log_structure));
     ins.init(LOOP_RATE_HZ);
     baro.init();
 

From bdb84181bcabb164b89914f4cc352635d54ef3ce Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 14:56:41 +1100
Subject: [PATCH 29/83] Tools: move logger object up to AP_Vehicle

---
 Tools/AP_Periph/AP_Periph.cpp |  5 +----
 Tools/Replay/Replay.cpp       |  5 -----
 Tools/Replay/Replay.h         | 17 +++++++++++++----
 3 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 8a08df7aed9fa6..b663855304b19e 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -62,9 +62,6 @@ void loop(void)
 static uint32_t start_ms;
 
 AP_Periph_FW::AP_Periph_FW()
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
 {
     if (_singleton != nullptr) {
         AP_HAL::panic("AP_Periph_FW must be singleton");
@@ -127,7 +124,7 @@ void AP_Periph_FW::init()
 #endif
 
 #if HAL_LOGGING_ENABLED
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(g.log_bitmask, log_structure, ARRAY_SIZE(log_structure));
 #endif
 
     check_firmware_print();
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index a55a33a799d1b3..d3dc5339798403 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -69,10 +69,6 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
     GOBJECT(compass, "COMPASS_", Compass),
 
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger, "LOG", AP_Logger),
-    
     // @Group: EK3_
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
     GOBJECTN(ekf3, NavEKF3, "EK3_", NavEKF3),
@@ -124,7 +120,6 @@ void ReplayVehicle::init_ardupilot(void)
     // message as a product of Replay), or the format understood in
     // the current code (if we do emit the message in the normal
     // places in the EKF, for example)
-    logger.Init(log_structure, 0);
     logger.set_force_log_disarmed(true);
 }
 
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index 623c1a4aa83b55..a153eab6659891 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -34,7 +34,7 @@ class ReplayVehicle : public AP_Vehicle {
 public:
     friend class Replay;
 
-    ReplayVehicle() { unused.set(-1); }
+    ReplayVehicle() { unused_log_bitmask.set(-1); }
     // HAL::Callbacks implementation.
     void load_parameters(void) override;
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -50,16 +50,25 @@ class ReplayVehicle : public AP_Vehicle {
 
     AP_FixedWing aparm;
 
-    AP_Int32 unused; // logging is magic for Replay; this is unused
+    AP_Int32 unused_log_bitmask; // logging is magic for Replay; this is unused
     struct LogStructure log_structure[256] = {
     };
-    AP_Logger logger{unused};
 
     NavEKF2 ekf2;
     NavEKF3 ekf3;
 
 protected:
 
+protected:
+
+    const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override {
+        return uint8_t(ARRAY_SIZE(log_structure));
+    }
+
     void init_ardupilot() override;
 
 private:
@@ -82,7 +91,7 @@ class Replay : public AP_HAL::HAL::Callbacks {
 
     // return true if a user parameter of name is set
     bool check_user_param(const char *name);
-    
+
 private:
     const char *filename;
     ReplayVehicle &_vehicle;

From a158b4f7b99341a0f9572ad03bf7b8eafa97027e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Feb 2024 10:56:24 +1100
Subject: [PATCH 30/83] AP_Vehicle: provide dummy implementations of log
 structure methods

this allows a vehicle that doesnt' want to use logging to just ignore it, rather than provide dummy methods
---
 libraries/AP_Vehicle/AP_Vehicle.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 33797531a6ab48..fef90644be4939 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -320,10 +320,11 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
 #if HAL_LOGGING_ENABLED
     AP_Logger logger;
+    AP_Int32 bitmask_unused;
     // method supplied by vehicle to provide log bitmask:
-    virtual const AP_Int32 &get_log_bitmask() = 0;
-    virtual const struct LogStructure *get_log_structures() const = 0;
-    virtual uint8_t get_num_log_structures() const = 0;
+    virtual const AP_Int32 &get_log_bitmask() { return bitmask_unused; }
+    virtual const struct LogStructure *get_log_structures() const { return nullptr; }
+    virtual uint8_t get_num_log_structures() const { return 0; }
 #endif
 
 #if AP_RSSI_ENABLED

From 0e36ca31544720282b61314641652d4bff6773c4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Feb 2024 11:08:16 +1100
Subject: [PATCH 31/83] AP_NMEA_Output: take advantage of AP_Vehicle supplying
 dummy methods

---
 .../AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp   | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
index b48716b12c3758..554e766324f8ea 100644
--- a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
+++ b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
@@ -50,14 +50,6 @@ class DummyVehicle : public AP_Vehicle {
     void init() {
         BoardConfig.init();
     }
-
-    // methods for AP_Vehicle:
-    AP_Int32 log_bitmask;
-    const AP_Int32 &get_log_bitmask() override { return log_bitmask; }
-    const struct LogStructure *get_log_structures() const override {
-        return nullptr;
-    }
-    uint8_t get_num_log_structures() const override { return 0; }
 };
 
 static DummyVehicle vehicle;

From 04b46678a4c76bc743105c1f39dacda1a51b7d35 Mon Sep 17 00:00:00 2001
From: Richard Marko <srk@48.io>
Date: Mon, 4 Dec 2023 10:55:08 +0100
Subject: [PATCH 32/83] treewide: fix shebangs - /bin/bash -> /usr/bin/env bash

Most scripts/tools use non-portable `/bin/bash`, switch
to environment agnostic `/usr/bin/env bash`.
---
 ArduPlane/createTags                                         | 2 +-
 Rover/createTags                                             | 2 +-
 Tools/Linux_HAL_Essentials/pru/aiopru/start_test             | 2 +-
 Tools/Linux_HAL_Essentials/startup.sh                        | 2 +-
 Tools/Replay/plotit.sh                                       | 2 +-
 Tools/UDP_Proxy/start_proxies.sh                             | 2 +-
 Tools/autotest/run_in_terminal_window.sh                     | 2 +-
 Tools/debug/gdb_crashdump.sh                                 | 2 +-
 Tools/environment_install/APM_install.sh                     | 2 +-
 Tools/environment_install/install-ROS-ubuntu.sh              | 2 +-
 Tools/environment_install/install-prereqs-arch.sh            | 2 +-
 Tools/environment_install/install-prereqs-mac.sh             | 4 ++--
 Tools/environment_install/install-prereqs-ubuntu.sh          | 2 +-
 Tools/environment_install/ubuntu-18.04-python3.sh            | 2 +-
 Tools/geotag/geotag.sh                                       | 2 +-
 Tools/gittools/git-commit-subsystems                         | 2 +-
 Tools/gittools/git-subsystems-split                          | 2 +-
 Tools/gittools/path-libraries.sh                             | 2 +-
 Tools/gittools/path-nonlibraries.sh                          | 2 +-
 Tools/scripts/CAN/can_sitl.sh                                | 2 +-
 Tools/scripts/CAN/can_sitl_nodev.sh                          | 2 +-
 Tools/scripts/build-jsbsim.sh                                | 2 +-
 Tools/scripts/build_all.sh                                   | 2 +-
 Tools/scripts/build_appveyor.sh                              | 2 +-
 Tools/scripts/build_autotest.sh                              | 2 +-
 Tools/scripts/build_ci.sh                                    | 2 +-
 Tools/scripts/build_docs.sh                                  | 2 +-
 Tools/scripts/build_examples.sh                              | 2 +-
 Tools/scripts/build_log_message_documentation.sh             | 2 +-
 Tools/scripts/build_parameters.sh                            | 2 +-
 Tools/scripts/configure-ci.sh                                | 2 +-
 Tools/scripts/cygwin_build.sh                                | 2 +-
 Tools/scripts/esp32_get_idf.sh                               | 5 ++---
 Tools/scripts/fix_libraries_includes.sh                      | 2 +-
 Tools/scripts/format.sh                                      | 2 +-
 Tools/scripts/macos_remote_upload.sh                         | 2 +-
 Tools/scripts/run_luacheck.sh                                | 2 +-
 Tools/scripts/unpack_mp.sh                                   | 2 +-
 Tools/vagrant/initvagrant-desktop.sh                         | 2 +-
 Tools/vagrant/initvagrant-trusty64.sh                        | 2 +-
 Tools/vagrant/initvagrant.sh                                 | 2 +-
 docs/build-apmrover2.sh                                      | 2 +-
 docs/build-arducopter.sh                                     | 2 +-
 docs/build-arduplane.sh                                      | 2 +-
 docs/build-ardusub.sh                                        | 2 +-
 docs/build-libs.sh                                           | 2 +-
 .../AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh      | 2 +-
 .../AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh  | 2 +-
 libraries/SITL/examples/Airsim/follow-copter.sh              | 2 +-
 libraries/SITL/examples/Airsim/multi_vehicle.sh              | 2 +-
 libraries/SITL/examples/Follow/plane_quad.sh                 | 2 +-
 libraries/SITL/examples/Morse/start_follow.sh                | 2 +-
 libraries/SITL/examples/Webots/dronePlus.sh                  | 2 +-
 libraries/SITL/examples/Webots/droneTricopter.sh             | 2 +-
 libraries/SITL/examples/Webots/droneTwoTricopters.sh         | 2 +-
 libraries/SITL/examples/Webots/droneX.sh                     | 2 +-
 libraries/SITL/examples/Webots/droneX_TwoDrones.sh           | 2 +-
 libraries/SITL/examples/Webots/pyramids_droneX.sh            | 2 +-
 libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh  | 2 +-
 libraries/SITL/examples/Webots/rover.sh                      | 2 +-
 libraries/SITL/examples/follow-copter.sh                     | 2 +-
 libraries/SITL/examples/follow-mavproxy.sh                   | 2 +-
 libraries/doc/updateDocs                                     | 2 +-
 63 files changed, 65 insertions(+), 66 deletions(-)

diff --git a/ArduPlane/createTags b/ArduPlane/createTags
index e13937801d6ecf..df38cc23ca6ade 100755
--- a/ArduPlane/createTags
+++ b/ArduPlane/createTags
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #" Autocompletion enabled vim for arduino pde's
 
 ctags -RV --language-force=C++ --c++-kinds=+p --fields=+iaS --extra=+q  \
diff --git a/Rover/createTags b/Rover/createTags
index e13937801d6ecf..df38cc23ca6ade 100755
--- a/Rover/createTags
+++ b/Rover/createTags
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #" Autocompletion enabled vim for arduino pde's
 
 ctags -RV --language-force=C++ --c++-kinds=+p --fields=+iaS --extra=+q  \
diff --git a/Tools/Linux_HAL_Essentials/pru/aiopru/start_test b/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
index 437e267d03d40e..162ab16d1261ca 100755
--- a/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
+++ b/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #make debug
 #make test
 if [ ! -L /sys/class/gpio/gpio80 ] || [ ! -e /sys/class/gpio/gpio80 ] ; then
diff --git a/Tools/Linux_HAL_Essentials/startup.sh b/Tools/Linux_HAL_Essentials/startup.sh
index 82b3847f87fc7b..b5fd5f06071409 100755
--- a/Tools/Linux_HAL_Essentials/startup.sh
+++ b/Tools/Linux_HAL_Essentials/startup.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [ "`echo $1`" = "load" ]; then
     echo "Loading Test_Capes..."
diff --git a/Tools/Replay/plotit.sh b/Tools/Replay/plotit.sh
index 59a2fea56f20d4..68bd9f1c7e6bf2 100755
--- a/Tools/Replay/plotit.sh
+++ b/Tools/Replay/plotit.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 cmd="plot "
 echo $#
diff --git a/Tools/UDP_Proxy/start_proxies.sh b/Tools/UDP_Proxy/start_proxies.sh
index 4763d0cd92182e..3e8ef97671b6b5 100755
--- a/Tools/UDP_Proxy/start_proxies.sh
+++ b/Tools/UDP_Proxy/start_proxies.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # an example script that starts udpproxy for multiple ports under GNU
 # screen, allowing for unattended operation of the proxy for long
 # periods
diff --git a/Tools/autotest/run_in_terminal_window.sh b/Tools/autotest/run_in_terminal_window.sh
index 7a83f1c565dacd..ac5c8e792dbcab 100755
--- a/Tools/autotest/run_in_terminal_window.sh
+++ b/Tools/autotest/run_in_terminal_window.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Try to run a command in an appropriate type of terminal window
 # depending on whats available
diff --git a/Tools/debug/gdb_crashdump.sh b/Tools/debug/gdb_crashdump.sh
index 89f6b4d66c160a..917ffa75033fbd 100755
--- a/Tools/debug/gdb_crashdump.sh
+++ b/Tools/debug/gdb_crashdump.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # script to more easily get a backtrace from an ArduPilot crash_dump.bin
 
diff --git a/Tools/environment_install/APM_install.sh b/Tools/environment_install/APM_install.sh
index acb7a1fbae9448..869687dbff0179 100755
--- a/Tools/environment_install/APM_install.sh
+++ b/Tools/environment_install/APM_install.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 #A simple script to install the APM SITL environment into cygwin
 
diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
index 565670f5a502b1..435560ac4f0ab1 100755
--- a/Tools/environment_install/install-ROS-ubuntu.sh
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 # set -x
diff --git a/Tools/environment_install/install-prereqs-arch.sh b/Tools/environment_install/install-prereqs-arch.sh
index 52b94eca23cd62..965815ec71efc1 100755
--- a/Tools/environment_install/install-prereqs-arch.sh
+++ b/Tools/environment_install/install-prereqs-arch.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 set -x
 
diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index 6486b007d6452c..de2cd666ef760b 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 set -x
@@ -42,7 +42,7 @@ echo "Checking homebrew..."
 $(which -s brew) ||
 {
     echo "installing homebrew..."
-    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+    /usr/bin/env bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
 } 
 echo "Homebrew installed"
 
diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 594aa33708e456..0107c24a33e11c 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 set -x
diff --git a/Tools/environment_install/ubuntu-18.04-python3.sh b/Tools/environment_install/ubuntu-18.04-python3.sh
index a82a4138a4c73d..1b0df324fddcf3 100755
--- a/Tools/environment_install/ubuntu-18.04-python3.sh
+++ b/Tools/environment_install/ubuntu-18.04-python3.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/geotag/geotag.sh b/Tools/geotag/geotag.sh
index 58703fd43c6b72..02b30342560bf7 100755
--- a/Tools/geotag/geotag.sh
+++ b/Tools/geotag/geotag.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Advanced geotagging tool by André Kjellstrup
 ######################################################################  VARIABLES ########################
diff --git a/Tools/gittools/git-commit-subsystems b/Tools/gittools/git-commit-subsystems
index 4ef38059960b73..a06fa7dc54b28f 100755
--- a/Tools/gittools/git-commit-subsystems
+++ b/Tools/gittools/git-commit-subsystems
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 GIT_DIR=$(git rev-parse --git-dir)
diff --git a/Tools/gittools/git-subsystems-split b/Tools/gittools/git-subsystems-split
index 1810aea8932c95..a8fd09787244ac 100755
--- a/Tools/gittools/git-subsystems-split
+++ b/Tools/gittools/git-subsystems-split
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 GIT_DIR=$(git rev-parse --git-dir)
diff --git a/Tools/gittools/path-libraries.sh b/Tools/gittools/path-libraries.sh
index 14aaf4f2e33ced..711931776c62df 100755
--- a/Tools/gittools/path-libraries.sh
+++ b/Tools/gittools/path-libraries.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 usage() {
     cat >&$1 <<EOF
diff --git a/Tools/gittools/path-nonlibraries.sh b/Tools/gittools/path-nonlibraries.sh
index 7010e292cfc564..dd52ad0d41938f 100755
--- a/Tools/gittools/path-nonlibraries.sh
+++ b/Tools/gittools/path-nonlibraries.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 usage() {
     cat >&$1 <<EOF
diff --git a/Tools/scripts/CAN/can_sitl.sh b/Tools/scripts/CAN/can_sitl.sh
index 65aa2339a5f9dc..54be78e2cd2a2a 100755
--- a/Tools/scripts/CAN/can_sitl.sh
+++ b/Tools/scripts/CAN/can_sitl.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # this script sets up SITL to be able to attach to real CAN devices
 # once run, you can configure SITL for CAN just like a real board, with the CAN parameters
 #
diff --git a/Tools/scripts/CAN/can_sitl_nodev.sh b/Tools/scripts/CAN/can_sitl_nodev.sh
index d31514c802f4da..8928061c3067fa 100755
--- a/Tools/scripts/CAN/can_sitl_nodev.sh
+++ b/Tools/scripts/CAN/can_sitl_nodev.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # once run, you can configure SITL for CAN just like a real board, with the CAN parameters
 #
diff --git a/Tools/scripts/build-jsbsim.sh b/Tools/scripts/build-jsbsim.sh
index 9e84927015e76d..a1381949557843 100755
--- a/Tools/scripts/build-jsbsim.sh
+++ b/Tools/scripts/build-jsbsim.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/build_all.sh b/Tools/scripts/build_all.sh
index 5a3eaf84130a1c..590c115305b7d5 100755
--- a/Tools/scripts/build_all.sh
+++ b/Tools/scripts/build_all.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # useful script to test all the different build types that we support.
 # This helps when doing large merges
 # Andrew Tridgell, November 2011
diff --git a/Tools/scripts/build_appveyor.sh b/Tools/scripts/build_appveyor.sh
index 23de34276522e3..d392bbe4e041db 100755
--- a/Tools/scripts/build_appveyor.sh
+++ b/Tools/scripts/build_appveyor.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # script to build 32 bit cygwin binaries for SITL
 
 export PATH="/usr/local/bin:/usr/bin:/bin"
diff --git a/Tools/scripts/build_autotest.sh b/Tools/scripts/build_autotest.sh
index 53bd889e5a5ff9..8b42e0a3c0ec08 100755
--- a/Tools/scripts/build_autotest.sh
+++ b/Tools/scripts/build_autotest.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/gcc/active/bin:$PATH
 export PYTHONUNBUFFERED=1
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 4dbc66c4bff61b..ec491de5891730 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # useful script to test all the different build types that we support.
 # This helps when doing large merges
 # Andrew Tridgell, November 2011
diff --git a/Tools/scripts/build_docs.sh b/Tools/scripts/build_docs.sh
index acc4899a954e24..9c183e5d9866e9 100755
--- a/Tools/scripts/build_docs.sh
+++ b/Tools/scripts/build_docs.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/Tools/scripts/build_examples.sh b/Tools/scripts/build_examples.sh
index 5543f0ad16e763..127754df830e64 100755
--- a/Tools/scripts/build_examples.sh
+++ b/Tools/scripts/build_examples.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/Tools/scripts/build_log_message_documentation.sh b/Tools/scripts/build_log_message_documentation.sh
index 1ec04d08f93566..14bdcbd69f608c 100755
--- a/Tools/scripts/build_log_message_documentation.sh
+++ b/Tools/scripts/build_log_message_documentation.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/build_parameters.sh b/Tools/scripts/build_parameters.sh
index b0ee979a6a6cb0..50c01e53bb3cf7 100755
--- a/Tools/scripts/build_parameters.sh
+++ b/Tools/scripts/build_parameters.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/configure-ci.sh b/Tools/scripts/configure-ci.sh
index a547b729fce176..207ee51959d9fa 100755
--- a/Tools/scripts/configure-ci.sh
+++ b/Tools/scripts/configure-ci.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Install dependencies and configure the environment for CI build testing
 
 set -ex
diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 7761bd5ae32cee..204acbe9cca257 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # script to build cygwin binaries for using in MissionPlanner
 # the contents of artifacts directory is uploaded to:
diff --git a/Tools/scripts/esp32_get_idf.sh b/Tools/scripts/esp32_get_idf.sh
index 4ad61e15e9d360..f7e8318b472fd3 100755
--- a/Tools/scripts/esp32_get_idf.sh
+++ b/Tools/scripts/esp32_get_idf.sh
@@ -1,5 +1,4 @@
-#!/bin/bash 
-
+#!/usr/bin/env bash
 # if you have modules/esp_idf setup as a submodule, then leave it as a submodule and switch branches
 if [ ! -d modules ]; then
 echo "this script needs to be run from the root of your repo, sorry, giving up."
@@ -60,4 +59,4 @@ git submodule update --init --recursive
 cd ../..
 echo "after changing IDF versions [ such as between 4.2 and 4.4 ] you should re-run these in your console:"
 echo "./modules/esp_idf/install.sh"
-echo "source ./modules/esp_idf/export.sh"
\ No newline at end of file
+echo "source ./modules/esp_idf/export.sh"
diff --git a/Tools/scripts/fix_libraries_includes.sh b/Tools/scripts/fix_libraries_includes.sh
index 8e3ac17f53e1a1..171fa598dab05f 100755
--- a/Tools/scripts/fix_libraries_includes.sh
+++ b/Tools/scripts/fix_libraries_includes.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 src=$(realpath $(dirname $BASH_SOURCE)/../../)
 base=$src/libraries
diff --git a/Tools/scripts/format.sh b/Tools/scripts/format.sh
index cef831de596d4f..4ad18ba18cdfd3 100755
--- a/Tools/scripts/format.sh
+++ b/Tools/scripts/format.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 function format {
 	DIR=$1
 	find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \;
diff --git a/Tools/scripts/macos_remote_upload.sh b/Tools/scripts/macos_remote_upload.sh
index 2d27eabeb4df84..399d39929b1e02 100755
--- a/Tools/scripts/macos_remote_upload.sh
+++ b/Tools/scripts/macos_remote_upload.sh
@@ -14,4 +14,4 @@ ssh $USER_HOST /bin/bash << ENDSSH
 source ~/.bash_profile
 $tmpdir/uploader.py $tmpdir/$filename
 rm -r $tmpdir
-ENDSSH
\ No newline at end of file
+ENDSSH
diff --git a/Tools/scripts/run_luacheck.sh b/Tools/scripts/run_luacheck.sh
index 43e0af5d0e9275..7b613634fb3ed1 100755
--- a/Tools/scripts/run_luacheck.sh
+++ b/Tools/scripts/run_luacheck.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Run lua check for all lua files passing AP specific config
 # Can also pass any number of arguments that are passed onto luacheck
 # for example the path of a single script could be given
diff --git a/Tools/scripts/unpack_mp.sh b/Tools/scripts/unpack_mp.sh
index 3719836f67f79c..b75966e7b90d4f 100755
--- a/Tools/scripts/unpack_mp.sh
+++ b/Tools/scripts/unpack_mp.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # unpack latest MissionPlanner*.zip on firmware.ardupilot.org
 # to facilitate upgrade of existing MissionPlanner installs
diff --git a/Tools/vagrant/initvagrant-desktop.sh b/Tools/vagrant/initvagrant-desktop.sh
index 702c78d5b08753..f9299044e04e27 100755
--- a/Tools/vagrant/initvagrant-desktop.sh
+++ b/Tools/vagrant/initvagrant-desktop.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 
 set -e
diff --git a/Tools/vagrant/initvagrant-trusty64.sh b/Tools/vagrant/initvagrant-trusty64.sh
index e820d91ad0d7b3..318be2cb94ac95 100755
--- a/Tools/vagrant/initvagrant-trusty64.sh
+++ b/Tools/vagrant/initvagrant-trusty64.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # this script is run by the root user in the virtual machine
 
diff --git a/Tools/vagrant/initvagrant.sh b/Tools/vagrant/initvagrant.sh
index 08bd7d81c3b0a4..acb0f482819d96 100755
--- a/Tools/vagrant/initvagrant.sh
+++ b/Tools/vagrant/initvagrant.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 
 # this script is run by the root user in the virtual machine
diff --git a/docs/build-apmrover2.sh b/docs/build-apmrover2.sh
index 0bb15a95371af8..d3180ffb76c459 100755
--- a/docs/build-apmrover2.sh
+++ b/docs/build-apmrover2.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-arducopter.sh b/docs/build-arducopter.sh
index ef8dd9e13f0c59..67db80ca2cc775 100755
--- a/docs/build-arducopter.sh
+++ b/docs/build-arducopter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-arduplane.sh b/docs/build-arduplane.sh
index 125d4302882807..35ccddd35d4733 100755
--- a/docs/build-arduplane.sh
+++ b/docs/build-arduplane.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-ardusub.sh b/docs/build-ardusub.sh
index b34490428c7ed3..eed18f8ee64b7e 100755
--- a/docs/build-ardusub.sh
+++ b/docs/build-ardusub.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-libs.sh b/docs/build-libs.sh
index 0a843a5427a3dc..9d796bdd391954 100755
--- a/docs/build-libs.sh
+++ b/docs/build-libs.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh b/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
index 9aa45495411d26..387192b96ff433 100755
--- a/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
+++ b/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Build and run the motors example stability test at a range of yaw headroom and throttle average max values
 # Output results to files for comparison
 
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
index fa67876008e8e8..6e95e303aeb25e 100755
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # two planes flying together doing aerobatics
 
diff --git a/libraries/SITL/examples/Airsim/follow-copter.sh b/libraries/SITL/examples/Airsim/follow-copter.sh
index 47625999c82c9e..302f85ac33dad6 100755
--- a/libraries/SITL/examples/Airsim/follow-copter.sh
+++ b/libraries/SITL/examples/Airsim/follow-copter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Example script for multi-vehicle simulation with AirSim
 # see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
diff --git a/libraries/SITL/examples/Airsim/multi_vehicle.sh b/libraries/SITL/examples/Airsim/multi_vehicle.sh
index f02717e6fc3895..f227173d40faa1 100755
--- a/libraries/SITL/examples/Airsim/multi_vehicle.sh
+++ b/libraries/SITL/examples/Airsim/multi_vehicle.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Example script for multi-vehicle simulation with AirSim and usage with ROS
 # see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
diff --git a/libraries/SITL/examples/Follow/plane_quad.sh b/libraries/SITL/examples/Follow/plane_quad.sh
index 171bcdff20cbd6..1b6310cc5035e2 100755
--- a/libraries/SITL/examples/Follow/plane_quad.sh
+++ b/libraries/SITL/examples/Follow/plane_quad.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # a quad following a plane
 
diff --git a/libraries/SITL/examples/Morse/start_follow.sh b/libraries/SITL/examples/Morse/start_follow.sh
index e213eaeb8daadf..43bc88e1805f7b 100755
--- a/libraries/SITL/examples/Morse/start_follow.sh
+++ b/libraries/SITL/examples/Morse/start_follow.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/dronePlus.sh b/libraries/SITL/examples/Webots/dronePlus.sh
index 171a0f4850f928..6b3b3b087650a1 100755
--- a/libraries/SITL/examples/Webots/dronePlus.sh
+++ b/libraries/SITL/examples/Webots/dronePlus.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneTricopter.sh b/libraries/SITL/examples/Webots/droneTricopter.sh
index ac6f520ac2ee8e..256f3cdbe27873 100755
--- a/libraries/SITL/examples/Webots/droneTricopter.sh
+++ b/libraries/SITL/examples/Webots/droneTricopter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneTwoTricopters.sh b/libraries/SITL/examples/Webots/droneTwoTricopters.sh
index 3553228de3a7cf..9833af3422ca84 100755
--- a/libraries/SITL/examples/Webots/droneTwoTricopters.sh
+++ b/libraries/SITL/examples/Webots/droneTwoTricopters.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 
diff --git a/libraries/SITL/examples/Webots/droneX.sh b/libraries/SITL/examples/Webots/droneX.sh
index 45d18874c15f1f..0c29da5877e730 100755
--- a/libraries/SITL/examples/Webots/droneX.sh
+++ b/libraries/SITL/examples/Webots/droneX.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneX_TwoDrones.sh b/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
index 064a7d8125be1e..0564cb8bc01945 100755
--- a/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
+++ b/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/pyramids_droneX.sh b/libraries/SITL/examples/Webots/pyramids_droneX.sh
index d40d123d0ccfaa..02328840b1fbfc 100755
--- a/libraries/SITL/examples/Webots/pyramids_droneX.sh
+++ b/libraries/SITL/examples/Webots/pyramids_droneX.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
index 0081fe283bc823..d9064a0e634235 100755
--- a/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
+++ b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/rover.sh b/libraries/SITL/examples/Webots/rover.sh
index 187d7315262e65..568495d5199eed 100755
--- a/libraries/SITL/examples/Webots/rover.sh
+++ b/libraries/SITL/examples/Webots/rover.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/follow-copter.sh b/libraries/SITL/examples/follow-copter.sh
index 8dbeebc75f0d68..5ef7c218582d8e 100755
--- a/libraries/SITL/examples/follow-copter.sh
+++ b/libraries/SITL/examples/follow-copter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Usage - From ardupilot root directory, run - libraries/SITL/examples/follow-copter.sh $GCS_IP
 # $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
diff --git a/libraries/SITL/examples/follow-mavproxy.sh b/libraries/SITL/examples/follow-mavproxy.sh
index 54cbc889e20928..0fa14fd85765f0 100755
--- a/libraries/SITL/examples/follow-mavproxy.sh
+++ b/libraries/SITL/examples/follow-mavproxy.sh
@@ -1,3 +1,3 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 mavproxy.py --master=mcast: --console --map --cmd='map set showgpspos 0; map set showgps2pos 0;'
diff --git a/libraries/doc/updateDocs b/libraries/doc/updateDocs
index 50cf459f4a4e83..a0d60b7b264db2 100755
--- a/libraries/doc/updateDocs
+++ b/libraries/doc/updateDocs
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 rm -rf html
 svn cleanup
 svn update html

From 84913569cd07c9a0ef4452b58ca444a164a8662f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 09:33:40 +1100
Subject: [PATCH 33/83] AP_Vehicle: correct compilation when AHRS not available

CubeOrange-periph-heavy was broken
---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index bfaa356e8f90d9..04f80777fcf7fb 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -957,11 +957,14 @@ void AP_Vehicle::accel_cal_update()
         return;
     }
     ins.acal_update();
+
+#if AP_AHRS_ENABLED
     // check if new trim values, and set them
     Vector3f trim_rad;
     if (ins.get_new_trim(trim_rad)) {
         ahrs.set_trim(trim_rad);
     }
+#endif
 
 #if HAL_CAL_ALWAYS_REBOOT
     if (ins.accel_cal_requires_reboot() &&

From 7b36adf49d26f1f8805003e2308225c85af1b368 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 9 Feb 2024 08:00:17 +1100
Subject: [PATCH 34/83] AP_Scripting: prevent re-use of closed socket

this prevents a null pointer dereference after a close of a network
socket
---
 libraries/AP_Scripting/lua_bindings.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index ffa3e349fe00b9..f4cf9bb30735b0 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -826,6 +826,7 @@ int SocketAPM_close(lua_State *L) {
             ud->close();
             delete ud;
             scripting->_net_sockets[i] = nullptr;
+            *check_SocketAPM(L, 1) = nullptr;
             break;
         }
     }

From 5d789f46ea06a92bf199e8e0d6241149e0b5ccb2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 9 Feb 2024 08:00:36 +1100
Subject: [PATCH 35/83] AP_Scripting: prevent double close in web server

---
 libraries/AP_Scripting/applets/net_webserver.lua | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index cccbc6eb0c36fc..278acd2b2575f0 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -913,7 +913,10 @@ local function Client(_sock, _idx)
 
    function self.remove()
       DEBUG(string.format("%u: removing client OFFSET=%u", idx, offset))
-      sock:close()
+      if sock then
+         sock:close()
+         sock = nil
+      end
       self.closed = true
    end
 

From c864047c1f40e8672aab9758f081838c82a4117e Mon Sep 17 00:00:00 2001
From: Tiziano Fiorenzani <fiorenzani@avinc.com>
Date: Thu, 7 Dec 2023 15:27:26 -0800
Subject: [PATCH 36/83] Tools: ardupilot_sitl launch file to include an out
 parameter for mavproxy

---
 Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
index 6578e537d8fbc7..10203e148bf530 100644
--- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
+++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
@@ -284,21 +284,21 @@ def generate_action(context: LaunchContext, *args, **kwargs) -> ExecuteProcess:
 
         # Retrieve launch arguments.
         master = LaunchConfiguration("master").perform(context)
-        # out = LaunchConfiguration("out").perform(context)
+        out = LaunchConfiguration("out").perform(context)
         sitl = LaunchConfiguration("sitl").perform(context)
 
         # Display launch arguments.
         print(f"command:          {command}")
         print(f"master:           {master}")
         print(f"sitl:             {sitl}")
+        print(f"out:              {out}")
 
         # Create action.
         mavproxy_process = ExecuteProcess(
             cmd=[
                 [
                     f"{command} ",
-                    "--out ",
-                    "127.0.0.1:14550 ",
+                    f"--out {out} ",
                     "--out ",
                     "127.0.0.1:14551 ",
                     f"--master {master} ",

From 222fe57915b096c8505838781b56128cd8d12ee1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 37/83] AP_Vehicle: move parameter storage formatting up to
 AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.h   |  2 ++
 libraries/AP_Vehicle/Parameters.cpp | 24 ++++++++++++++++++++++++
 2 files changed, 26 insertions(+)
 create mode 100644 libraries/AP_Vehicle/Parameters.cpp

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index fef90644be4939..c2fb1edfc1c0d2 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -287,6 +287,8 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
     virtual void init_ardupilot() = 0;
     virtual void load_parameters() = 0;
+    void load_parameters(AP_Int16 &format_version, const uint16_t expected_format_version);
+
     virtual void set_control_channels() {}
 
     // board specific config
diff --git a/libraries/AP_Vehicle/Parameters.cpp b/libraries/AP_Vehicle/Parameters.cpp
new file mode 100644
index 00000000000000..328a25bdd749ba
--- /dev/null
+++ b/libraries/AP_Vehicle/Parameters.cpp
@@ -0,0 +1,24 @@
+#include "AP_Vehicle.h"
+
+#include <AP_Param/AP_Param.h>
+#include <StorageManager/StorageManager.h>
+
+void AP_Vehicle::load_parameters(AP_Int16 &format_version, const uint16_t expected_format_version)
+{
+    if (!format_version.load() ||
+        format_version != expected_format_version) {
+
+        // erase all parameters
+        hal.console->printf("Firmware change: erasing EEPROM...\n");
+        StorageManager::erase();
+        AP_Param::erase_all();
+
+        // save the current format version
+        format_version.set_and_save(expected_format_version);
+        hal.console->printf("done.\n");
+    }
+    format_version.set_default(expected_format_version);
+
+    // Load all auto-loaded EEPROM variables
+    AP_Param::load_all();
+}

From 23aeef4bfe3694e23b9f2cd9e425bda09f7791f9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 38/83] AntennaTracker: move parameter storage formatting up to
 AP_Vehicle

---
 AntennaTracker/Parameters.cpp | 20 +-------------------
 1 file changed, 1 insertion(+), 19 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 35b20c530309bc..4eb3db11691f5c 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -584,23 +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
@@ -617,8 +601,6 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
-
 #if HAL_HAVE_SAFETY_SWITCH
     // configure safety switch to allow stopping the motors while armed
     AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|

From 00356e0eb4c61053090a1348e5085c034cd23230 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 39/83] ArduCopter: move parameter storage formatting up to
 AP_Vehicle

---
 ArduCopter/Parameters.cpp | 22 +---------------------
 1 file changed, 1 insertion(+), 21 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index d5d7174ff19ff6..162492ffd86c71 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1338,25 +1338,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Copter::load_parameters(void)
 {
-    hal.util->set_soft_armed(false);
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    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();
-
-        // 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
@@ -1409,11 +1392,8 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
-
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
-
 }
 
 // handle conversion of PID gains

From 739a4a97daa5b96c6e396e56c8ca547b140ba8a4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 40/83] ArduPlane: move parameter storage formatting up to
 AP_Vehicle

---
 ArduPlane/Parameters.cpp | 19 +------------------
 1 file changed, 1 insertion(+), 18 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index beb418b3456e87..6d3c1d945652fd 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1344,23 +1344,8 @@ static const RCConversionInfo rc_option_conversion[] = {
 
 void Plane::load_parameters(void)
 {
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
+    AP_Vehicle::load_parameters(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 = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
     // setup defaults in SRV_Channels
@@ -1577,6 +1562,4 @@ void Plane::load_parameters(void)
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
-
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }

From df72d3faacd8dd54db6cd2c242f90d480f07b2b9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:51 +1100
Subject: [PATCH 41/83] ArduSub: move parameter storage formatting up to
 AP_Vehicle

---
 ArduSub/Parameters.cpp | 20 +-------------------
 1 file changed, 1 insertion(+), 19 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 82771fb8082031..58e554f348ef98 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -732,26 +732,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Sub::load_parameters()
 {
-    hal.util->set_soft_armed(false);
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    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->println("done.");
-    }
-    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();
-    hal.console->printf("load_all took %uus\n", (unsigned)(AP_HAL::micros() - before));
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);

From ea7788f49d5db2aa7f0e46f78b6ed42bd5494356 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:51 +1100
Subject: [PATCH 42/83] Blimp: move parameter storage formatting up to
 AP_Vehicle

---
 Blimp/Parameters.cpp | 22 +---------------------
 1 file changed, 1 insertion(+), 21 deletions(-)

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index 805f704d7584b7..cbc14fc4101a2f 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -840,25 +840,7 @@ ParametersG2::ParametersG2(void)
 
 void Blimp::load_parameters(void)
 {
-    hal.util->set_soft_armed(false);
-
-    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 = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
 #if AP_STATS_ENABLED
@@ -894,8 +876,6 @@ void Blimp::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
-
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_BLIMP);
 }

From 5f24f337116ef7b64781a18c2fe04b1c10e869ed Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:51 +1100
Subject: [PATCH 43/83] Rover: move parameter storage formatting up to
 AP_Vehicle

---
 Rover/Parameters.cpp | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 2183768399e003..34f393b740a918 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -811,22 +811,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Rover::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);
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    const 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));
 
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_ROVER);
@@ -839,7 +825,6 @@ void Rover::load_parameters(void)
     }
 
     SRV_Channels::upgrade_parameters();
-    hal.console->printf("load_all took %uus\n", unsigned(micros() - before));
 
     // convert CH7_OPTION to RC7_OPTION for Rover-3.4 to 3.5 upgrade
     const AP_Param::ConversionInfo ch7_option_info = { Parameters::k_param_ch7_option, 0, AP_PARAM_INT8, "RC7_OPTION" };

From 63c95b32b4dcf6d510a30e293035a1295d7f638e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 11:11:53 +1100
Subject: [PATCH 44/83] AP_Vehicle: add missing inertialsensor include

we're making this object, so we should include the header
---
 libraries/AP_Vehicle/AP_Vehicle.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index c2fb1edfc1c0d2..6476dffea19ec1 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -38,6 +38,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
 #include <AP_Param/AP_Param.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>

From 8da89492a710d495f350079544ba974110a4ef94 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:57 +1100
Subject: [PATCH 45/83] RC_Channel: correct compilation when AP_MISSION_ENABLED
 is false

---
 libraries/RC_Channel/RC_Channel.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index ef80a7ab849cf0..736e7e18d6a2df 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1066,6 +1066,7 @@ void RC_Channel::do_aux_function_fence(const AuxSwitchPos ch_flag)
 }
 #endif
 
+#if AP_MISSION_ENABLED
 void RC_Channel::do_aux_function_clear_wp(const AuxSwitchPos ch_flag)
 {
     if (ch_flag == AuxSwitchPos::HIGH) {
@@ -1076,6 +1077,7 @@ void RC_Channel::do_aux_function_clear_wp(const AuxSwitchPos ch_flag)
         mission->clear();
     }
 }
+#endif  // AP_MISSION_ENABLED
 
 #if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
 void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val)
@@ -1178,6 +1180,7 @@ void RC_Channel::do_aux_function_rc_override_enable(const AuxSwitchPos ch_flag)
     }
 }
 
+#if AP_MISSION_ENABLED
 void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
 {
     if (ch_flag != AuxSwitchPos::HIGH) {
@@ -1189,6 +1192,7 @@ void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
     }
     mission->reset();
 }
+#endif
 
 void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
 {

From d33cc2847d78b3623f5880e04e27a0df60d722a6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:28 +1100
Subject: [PATCH 46/83] AP_Mount: correct compilation with GCS disabled

---
 libraries/AP_Mount/AP_Mount_Backend.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 28536134adaee3..9e15e719abee3a 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -387,7 +387,7 @@ MAV_RESULT AP_Mount_Backend::handle_command_do_gimbal_manager_configure(const ma
 
     // send gimbal_manager_status if control has changed
     if (prev_control_id != mavlink_control_id) {
-        gcs().send_message(MSG_GIMBAL_MANAGER_STATUS);
+        GCS_SEND_MESSAGE(MSG_GIMBAL_MANAGER_STATUS);
     }
 
     return MAV_RESULT_ACCEPTED;

From 5de4ac42584e4cc08b3787f4435eb479a0aef5bd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 16:00:48 +1100
Subject: [PATCH 47/83] AP_Motors: use GCS_SEND_TEXT

---
 libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp b/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp
index 42b9d164b30678..d22c75d1e0a2bd 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp
@@ -266,7 +266,7 @@ void AP_MotorsMatrix_6DoF_Scripting::add_motor(int8_t motor_num, float roll_fact
 
         uint8_t chan;
         if (!SRV_Channels::find_channel(function, chan)) {
-            gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
             return;
         }
 

From 57b0a0db62639884877cdaaea9da31d969a0cf17 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 15:15:48 +1100
Subject: [PATCH 48/83] AP_Vehicle: add AP_VEHICLE_ENABLED guards for
 Parameters.cpp

---
 libraries/AP_Vehicle/Parameters.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Vehicle/Parameters.cpp b/libraries/AP_Vehicle/Parameters.cpp
index 328a25bdd749ba..7741d1ac0e08f3 100644
--- a/libraries/AP_Vehicle/Parameters.cpp
+++ b/libraries/AP_Vehicle/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "AP_Vehicle.h"
 
+#if AP_VEHICLE_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
 
@@ -22,3 +24,5 @@ void AP_Vehicle::load_parameters(AP_Int16 &format_version, const uint16_t expect
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
 }
+
+#endif  // AP_VEHICLE_ENABLED

From 37a9fd4e1460a75ca0a22dcb296cfae326380689 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:22:21 +1100
Subject: [PATCH 49/83] AP_Vehicle: add missing include in config.h

---
 libraries/AP_Vehicle/AP_Vehicle_config.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle_config.h b/libraries/AP_Vehicle/AP_Vehicle_config.h
index 8cdfa764a05294..91e365aa50a4f6 100644
--- a/libraries/AP_Vehicle/AP_Vehicle_config.h
+++ b/libraries/AP_Vehicle/AP_Vehicle_config.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
 #ifndef AP_VEHICLE_ENABLED
 #define AP_VEHICLE_ENABLED 1
 #endif

From 3f34eb12b052ce7b3079415ef59fa8c376b3471f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 16:38:56 +1100
Subject: [PATCH 50/83] AP_Scripting: include extern-hal line to fix
 compilation

this external line was coming in from a header file somewhere...
---
 libraries/AP_Scripting/generator/src/main.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index b414f45546c10a..da19db67783f73 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -2924,6 +2924,8 @@ int main(int argc, char **argv) {
   // for set_and_print_new_error_message deprecate warning
   fprintf(source, "#include <AP_Scripting/lua_scripts.h>\n");
 
+  fprintf(source, "extern const AP_HAL::HAL& hal;\n");
+
   trace(TRACE_GENERAL, "Starting emission");
 
   emit_headers(source);

From e58dd0de73a3f0e02d6e31b14e5779c45dd26c73 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Fri, 9 Feb 2024 20:41:31 +0000
Subject: [PATCH 51/83] Tools: ros2: add cmake options to ardupilot_sitl

- Add options for networking and PPP to match waf configure flags

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Tools/ros2/ardupilot_sitl/CMakeLists.txt | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/Tools/ros2/ardupilot_sitl/CMakeLists.txt b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
index 4b50d602da341b..83a30907c549fd 100644
--- a/Tools/ros2/ardupilot_sitl/CMakeLists.txt
+++ b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
@@ -12,6 +12,13 @@ find_package(ament_cmake_python REQUIRED)
 # TODO(srmainwaring): add cache variables for vehicle type, debug etc.
 # set(ARDUPILOT_VEHICLE "copter" CACHE STRING "Vehicle type")
 
+option(ARDUPILOT_DISABLE_NETWORKING "Disable the networking API code" OFF)
+option(ARDUPILOT_DISABLE_SCRIPTING "Disable the scripting API code" OFF)
+option(ARDUPILOT_DISABLE_WATCHDOG "Build with watchdog disabled" OFF)
+option(ARDUPILOT_ENABLE_DDS "Enable the DDS client" ON)
+option(ARDUPILOT_ENABLE_NETWORKING_TESTS "Enable the networking test code" OFF)
+option(ARDUPILOT_ENABLE_PPP "Enable PPP networking" OFF)
+
 # NOTE: look for `waf` and set source and build directories to top level.
 # ${PROJECT_SOURCE_DIR} = ./Tools/ros2/ardupilot
 #
@@ -22,9 +29,22 @@ message(STATUS "WAF_COMMAND: ${WAF_COMMAND}")
 
 # Set the build config.
 set(WAF_CONFIG $<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:"--debug">)
+set(WAF_DISABLE_NETWORKING $<$<BOOL:${ARDUPILOT_DISABLE_NETWORKING}>:"--disable-networking">)
+set(WAF_DISABLE_SCRIPTING $<$<BOOL:${ARDUPILOT_DISABLE_SCRIPTING}>:"--disable-scripting">)
+set(WAF_DISABLE_WATCHDOG $<$<BOOL:${ARDUPILOT_DISABLE_WATCHDOG}>:"--disable-watchdog">)
+set(WAF_ENABLE_DDS $<$<BOOL:${ARDUPILOT_ENABLE_DDS}>:"--enable-dds">)
+set(WAF_ENABLE_NETWORKING_TESTS $<$<BOOL:${ARDUPILOT_ENABLE_NETWORKING_TESTS}>:"--enable-networking-tests">)
+set(WAF_ENABLE_PPP $<$<BOOL:${ARDUPILOT_ENABLE_PPP}>:"--enable-ppp">)
 
 add_custom_target(ardupilot_configure ALL
-  ${WAF_COMMAND} configure --board sitl --enable-dds ${WAF_CONFIG}
+  ${WAF_COMMAND} configure --board sitl
+    ${WAF_CONFIG}
+    ${WAF_DISABLE_NETWORKING}
+    ${WAF_DISABLE_SCRIPTING}
+    ${WAF_DISABLE_WATCHDOG}
+    ${WAF_ENABLE_DDS}
+    ${WAF_ENABLE_NETWORKING_TESTS}
+    ${WAF_ENABLE_PPP}
   WORKING_DIRECTORY ${ARDUPILOT_ROOT}
 )
 

From d6b1644710848ae0a12ecd9b5d2d664dd1a601bf Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Thu, 12 May 2022 16:31:48 +0200
Subject: [PATCH 52/83] AP_Mount: send text feedback when gimbal gets detected

---
 libraries/AP_Mount/AP_Mount_SToRM32.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
index de3c8035c989a9..333bac05775059 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -128,6 +128,7 @@ void AP_Mount_SToRM32::find_gimbal()
     if (GCS_MAVLINK::find_by_mavtype_and_compid(MAV_TYPE_GIMBAL, compid, _sysid, _chan)) {
         _compid = compid;
         _initialised = true;
+        gcs().send_text(MAV_SEVERITY_INFO, "Mount: SToRM32");
     }
 }
 

From 312fa7c4d61d1199e9cf5dfac59b150d9edaa7e6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 13:02:19 +1100
Subject: [PATCH 53/83] Copter: release notes for 4.5.0-beta2

---
 ArduCopter/ReleaseNotes.txt | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index b80cc28e9fa23b..2c4c7893f7e758 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/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

From b6d8b37018c6593fcc274efa25ef836c414034e2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 13:02:19 +1100
Subject: [PATCH 54/83] Plane: release notes for 4.5.0-beta2

---
 ArduPlane/ReleaseNotes.txt | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index bff21a6845c3db..54e8a90461a1aa 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,31 @@
+Release 4.5.0-beta2 14th 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) Plane specific changes
+ - fixed handling of force arming when safety is enabled for VTOL motor state
+
+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
+
+
 Release 4.5.0-beta1 30th January 2024
 -------------------------------------
 

From 6b1edfb0975a93db26bf531fc549c6ea33de901c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 13:02:20 +1100
Subject: [PATCH 55/83] Rover: release notes for 4.5.0-beta2

---
 Rover/release-notes.txt | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 5cae4fdfc24358..af59caf5c2df9f 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,4 +1,28 @@
 Rover Release Notes:
+--------------------
+
+Rover 4.5.0-beta2 14th 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) Camera and gimbal enhancements
+ - wait for non-zero camera version in SIYI driver
+
+4) Miscellaneous
+ - do relay parameter conversion for parachute parameters if ever has been used
+ - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
+
 ------------------------------------------------------------------
 Rover 4.5.0-beta1 30-Jan-2025
 Changes from 4.4.4

From 29cd0ab179bf135f7a78d7fd8b27287e2cf8a847 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:07 +1100
Subject: [PATCH 56/83] AP_Mission: remove AP_MISSION_ENABLED special-cases

these are static methods which are called when they really shouldn't be
---
 libraries/AP_Mission/AP_Mission.cpp | 25 +++++++------------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 2fd101c8fab0bf..e13dadf3dc34a2 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -2,18 +2,19 @@
 /// @brief   Handles the MAVLINK command mission stack.  Reads and writes mission to storage.
 
 #include "AP_Mission_config.h"
-#include <AP_Vehicle/AP_Vehicle_Type.h>
-#include <AP_Gripper/AP_Gripper_config.h>
-#include <GCS_MAVLink/GCS.h>
 
 #if AP_MISSION_ENABLED
 
-#include "AP_Mission.h"
-#include <AP_Terrain/AP_Terrain.h>
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Camera/AP_Camera.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Camera/AP_Camera.h>
+#include <AP_Gripper/AP_Gripper_config.h>
+#include "AP_Mission.h"
+#include <AP_Scripting/AP_Scripting.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <GCS_MAVLink/GCS.h>
 #include <RC_Channel/RC_Channel_config.h>
 
 const AP_Param::GroupInfo AP_Mission::var_info[] = {
@@ -836,8 +837,6 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
     return true;
 }
 
-#endif  // AP_MISSION_ENABLED
-
 bool AP_Mission::stored_in_location(uint16_t id)
 {
     switch (id) {
@@ -864,8 +863,6 @@ bool AP_Mission::stored_in_location(uint16_t id)
     }
 }
 
-#if AP_MISSION_ENABLED
-
 /// write_cmd_to_storage - write a command to storage
 ///     index is used to calculate the storage location
 ///     true is returned if successful
@@ -939,8 +936,6 @@ void AP_Mission::write_home_to_storage()
     write_cmd_to_storage(0,home_cmd);
 }
 
-#endif  // AP_MISSION_ENABLED
-
 MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_int_t& packet)
 {
     uint8_t nan_mask;
@@ -1510,8 +1505,6 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
     return MAV_MISSION_ACCEPTED;
 }
 
-#if AP_MISSION_ENABLED
-
 // mission_cmd_to_mavlink_int - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
 //  return true on success, false on failure
 //  NOTE: callers to this method current fill parts of "packet" in before calling this method, so do NOT attempt to zero the entire packet in here
@@ -2746,8 +2739,6 @@ bool AP_Mission::contains_item(MAV_CMD command) const
     return false;
 }
 
-#endif  // AP_MISSION_ENABLED
-
 /*
   return true if the mission item has a location
 */
@@ -2757,8 +2748,6 @@ bool AP_Mission::cmd_has_location(const uint16_t command)
     return stored_in_location(command);
 }
 
-#if AP_MISSION_ENABLED
-
 /*
   return true if the mission has a terrain relative item.  ~2200us for 530 items on H7
  */

From 43adaf3714356c8b7a636148bfca6533365847f3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 15:07:35 +1100
Subject: [PATCH 57/83] GCS_MAVLink: make guided-mode-change-alt and
 guided-mode-wp dependant on AP_MISSION_ENABLED

We really should not be using Mission_Command to transfer information between the base-class GCS_MAVLink and subclasses like GCS_MAVLink_Plane.  But until we fix that we can exclude the code if Mission is not available (like on peripherals...)
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 +++++++++++++++-
 libraries/GCS_MAVLink/GCS_config.h   |  2 +-
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index ec4ff7eae0d762..31233b69f3147e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -54,6 +54,7 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_Winch/AP_Winch.h>
+#include <AP_Mission/AP_Mission.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include <AP_OSD/AP_OSD.h>
 #include <AP_RCTelemetry/AP_CRSF_Telem.h>
@@ -887,19 +888,31 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
     if (msg.msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
         mavlink_mission_item_t mission_item;
         mavlink_msg_mission_item_decode(&msg, &mission_item);
+#if AP_MISSION_ENABLED
         MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, mission_item_int);
         if (ret != MAV_MISSION_ACCEPTED) {
             const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
             send_mission_ack(msg, type, ret);
             return;
         }
+#else
+        // No mission library, so we can't convert from MISSION_ITEM
+        // to MISSION_ITEM_INT.  Since we shouldn't be receiving fence
+        // or rally items via MISSION_ITEM, we don't need to work hard
+        // here, just fail:
+        const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item.mission_type;
+        send_mission_ack(msg, type, MAV_MISSION_UNSUPPORTED);
+        return;
+#endif
         send_mission_item_warning = true;
     } else {
         mavlink_msg_mission_item_int_decode(&msg, &mission_item_int);
     }
-    const uint8_t current = mission_item_int.current;
     const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
 
+#if AP_MISSION_ENABLED
+    const uint8_t current = mission_item_int.current;
+
     if (type == MAV_MISSION_TYPE_MISSION && (current == 2 || current == 3)) {
         struct AP_Mission::Mission_Command cmd = {};
         MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(mission_item_int, cmd);
@@ -925,6 +938,7 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
         send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
         return;
     }
+#endif
 
     // not a guided-mode reqest
     MissionItemProtocol *prot = gcs().get_prot_for_mission_type(type);
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 8960a881ab45cb..14449af38220f2 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -89,7 +89,7 @@
 // sending warnings to the GCS in Sep 2022 if this command was used.
 // Copter 4.4.0 sends this warning.
 #ifndef AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
-#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED 1
+#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED AP_MISSION_ENABLED
 #endif
 
 // all commands can be executed by COMMAND_INT, so COMMAND_LONG isn't

From c449c71286384d0468fa7359d739c5485f55b2ba Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 12 Feb 2024 12:16:39 +0900
Subject: [PATCH 58/83] Tools: update AION R1 params

---
 Tools/Frame_params/AION_R1_Rover.param | 84 +++++++++-----------------
 1 file changed, 30 insertions(+), 54 deletions(-)

diff --git a/Tools/Frame_params/AION_R1_Rover.param b/Tools/Frame_params/AION_R1_Rover.param
index 07b0a15d0309b4..e7c8de00a00521 100644
--- a/Tools/Frame_params/AION_R1_Rover.param
+++ b/Tools/Frame_params/AION_R1_Rover.param
@@ -1,72 +1,46 @@
-#NOTE: AION Robotics Params for Rover V3.2.0
+#NOTE: AION Robotics Params for Rover V4.5.0 (and higher)
 ACRO_TURN_RATE,120
-#most users will want manual capabilites on boot without the need for a GCS to arm
-ARMING_REQUIRE,0
-#MIN 4S SOLO BATTERY
-ARMING_VOLT_MIN,13
-ATC_ACCEL_MAX,2.0
-ATC_SPEED_P,0.2
-ATC_SPEED_I,0.2
-ATC_SPEED_D,0.0
-ATC_SPEED_FILT,10
-ATC_STR_ACC_MAX,180
-ATC_STR_ANG_P,2.5
-ATC_STR_RAT_FF,0.2
-ATC_STR_RAT_P,0.0
-ATC_STR_RAT_I,0.1
+ATC_ACCEL_MAX,0.75
+ATC_DECEL_MAX,1.5
+ATC_SPEED_P,0.5
+ATC_SPEED_I,0.5
+ATC_SPEED_D,0.018
+ATC_SPEED_FLTE,10
+ATC_STR_ACC_MAX,120
+ATC_STR_ANG_P,2
+ATC_STR_RAT_FF,0.25
+ATC_STR_RAT_P,0.13
+ATC_STR_RAT_I,0.13
 ATC_STR_RAT_D,0.0
-ATC_STR_RAT_FILT,20
+ATC_STR_RAT_FLTD,2
+ATC_STR_RAT_FLTE,10
+ATC_STR_RAT_FLTT,2
 ATC_STR_RAT_MAX,120
-#default aux ch to match documentation
-AUX_CH,7
-#cube power brick - 4s solo battery - SMBus hardware side not yet supported
-BATT_AMP_OFFSET,0
-BATT_AMP_PERVOLT,0.1
-BATT_CAPACITY,5200
-BATT_CURR_PIN,3
-BATT_LOW_TIMER,10
-BATT_LOW_TYPE,0
+ATC_TURN_MAX_G,0.3
 BATT_MONITOR,4
-BATT_SERIAL_NUM,-1
-BATT_VOLT_MULT,13.99818
-BATT_VOLT_PIN,2
 BRD_PWM_COUNT,2
-#default save waypoint
-RC7_OPTION,1
+BRD_SAFETY_DEFLT,0
 COMPASS_OFFS_MAX,2000
-#default use only first (hopefully external) compass
 COMPASS_USE,1
 COMPASS_USE2,0
 COMPASS_USE3,0
 CRUISE_SPEED,1.0
 CRUISE_THROTTLE,70
-EK2_YAW_M_NSE,0.7
-FS_CRASH_CHECK,1
-#default modes
-MODE_CH,5
-MODE1,0
-MODE2,3
-MODE3,10
-MODE4,12
-NAVL1_PERIOD,6
-NAVL1_DAMPING,0.7
-NAVL1_XTRACK_I,0.02
-PIVOT_TURN_ANGLE,30
-#default telem radio
-SERIAL1_BAUD,57
-SERIAL1_PROTOCOL,1
-#default APSync
-SERIAL2_BAUD,921
-SERIAL2_PROTOCOL,1
-SERVO1_FUNCTION,74
+FRAME_CLASS,1
+FRAME_TYPE,0
+PSC_POS_P,0.2
+PSC_VEL_FLTD,5
+PSC_VEL_FLTE,5
+PSC_VEL_I,0
+PSC_VEL_P,1
+WP_PIVOT_ANGLE,60
+WP_PIVOT_RATE,60
+SERVO1_FUNCTION,73
 SERVO1_MAX,2000
 SERVO1_MIN,1000
-SERVO3_FUNCTION,73
+SERVO3_FUNCTION,74
 SERVO3_MAX,2000
 SERVO3_MIN,1000
-SPEED_TURN_GAIN,50
-ATC_TURN_MAX_G,0.3
-TURN_RADIUS,0.9
 WENC_CPR,1120
 WENC_PINA,55
 WENC_PINB,54
@@ -83,3 +57,5 @@ WENC2_POS_Y,0.16
 WENC2_POS_Z,0
 WENC_RADIUS,0.0775
 WENC2_TYPE,0
+WP_RADIUS,2
+WP_SPEED,1

From 5216dc92f9839776b6096c1c7c98ef4b503f1211 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 13 Feb 2024 00:44:45 +0000
Subject: [PATCH 59/83] Plane: reorder set_throttle function

---
 ArduPlane/servos.cpp | 34 ++++++++++++++++------------------
 1 file changed, 16 insertions(+), 18 deletions(-)

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 3f4310def0850f..da770481600eff 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -547,6 +547,21 @@ float Plane::apply_throttle_limits(float throttle_in)
 void Plane::set_throttle(void)
 {
 
+    // Update voltage scaling
+    g2.fwd_batt_cmp.update();
+
+    if (control_mode->use_battery_compensation()) {
+        // Apply voltage compensation to throttle output from flight mode
+        const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
+    }
+
+    if (control_mode->use_throttle_limits()) {
+        // Apply min/max throttle limits
+        const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
+    }
+
     if (!arming.is_armed_and_safety_off()) {
         // Always set 0 scaled even if overriding to zero pwm.
         // This ensures slew limits and other functions using the scaled value pick up in the correct place
@@ -559,10 +574,8 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
             SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
         }
-        return;
-    }
 
-    if (suppress_throttle()) {
+    } else if (suppress_throttle()) {
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
@@ -576,23 +589,8 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
 
         }
-        return;
-    }
-
-    // Update voltage scaling
-    g2.fwd_batt_cmp.update();
-
-    if (control_mode->use_battery_compensation()) {
-        // Apply voltage compensation to throttle output from flight mode
-        const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
     }
 
-    if (control_mode->use_throttle_limits()) {
-        // Apply min/max throttle limits
-        const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
-    }
 }
 
 /*

From 9cc194bc8a5df18e4162c89e54446fcb72250fbd Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 9 Feb 2024 10:33:47 +0000
Subject: [PATCH 60/83] Copter: cleanup EKF failsafe units and division

---
 ArduCopter/Parameters.cpp | 1 +
 ArduCopter/ekf_check.cpp  | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 162492ffd86c71..35ede3b0516cb6 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1232,6 +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),
 
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 47d9121be9b742..c05e7a279cc49f 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/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);

From 40f0001aeae1cb9e9f42563ecdb8ec98fda0e2e2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 11:10:09 +1100
Subject: [PATCH 61/83] AP_BattMonitor: fix compilation when scripting in but
 scripted-battery out

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 libraries/AP_Scripting/generator/description/bindings.desc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 299bd2b27e3c71..be65f4da50c47e 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -77,7 +77,7 @@ singleton AP_Arming method set_aux_auth_failed void uint8_t'skip_check string
 include AP_BattMonitor/AP_BattMonitor.h
 
 include AP_BattMonitor/AP_BattMonitor_Scripting.h
-userdata BattMonitorScript_State depends AP_BATTERY_SCRIPTING_ENABLED == 1
+userdata BattMonitorScript_State depends AP_BATTERY_SCRIPTING_ENABLED
 userdata BattMonitorScript_State field healthy boolean write
 userdata BattMonitorScript_State field voltage float'skip_check write
 userdata BattMonitorScript_State field cell_count uint8_t'skip_check write
@@ -107,6 +107,7 @@ singleton AP_BattMonitor method get_cycle_count boolean uint8_t 0 ud->num_instan
 singleton AP_BattMonitor method reset_remaining boolean uint8_t 0 ud->num_instances() float 0 100
 singleton AP_BattMonitor method get_cell_voltage boolean uint8_t'skip_check uint8_t'skip_check float'Null
 singleton AP_BattMonitor method handle_scripting boolean uint8_t'skip_check BattMonitorScript_State
+singleton AP_BattMonitor method handle_scripting depends AP_BATTERY_SCRIPTING_ENABLED
 
 include AP_GPS/AP_GPS.h
 

From e15f9d3f3988666782fe26e6f5d68eabcc730420 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 10:56:56 +1100
Subject: [PATCH 62/83] AP_BattMonitor: tidy defines in scripting backend

---
 libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp | 5 +++--
 libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h   | 7 ++++---
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
index 337c9d9b7ac2c1..e7b846258dd4fb 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
@@ -1,7 +1,9 @@
-#include "AP_BattMonitor_Scripting.h"
+#include "AP_BattMonitor_config.h"
 
 #if AP_BATTERY_SCRIPTING_ENABLED
 
+#include "AP_BattMonitor_Scripting.h"
+
 #define AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US 5000000
 
 bool AP_BattMonitor_Scripting::capacity_remaining_pct(uint8_t &percentage) const
@@ -81,4 +83,3 @@ bool AP_BattMonitor_Scripting::handle_scripting(const BattMonitorScript_State &b
 }
 
 #endif // AP_BATTERY_SCRIPTING_ENABLED
-
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
index f68f11b9dceb5b..382437d0aa55ea 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
@@ -1,9 +1,11 @@
 #pragma once
 
-#include "AP_BattMonitor_Backend.h"
+#include "AP_BattMonitor_config.h"
 
 #if AP_BATTERY_SCRIPTING_ENABLED
 
+#include "AP_BattMonitor_Backend.h"
+
 class AP_BattMonitor_Scripting : public AP_BattMonitor_Backend
 {
 public:
@@ -28,5 +30,4 @@ class AP_BattMonitor_Scripting : public AP_BattMonitor_Backend
     HAL_Semaphore sem;
 };
 
-#endif // AP_BATTMONITOR_SCRIPTING_ENABLED
-
+#endif // AP_BATTERY_SCRIPTING_ENABLED

From 46e4588cf776301497ca22922d875ea3545bf7e8 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 13 Feb 2024 19:28:05 +0000
Subject: [PATCH 63/83] AP_Scripting: add file system crc32 binding

---
 libraries/AP_Scripting/docs/docs.lua                       | 4 ++++
 libraries/AP_Scripting/generator/description/bindings.desc | 1 +
 2 files changed, 5 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 3208c6ac224a82..8a8db7001b49b9 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3411,6 +3411,10 @@ function fs:format() end
 ---@return number
 function fs:get_format_status() end
 
+-- Get crc32 checksum of a file with given name
+---@return uint32_t_ud|nil
+function fs:crc32(file_name) end
+
 -- desc
 ---@class networking
 networking = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index be65f4da50c47e..5f4458985fca4d 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -895,6 +895,7 @@ singleton AP_Filesystem method format boolean
 singleton AP_Filesystem method format depends AP_FILESYSTEM_FORMAT_ENABLED
 singleton AP_Filesystem method get_format_status uint8_t'skip_check
 singleton AP_Filesystem method get_format_status depends AP_FILESYSTEM_FORMAT_ENABLED
+singleton AP_Filesystem method crc32 boolean string uint32_t'Null
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h

From c48759f4ba04d2c9ea0a26794fe47d9d58f38ccc Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Feb 2024 11:16:31 +0000
Subject: [PATCH 64/83] AP_Filesystem: crc32: Ensure checksum value is
 initialized

---
 libraries/AP_Filesystem/AP_Filesystem.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index e62ec5920827c3..564696bb979045 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -290,6 +290,9 @@ bool AP_Filesystem::fgets(char *buf, uint8_t buflen, int fd)
 // run crc32 over file with given name, returns true if successful
 bool AP_Filesystem::crc32(const char *fname, uint32_t& checksum)
 {
+    // Ensure value is initialized
+    checksum = 0;
+
     // Open file in readonly mode
     int fd = open(fname, O_RDONLY);
     if (fd == -1) {

From ad3724177dc8c61c1baa8debbec64ffd877e90e7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 65/83] RC_Channel: use AUX_FUNC instead of typedef aux_func_t

---
 libraries/RC_Channel/RC_Channel.cpp  | 18 +++++++++---------
 libraries/RC_Channel/RC_Channel.h    | 15 +++++++--------
 libraries/RC_Channel/RC_Channels.cpp |  6 +++---
 3 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 736e7e18d6a2df..a544f8638e5a46 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -617,7 +617,7 @@ bool RC_Channel::debounce_completed(int8_t position)
 //
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -805,7 +805,7 @@ const char *RC_Channel::string_for_aux_pos(AuxSwitchPos pos) const
  */
 bool RC_Channel::read_aux()
 {
-    const aux_func_t _option = (aux_func_t)option.get();
+    const AUX_FUNC _option = (AUX_FUNC)option.get();
     if (_option == AUX_FUNC::DO_NOTHING) {
         // may wish to add special cases for other "AUXSW" things
         // here e.g. RCMAP_ROLL etc once they become options
@@ -1214,7 +1214,7 @@ void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
 #endif
 }
 
-bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
+bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
 {
 #if AP_SCRIPTING_ENABLED
     rc().set_aux_cached(ch_option, pos);
@@ -1249,7 +1249,7 @@ bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFun
     return ret;
 }
 
-bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
 #if AP_FENCE_ENABLED
@@ -1684,7 +1684,7 @@ void RC_Channel::init_aux()
     if (!read_3pos_switch(position)) {
         position = AuxSwitchPos::LOW;
     }
-    init_aux_function((aux_func_t)option.get(), position);
+    init_aux_function((AUX_FUNC)option.get(), position);
 }
 
 // read_3pos_switch
@@ -1726,7 +1726,7 @@ RC_Channel::AuxSwitchPos RC_Channels::get_channel_pos(const uint8_t rcmapchan) c
     return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::AuxSwitchPos::LOW;
 }
 
-RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
+RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::AUX_FUNC option)
 {
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
         RC_Channel *c = channel(i);
@@ -1734,7 +1734,7 @@ RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t op
             // odd?
             continue;
         }
-        if ((RC_Channel::aux_func_t)c->option.get() == option) {
+        if ((RC_Channel::AUX_FUNC)c->option.get() == option) {
             return c;
         }
     }
@@ -1770,7 +1770,7 @@ bool RC_Channels::duplicate_options_exist()
 }
 
 // convert option parameter from old to new
-void RC_Channels::convert_options(const RC_Channel::aux_func_t old_option, const RC_Channel::aux_func_t new_option)
+void RC_Channels::convert_options(const RC_Channel::AUX_FUNC old_option, const RC_Channel::AUX_FUNC new_option)
 {
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
         RC_Channel *c = channel(i);
@@ -1778,7 +1778,7 @@ void RC_Channels::convert_options(const RC_Channel::aux_func_t old_option, const
             // odd?
             continue;
         }
-        if ((RC_Channel::aux_func_t)c->option.get() == old_option) {
+        if ((RC_Channel::AUX_FUNC)c->option.get() == old_option) {
             c->option.set_and_save((int16_t)new_option);
         }
     }
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 368e3a013eae56..4ad9e532fa0494 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -285,7 +285,6 @@ class RC_Channel {
         // this must be higher than any aux function above
         AUX_FUNCTION_MAX =   308,
     };
-    typedef enum AUX_FUNC aux_func_t;
 
     // auxiliary switch handling (n.b.: we store this as 2-bits!):
     enum class AuxSwitchPos : uint8_t {
@@ -306,7 +305,7 @@ class RC_Channel {
     AuxSwitchPos get_aux_switch_pos() const;
 
     // wrapper function around do_aux_function which allows us to log
-    bool run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
+    bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
 
 #if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
     const char *string_for_aux_function(AUX_FUNC function) const;
@@ -334,10 +333,10 @@ class RC_Channel {
 
 protected:
 
-    virtual void init_aux_function(aux_func_t ch_option, AuxSwitchPos);
+    virtual void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
 
     // virtual function to be overridden my subclasses
-    virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
+    virtual bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
 
     void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
     void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
@@ -482,10 +481,10 @@ class RC_Channels {
     // is RC channel 1.  Beware this is not a cheap call.
     uint16_t get_override_mask() const;
 
-    class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
+    class RC_Channel *find_channel_for_option(const RC_Channel::AUX_FUNC option);
     bool duplicate_options_exist();
     RC_Channel::AuxSwitchPos get_channel_pos(const uint8_t rcmapchan) const;
-    void convert_options(const RC_Channel::aux_func_t old_option, const RC_Channel::aux_func_t new_option);
+    void convert_options(const RC_Channel::AUX_FUNC old_option, const RC_Channel::AUX_FUNC new_option);
 
     void init_aux_all();
     void read_aux_all();
@@ -586,7 +585,7 @@ class RC_Channels {
 
 #if AP_SCRIPTING_ENABLED
     // get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
-    bool get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos);
+    bool get_aux_cached(RC_Channel::AUX_FUNC aux_fn, uint8_t &pos);
 #endif
 
     // returns true if we've ever seen RC input, via overrides or via
@@ -637,7 +636,7 @@ class RC_Channels {
     HAL_Semaphore aux_cache_sem;
     Bitmask<unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)*2> aux_cached;
 
-    void set_aux_cached(RC_Channel::aux_func_t aux_fn, RC_Channel::AuxSwitchPos pos);
+    void set_aux_cached(RC_Channel::AUX_FUNC aux_fn, RC_Channel::AuxSwitchPos pos);
 #endif
 };
 
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index 4beee5e5d69f2d..9ec73c5dab365e 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -236,7 +236,7 @@ bool RC_Channels::flight_mode_channel_conflicts_with_rc_option() const
     if (chan == nullptr) {
         return false;
     }
-    return (RC_Channel::aux_func_t)chan->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING;
+    return (RC_Channel::AUX_FUNC)chan->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING;
 }
 
 /*
@@ -276,7 +276,7 @@ uint32_t RC_Channels::enabled_protocols() const
 /*
   get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
 */
-bool RC_Channels::get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos)
+bool RC_Channels::get_aux_cached(RC_Channel::AUX_FUNC aux_fn, uint8_t &pos)
 {
     const uint16_t aux_idx = uint16_t(aux_fn);
     if (aux_idx >= unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)) {
@@ -295,7 +295,7 @@ bool RC_Channels::get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos)
 /*
   set cached value of an aux function
  */
-void RC_Channels::set_aux_cached(RC_Channel::aux_func_t aux_fn, RC_Channel::AuxSwitchPos pos)
+void RC_Channels::set_aux_cached(RC_Channel::AUX_FUNC aux_fn, RC_Channel::AuxSwitchPos pos)
 {
     const uint16_t aux_idx = uint16_t(aux_fn);
     if (aux_idx < unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)) {

From d4708e2d52f92e4076c78819f0c4c3da3f74f9e2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 66/83] ArduCopter: use AUX_FUNC instead of typedef aux_func_t

---
 ArduCopter/AP_Arming.cpp  | 4 ++--
 ArduCopter/RC_Channel.cpp | 4 ++--
 ArduCopter/RC_Channel.h   | 4 ++--
 ArduCopter/tuning.cpp     | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 30226a9020bbc5..4167e6a7538524 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/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;
         }
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index b613cb141aee43..dde5eb48e37c7d 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/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:
diff --git a/ArduCopter/RC_Channel.h b/ArduCopter/RC_Channel.h
index 6d9d9f9426801c..b0ba3ebb1492f8 100644
--- a/ArduCopter/RC_Channel.h
+++ b/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:
 
diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index babc53b9ff2672..c2cea3c72f2c38 100644
--- a/ArduCopter/tuning.cpp
+++ b/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;
     }
 

From 6f9400a35346370e71bf74a28470751c508a5781 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 67/83] ArduPlane: use AUX_FUNC instead of typedef aux_func_t

---
 ArduPlane/RC_Channel.cpp | 4 ++--
 ArduPlane/RC_Channel.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
index cb426ab21f4a28..d61413c3d0f3a4 100644
--- a/ArduPlane/RC_Channel.cpp
+++ b/ArduPlane/RC_Channel.cpp
@@ -141,7 +141,7 @@ void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
 }
 
 
-void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
+void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
                                          const RC_Channel::AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
@@ -212,7 +212,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
     case AUX_FUNC::INVERTED:
diff --git a/ArduPlane/RC_Channel.h b/ArduPlane/RC_Channel.h
index 7ecc352c32aa8b..858034478c9bf1 100644
--- a/ArduPlane/RC_Channel.h
+++ b/ArduPlane/RC_Channel.h
@@ -9,9 +9,9 @@ class RC_Channel_Plane : public RC_Channel
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option,
+    void init_aux_function(AUX_FUNC ch_option,
                            AuxSwitchPos ch_flag) override;
-    bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

From 482c8d7f0b60e29613c7ee7a32f5798e0128c7c4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 68/83] Blimp: use AUX_FUNC instead of typedef aux_func_t

---
 Blimp/RC_Channel.cpp | 4 ++--
 Blimp/RC_Channel.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Blimp/RC_Channel.cpp b/Blimp/RC_Channel.cpp
index ba94d82a173df4..8742d3e347953e 100644
--- a/Blimp/RC_Channel.cpp
+++ b/Blimp/RC_Channel.cpp
@@ -58,7 +58,7 @@ RC_Channel * RC_Channels_Blimp::get_arming_channel(void) const
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Blimp::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel_Blimp::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -99,7 +99,7 @@ void RC_Channel_Blimp::do_aux_function_change_mode(const Mode::Number mode,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Blimp::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Blimp::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
 
diff --git a/Blimp/RC_Channel.h b/Blimp/RC_Channel.h
index ec37259794cb82..4a6e5e0156da12 100644
--- a/Blimp/RC_Channel.h
+++ b/Blimp/RC_Channel.h
@@ -11,8 +11,8 @@ class RC_Channel_Blimp : 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:
 

From 4b5553ac33812a4fe01ae180ba6f9726e35b8f76 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:12 +1100
Subject: [PATCH 69/83] Rover: use AUX_FUNC instead of typedef aux_func_t

---
 Rover/RC_Channel.cpp | 4 ++--
 Rover/RC_Channel.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Rover/RC_Channel.cpp b/Rover/RC_Channel.cpp
index 9a89b66d613764..eba85331194459 100644
--- a/Rover/RC_Channel.cpp
+++ b/Rover/RC_Channel.cpp
@@ -26,7 +26,7 @@ void RC_Channel_Rover::mode_switch_changed(modeswitch_pos_t new_pos)
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel_Rover::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -130,7 +130,7 @@ void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const AuxSwitchPos ch
     }
 }
 
-bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
     case AUX_FUNC::DO_NOTHING:
diff --git a/Rover/RC_Channel.h b/Rover/RC_Channel.h
index d25d714aa261cd..01c83da59b7389 100644
--- a/Rover/RC_Channel.h
+++ b/Rover/RC_Channel.h
@@ -11,8 +11,8 @@ class RC_Channel_Rover : 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;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

From 5d421e8ee3f24d8408a06ca839fa2e46898205a5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 19:26:12 +1100
Subject: [PATCH 70/83] AP_HAL_ChibiOS: allow AP_Periph to use mavlink library

---
 .../hwdef/scripts/defaults_periph.h           | 42 ++++++++++++++++++-
 1 file changed, 41 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index c2f75d230642fc..136987f000d948 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -325,7 +325,7 @@
 #define AP_AHRS_ENABLED defined(HAL_PERIPH_ENABLE_AHRS)
 #define AP_COMPASS_ENABLED defined(HAL_PERIPH_ENABLE_MAG)
 #define AP_BARO_ENABLED defined(HAL_PERIPH_ENABLE_BARO)
-#define AP_GPS_ENABLED 1  // FIXME: should be defined(HAL_PERIPH_ENABLE_GPS)
+#define AP_GPS_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
 #define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
 #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
 #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
@@ -400,3 +400,43 @@
 #ifndef AP_FILTER_ENABLED
 #define AP_FILTER_ENABLED 0
 #endif
+
+#ifndef AP_ADVANCEDFAILSAFE_ENABLED
+#define AP_ADVANCEDFAILSAFE_ENABLED 0
+#endif
+
+#ifndef AP_ARMING_ENABLED
+#define AP_ARMING_ENABLED 0
+#endif
+
+#ifndef AP_LTM_TELEM_ENABLED
+#define AP_LTM_TELEM_ENABLED 0
+#endif
+
+#ifndef AP_GRIPPER_ENABLED
+#define AP_GRIPPER_ENABLED 0
+#endif
+
+#ifndef HAL_SPRAYER_ENABLED
+#define HAL_SPRAYER_ENABLED 0
+#endif
+
+#ifndef AP_VEHICLE_ENABLED
+#define AP_VEHICLE_ENABLED 0
+#endif
+
+#ifndef OSD_ENABLED
+#define OSD_ENABLED 0
+#endif
+
+#ifndef OSD_PARAM_ENABLED
+#define OSD_PARAM_ENABLED 0
+#endif
+
+#ifndef AP_SCHEDULER_ENABLED
+#define AP_SCHEDULER_ENABLED 0
+#endif
+
+#ifndef AP_RC_CHANNEL_ENABLED
+#define AP_RC_CHANNEL_ENABLED 0
+#endif

From e787fc5dfd0ac415cde16c7003b5e1d2ce63e4d0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 19:26:12 +1100
Subject: [PATCH 71/83] GCS_MAVLink: allow AP_Periph to use mavlink library

---
 libraries/GCS_MAVLink/GCS.h                  |  5 ++
 libraries/GCS_MAVLink/GCS_Common.cpp         | 48 +++++++++++++++++---
 libraries/GCS_MAVLink/GCS_serial_control.cpp |  2 +
 3 files changed, 48 insertions(+), 7 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 87a76c3823f3f3..1990426423b600 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -25,6 +25,7 @@
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_RangeFinder/AP_RangeFinder_config.h>
 #include <AP_Winch/AP_Winch_config.h>
+#include <AP_Arming/AP_Arming_config.h>
 
 #include "ap_message.h"
 
@@ -527,7 +528,9 @@ class GCS_MAVLINK
     virtual bool set_home_to_current_location(bool lock) = 0;
     virtual bool set_home(const Location& loc, bool lock) = 0;
 
+#if AP_ARMING_ENABLED
     virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
+#endif
     MAV_RESULT handle_command_do_aux_function(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_storage_format(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     void handle_mission_request_list(const mavlink_message_t &msg);
@@ -1281,10 +1284,12 @@ class GCS
 
     char statustext_printf_buffer[256+1];
 
+#if AP_GPS_ENABLED
     virtual AP_GPS::GPS_Status min_status_for_gps_healthy() const {
         // NO_FIX simply excludes NO_GPS
         return AP_GPS::GPS_Status::NO_FIX;
     }
+#endif
 
     void update_sensor_status_flags();
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 31233b69f3147e..52fbfd97c07b27 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1619,11 +1619,13 @@ bool GCS_MAVLINK::set_ap_message_interval(enum ap_message id, uint16_t interval_
         }
     }
 
+#if AP_SCHEDULER_ENABLED
     // send messages out at most 80% of main loop rate
     if (interval_ms != 0 &&
         interval_ms*800 < AP::scheduler().get_loop_period_us()) {
         interval_ms = AP::scheduler().get_loop_period_us()/800.0f;
     }
+#endif
 
     // check if it's a specially-handled message:
     const int8_t deferred_offset = get_deferred_message_index(id);
@@ -1995,6 +1997,12 @@ void GCS_MAVLINK::send_system_time() const
 }
 
 
+bool GCS_MAVLINK::sending_mavlink1() const
+{
+    return ((_channel_status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0);
+}
+
+#if AP_RC_CHANNEL_ENABLED
 /*
   send RC_CHANNELS messages
  */
@@ -2033,11 +2041,6 @@ void GCS_MAVLINK::send_rc_channels() const
         );
 }
 
-bool GCS_MAVLINK::sending_mavlink1() const
-{
-    return ((_channel_status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0);
-}
-
 void GCS_MAVLINK::send_rc_channels_raw() const
 {
     // for mavlink1 send RC_CHANNELS_RAW, for compatibility with OSD
@@ -2068,6 +2071,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
 #endif
 );
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 void GCS_MAVLINK::send_raw_imu()
 {
@@ -2907,6 +2911,7 @@ void GCS_MAVLINK::send_heartbeat() const
         system_status());
 }
 
+#if AP_RC_CHANNEL_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_int_t &packet)
 {
     if (packet.param2 > 2) {
@@ -2921,6 +2926,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_int
     }
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_command_int_t &packet)
 {
@@ -3369,6 +3375,7 @@ MAV_RESULT GCS_MAVLINK::handle_flight_termination(const mavlink_command_int_t &p
 #endif
 }
 
+#if AP_RC_CHANNEL_ENABLED
 /*
   handle a R/C bind request (for spektrum)
  */
@@ -3382,6 +3389,7 @@ MAV_RESULT GCS_MAVLINK::handle_START_RX_PAIR(const mavlink_command_int_t &packet
     }
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 uint64_t GCS_MAVLINK::timesync_receive_timestamp_ns() const
 {
@@ -3781,6 +3789,7 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
 #endif
 }
 
+#if AP_RC_CHANNEL_ENABLED
 // allow override of RC channel values for complete GCS
 // control of switch position and RC PWM values.
 void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
@@ -3833,6 +3842,7 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
     gcs().sysid_myggcs_seen(tnow);
 
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_OPTICALFLOW_ENABLED
 void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
@@ -4120,9 +4130,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAVLINK_MSG_ID_MANUAL_CONTROL:
         handle_manual_control(msg);
         break;
+#endif
 
 #if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
     case MAVLINK_MSG_ID_PLAY_TUNE:
@@ -4185,9 +4197,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
         handle_rc_channels_override(msg);
         break;
+#endif
 
 #if AP_OPTICALFLOW_ENABLED
     case MAVLINK_MSG_ID_OPTICAL_FLOW:
@@ -4489,7 +4503,9 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
         return _handle_command_preflight_calibration_baro(msg);
     }
 
+#if AP_RC_CHANNEL_ENABLED
     rc().calibrating(is_positive(packet.param4));
+#endif
 
 #if HAL_INS_ACCELCAL_ENABLED
     if (packet.x == 1) {
@@ -4548,6 +4564,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration(const mavlink_comma
     return _handle_command_preflight_calibration(packet, msg);
 }
 
+#if AP_ARMING_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_int_t &packet)
 {
     if (hal.util->get_soft_armed()) {
@@ -4556,6 +4573,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_i
     (void)AP::arming().pre_arm_checks(true);
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_ARMING_ENABLED
 
 #if AP_MISSION_ENABLED
 // changes the current waypoint; at time of writing GCS
@@ -4793,6 +4811,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_int_t &packet
 }
 #endif  // HAL_MOUNT_ENABLED
 
+#if AP_ARMING_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_command_int_t &packet)
 {
     if (is_equal(packet.param1,1.0f)) {
@@ -4820,6 +4839,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
 
     return MAV_RESULT_UNSUPPORTED;
 }
+#endif // AP_ARMING_ENABLED
 
 bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Location &out)
 {
@@ -5166,8 +5186,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return  MAV_RESULT_FAILED;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_DO_AUX_FUNCTION:
         return handle_command_do_aux_function(packet);
+#endif
 
 #if AP_FENCE_ENABLED
     case MAV_CMD_DO_FENCE_ENABLE:
@@ -5242,9 +5264,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
     case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
         return handle_command_int_external_position_estimate(packet);
 #endif
+#if AP_ARMING_ENABLED
     case MAV_CMD_COMPONENT_ARM_DISARM:
         return handle_command_component_arm_disarm(packet);
-
+#endif
 #if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     case MAV_CMD_FIXED_MAG_CAL_YAW:
         return handle_command_fixed_mag_cal_yaw(packet);
@@ -5293,8 +5316,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_request_autopilot_capabilities(packet);
 #endif
 
+#if AP_ARMING_ENABLED
     case MAV_CMD_RUN_PREARM_CHECKS:
         return handle_command_run_prearm_checks(packet);
+#endif
 
 #if AP_SCRIPTING_ENABLED
     case MAV_CMD_SCRIPTING:
@@ -5312,8 +5337,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_set_ekf_source_set(packet);
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_START_RX_PAIR:
         return handle_START_RX_PAIR(packet);
+#endif
 
 #if AP_FILESYSTEM_FORMAT_ENABLED
     case MAV_CMD_STORAGE_FORMAT:
@@ -5482,7 +5509,11 @@ void GCS_MAVLINK::send_sys_status()
         control_sensors_present,
         control_sensors_enabled,
         control_sensors_health,
+#if AP_SCHEDULER_ENABLED
         static_cast<uint16_t>(AP::scheduler().load_average() * 1000),
+#else
+        0,
+#endif
 #if AP_BATTERY_ENABLED
         battery.gcs_voltage() * 1000,  // mV
         battery_current,        // in 10mA units
@@ -6051,6 +6082,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MSG_RC_CHANNELS:
         CHECK_PAYLOAD_SIZE(RC_CHANNELS);
         send_rc_channels();
@@ -6060,6 +6092,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
         send_rc_channels_raw();
         break;
+#endif
 
     case MSG_RAW_IMU:
         CHECK_PAYLOAD_SIZE(RAW_IMU);
@@ -6735,6 +6768,7 @@ uint64_t GCS_MAVLINK::capabilities() const
 }
 
 
+#if AP_RC_CHANNEL_ENABLED
 void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_t offset, const float scaler, const uint32_t tnow, const bool reversed)
 {
     if (c == nullptr) {
@@ -6773,7 +6807,7 @@ void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg)
     // from the ground station for failsafe purposes
     gcs().sysid_myggcs_seen(tnow);
 }
-
+#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_RSSI_ENABLED
 uint8_t GCS_MAVLINK::receiver_rssi() const
diff --git a/libraries/GCS_MAVLink/GCS_serial_control.cpp b/libraries/GCS_MAVLink/GCS_serial_control.cpp
index 50322e2e5dac29..0c60dcb4e27bc1 100644
--- a/libraries/GCS_MAVLink/GCS_serial_control.cpp
+++ b/libraries/GCS_MAVLink/GCS_serial_control.cpp
@@ -64,6 +64,7 @@ void GCS_MAVLINK::handle_serial_control(const mavlink_message_t &msg)
         link->lock(exclusive);
         break;
     }
+#if AP_GPS_ENABLED
     case SERIAL_CONTROL_DEV_GPS1:
         stream = port = hal.serial(3);
         AP::gps().lock_port(0, exclusive);
@@ -72,6 +73,7 @@ void GCS_MAVLINK::handle_serial_control(const mavlink_message_t &msg)
         stream = port = hal.serial(4);
         AP::gps().lock_port(1, exclusive);
         break;
+#endif  // AP_GPS_ENABLED
     case SERIAL_CONTROL_DEV_SHELL:
         stream = hal.util->get_shell_stream();
         if (stream == nullptr) {

From 102ffd3aeb398b4d1860a3aa9059870dc3f94879 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 19:54:38 +1100
Subject: [PATCH 72/83] AP_Periph: don't send GPS messages if not compiled in

---
 Tools/AP_Periph/GCS_MAVLink.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp
index cb454786ac8dde..a3df4631fef872 100644
--- a/Tools/AP_Periph/GCS_MAVLink.cpp
+++ b/Tools/AP_Periph/GCS_MAVLink.cpp
@@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_MCU_STATUS,
 #endif
     MSG_MEMINFO,
+#if AP_GPS_ENABLED
     MSG_GPS_RAW,
     MSG_GPS_RTK,
+#endif
 };
 
 static const ap_message STREAM_POSITION_msgs[] = {

From 2263dced74c2f51af8be378b7d6dc36b02e54383 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 08:48:02 +1100
Subject: [PATCH 73/83] AP_Scripting use scheduler semaphore only if
 AP_SCHEDULER_ENABLED

---
 libraries/AP_Scripting/generator/src/main.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index da19db67783f73..de1c6e48eca242 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -1918,7 +1918,9 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
   } else if (data->flags & UD_FLAG_SEMAPHORE_POINTER) {
     fprintf(source, "    %s%sget_semaphore()->take_blocking();\n", ud_name, ud_access);
   } else if (data->flags & UD_FLAG_SCHEDULER_SEMAPHORE) {
+    fprintf(source, "#if AP_SCHEDULER_ENABLED\n");
     fprintf(source, "    AP::scheduler().get_semaphore().take_blocking();\n");
+    fprintf(source, "#endif\n");
   }
 
   int static_cast = TRUE;
@@ -2050,7 +2052,9 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
   } else if (data->flags & UD_FLAG_SEMAPHORE_POINTER) {
     fprintf(source, "    %s%sget_semaphore()->give();\n", ud_name, ud_access);
   } else if (data->flags & UD_FLAG_SCHEDULER_SEMAPHORE) {
+    fprintf(source, "#if AP_SCHEDULER_ENABLED\n");
     fprintf(source, "    AP::scheduler().get_semaphore().give();\n");
+    fprintf(source, "#endif\n");
   }
 
   // we need to emit out refernce arguments, iterate the args again, creating and copying objects, while keeping a new count

From a16d71ced442da569f17b6079ba7f01eb9d56d7b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 14 Feb 2024 11:13:12 +0900
Subject: [PATCH 74/83] AP_Camera: fix video recording while armed

---
 libraries/AP_Camera/AP_Camera_Backend.cpp | 8 +++++---
 libraries/AP_Camera/AP_Camera_Backend.h   | 5 +++--
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
index 4781c4180721a9..fafe4546aa2535 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -17,11 +17,13 @@ AP_Camera_Backend::AP_Camera_Backend(AP_Camera &frontend, AP_Camera_Params &para
 // update - should be called at 50hz
 void AP_Camera_Backend::update()
 {
-    // Check CAMx_OPTIONS and start/stop recording based on arm/disarm
-    if (_params.options.get() & CAMOPTIONS::REC_ARM_DISARM) {
+    // Check camera options and start/stop recording based on arm/disarm
+    if ((_params.options.get() & (uint8_t)Options::RecordWhileArmed) != 0) {
         if (hal.util->get_soft_armed() != last_is_armed) {
             last_is_armed = hal.util->get_soft_armed();
-            record_video(last_is_armed);
+            if (!record_video(last_is_armed)) {
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Camera: failed to %s recording", last_is_armed ? "start" : "stop");
+            }
         }
     }
 
diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index a6b4c8a60a3200..b60e06d4dcd142 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -36,8 +36,9 @@ class AP_Camera_Backend
     /* Do not allow copies */
     CLASS_NO_COPY(AP_Camera_Backend);
 
-    enum CAMOPTIONS {
-        REC_ARM_DISARM = 0, // Recording start/stop on Arm/Disarm
+    // camera options parameter values
+    enum class Options : int8_t {
+        RecordWhileArmed = (1 << 0U)
     };
 
     // init - performs any required initialisation

From 08468904dbbd27656cba26ec89667f8d683c58b1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 14 Feb 2024 11:31:50 +1100
Subject: [PATCH 75/83] AP_Param: fixed cygwin build

the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
---
 libraries/AP_Param/AP_Param.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index e3983e2812b9a6..7d203239b81417 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2370,7 +2370,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
 #endif // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
 
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (!AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
 /*
   count the number of parameter defaults present in supplied string
  */

From df45140a5651c8e94927ed21d0347330934e8455 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 15 Feb 2024 12:23:10 +1100
Subject: [PATCH 76/83] AP_Param: fixed build of CubeOrange-periph

---
 libraries/AP_Param/AP_Param.cpp | 31 ++++++++++++++++---------------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 7d203239b81417..996960a0b58197 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2369,8 +2369,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
 }
 #endif // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
-
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
 /*
   count the number of parameter defaults present in supplied string
  */
@@ -2416,18 +2415,6 @@ bool AP_Param::count_param_defaults(const volatile char *ptr, int32_t length, ui
     return true;
 }
 
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
-/*
- * load a default set of parameters from a embedded parameter region
- * @last_pass: if this is the last pass on defaults - unknown parameters are
- *             ignored but if this is set a warning will be emitted
- */
-void AP_Param::load_embedded_param_defaults(bool last_pass)
-{
-    load_param_defaults(param_defaults_data.data, param_defaults_data.length, last_pass);
-}
-#endif  // AP_PARAM_MAX_EMBEDDED_PARAM > 0
-
 /*
  *  load parameter defaults from supplied string
  */
@@ -2508,7 +2495,21 @@ void AP_Param::load_param_defaults(const volatile char *ptr, int32_t length, boo
     }
     num_param_overrides = num_defaults;
 }
-#endif // AP_PARAM_MAX_EMBEDDED_PARAM > 0
+#endif // AP_PARAM_MAX_EMBEDDED_PARAM > 0 || defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
+
+
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
+/*
+ * load a default set of parameters from a embedded parameter region
+ * @last_pass: if this is the last pass on defaults - unknown parameters are
+ *             ignored but if this is set a warning will be emitted
+ */
+void AP_Param::load_embedded_param_defaults(bool last_pass)
+{
+    load_param_defaults(param_defaults_data.data, param_defaults_data.length, last_pass);
+}
+#endif  // AP_PARAM_MAX_EMBEDDED_PARAM > 0
+
 
 /* 
    find a default value given a pointer to a default value in flash

From 41132901538a563b6a81a9419d7f0ed4d7c9bf42 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 18:39:29 +1100
Subject: [PATCH 77/83] AP_HAL_ChibiOS: remove HerePro

to be replaced by a HereProAP
---
 .../hwdef/HerePro/defaults.parm               |   3 -
 .../AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat | 147 --------
 .../AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat    | 221 ------------
 .../hwdef/HerePro/scripts/hereproled.lua      | 315 ------------------
 4 files changed, 686 deletions(-)
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
deleted file mode 100644
index 16b4cd021aa557..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
+++ /dev/null
@@ -1,3 +0,0 @@
-NTF_LED_OVERRIDE 1 
-SCR_ENABLE 1
-GPS_INJECT_TO 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
deleted file mode 100644
index 5f8cffae714cd1..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
+++ /dev/null
@@ -1,147 +0,0 @@
-# hw definition file for processing by chibios_hwdef.py
-# for H743 bootloader
-
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-FULL_FEATURED_BOOTLOADER 1
-
-# USB setup
-USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
-USB_PRODUCT 0x5011
-USB_STRING_MANUFACTURER "CubePilot"
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# board ID for firmware load
-APJ_BOARD_ID 1037
-
-FLASH_SIZE_KB 2048
-
-# bootloader is installed at zero offset
-FLASH_RESERVE_START_KB 0
-
-# the location where the bootloader will put the firmware
-# the H743 has 128k sectors
-FLASH_BOOTLOADER_LOAD_KB 256
-
-PB15 LED_2 OUTPUT LOW
-PB14 LED OUTPUT LOW
-
-# board voltage
-STM32_VDD 330U
-
-# order of UARTs (and USB)
-SERIAL_ORDER OTG1 UART7
-
-define HAL_NO_MONITOR_THREAD
-
-# USART3 F9
-PD9 USART3_RX USART3 
-PD8 USART3_TX USART3
-
-# UART7 F9
-PE7 UART7_RX UART7 
-PE8 UART7_TX UART7 NODMA
-
-
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-
-define USB_USE_WAIT TRUE
-define HAL_USE_USB_MSD 1
-
-define HAL_DEVICE_THREAD_STACK 2048
-
-#define AP_PARAM_MAX_EMBEDDED_PARAM 0
-
-define HAL_BARO_ALLOW_INIT_NO_BARO
-
-define HAL_COMPASS_MAX_SENSORS 1
-
-# GPS+MAG
-define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_ENABLE_MAG
-
-# Add MAVLink
-env FORCE_MAVLINK_INCLUDE 1
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-PB5 CAN2_RX CAN2
-PB6 CAN2_TX CAN2
-#PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
-
-PF8 blank CS
-SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
-
-PE4 MPU_EXT_CS CS
-PE2 SPI4_SCK  SPI4
-PE5 SPI4_MISO SPI4
-PE6 SPI4_MOSI SPI4
-
-
-PG15 spi6cs CS
-PG13 SPI6_SCK  SPI6
-PG12 SPI6_MISO SPI6
-PG14 SPI6_MOSI SPI6
-
-PF7 SPI5_SCK  SPI5
-PF9 SPI5_MOSI SPI5
-
-define BOARD_SER1_RTSCTS_DEFAULT 0
-
-#gps f9
-PD10 F91TXR INPUT 
-PD11 F92RST INPUT
-PD13 F93SB INPUT 
-PD14 F94EXTINT INPUT 
-PD15 F95RSV1 INPUT 
-PG2 F97 INPUT GPIO(100)
-PG3 F96RSV2 INPUT 
-PD4 RTKSTAT INPUT
-PD5 GEOFENCESTAT INPUT
-
-#others
-PG10 can2int INPUT 
-PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
-PF1 GNDDET2 INPUT
-PF2 GNDDET1 INPUT
-PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
-PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
-#sensor enable
-PC0 SENSEN OUTPUT HIGH
-PB1 IMUINT INPUT
-PB3 QCAN2TERM OUTPUT LOW GPIO(4)
-PB4 QCAN2INT0 INPUT
-PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
-PE0 QCAN1INT INPUT
-PE1 QCAN1INT0 INPUT
-PE3 QCAN1INT1 INPUT
-
-PD6 QCAN1TERM OUTPUT LOW GPIO(3)
-PD7 QCAN2INT1 INPUT
-PA8 QCAN12OSC1 INPUT
-
-# This input pin is used to detect that power is valid on USB.
-PA9 VBUS INPUT
-PH13 VDD_33V_SENS INPUT
-
-# This defines some input pins, currently unused.
-PB2 BOOT1 INPUT
-
-
-
-# passthrough CAN1
-define HAL_DEFAULT_CPORT 1
-
-FULL_CHIBIOS_BOOTLOADER 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
deleted file mode 100644
index 0c8c2b46a8174d..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
+++ /dev/null
@@ -1,221 +0,0 @@
-# hw definition file for processing by chibios_hwdef.py
-# for H743 bootloader
-
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# USB setup
-USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
-USB_PRODUCT 0x5001
-USB_STRING_MANUFACTURER "CubePilot"
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-env AP_PERIPH_HEAVY 1
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# board ID for firmware load
-APJ_BOARD_ID 1037
-
-FLASH_SIZE_KB 2048
-
-# the location where the bootloader will put the firmware
-# the H743 has 128k sectors, we leave 2 sectors for BL
-FLASH_BOOTLOADER_LOAD_KB 256
-
-PB15 LED_SWITCH_2 OUTPUT HIGH
-PB14 LED_SWITCH_1 OUTPUT HIGH
-
-# board voltage
-STM32_VDD 330U
-
-# order of UARTs (and USB)
-SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
-
-define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
-
-# USART3 F9
-PD9 USART3_RX USART3 
-PD8 USART3_TX USART3
-
-# UART7 F9
-PE7 UART7_RX UART7 
-PE8 UART7_TX UART7 NODMA
-
-
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-###########################
-define AP_NOTIFY_PROFILED_SPI_ENABLED 1
-define DEFAULT_NTF_LED_TYPES Notify_LED_ProfiLED_SPI
-define NOTIFY_LED_LEN_DEFAULT 16
-define CONFIGURE_PPS_PIN TRUE
-define HAL_PERIPH_ENABLE_NOTIFY
-define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT
-
-FLASH_RESERVE_START_KB 256
-
-define GPS_UBLOX_MOVING_BASELINE TRUE
-define HAL_GCS_ENABLED 1
-define HAL_LOGGING_ENABLED TRUE
-define HAL_PERIPH_ENABLE_RTC 1
-define HAL_NO_MONITOR_THREAD
-
-
-define HAL_DISABLE_LOOP_DELAY
-define USB_USE_WAIT TRUE
-define HAL_USE_USB_MSD 1
-
-
-define HAL_DEVICE_THREAD_STACK 2048
-
-#define AP_PARAM_MAX_EMBEDDED_PARAM 0
-
-define HAL_BARO_ALLOW_INIT_NO_BARO
-
-define HAL_STORAGE_SIZE 16384
-
-# disable dual GPS and GPS blending to save flash space
-define GPS_MAX_RECEIVERS 1
-define GPS_MAX_INSTANCES 1
-define HAL_COMPASS_MAX_SENSORS 1
-
-# GPS+MAG
-define HAL_PERIPH_ENABLE_AHRS
-define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_ENABLE_MAG
-define AP_INERTIALSENSOR_ENABLED 1
-
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-PB5 CAN2_RX CAN2
-PB6 CAN2_TX CAN2
-
-PA4 MPU_CS CS
-PA5 SPI1_SCK SPI1
-PA6 SPI1_MISO SPI1
-PA7 SPI1_MOSI SPI1
-SPIDEV icm20948       SPI1 DEVID4  MPU_CS       MODE3  4*MHZ  8*MHZ
-
-PF8 blank CS
-SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
-
-IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
-
-define HAL_DEFAULT_INS_FAST_SAMPLE 5
-
-# compass as part of ICM20948 on newer cubes
-COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
-
-# one baro
-#BARO MS56XX I2C:0:0x77
-
-PE4 CSPI4_CS CS
-PE2 SPI4_SCK  SPI4
-PE5 SPI4_MISO SPI4
-PE6 SPI4_MOSI SPI4
-
-
-PG15 CSPI6_CS CS
-PG13 SPI6_SCK  SPI6
-PG12 SPI6_MISO SPI6
-PG14 SPI6_MOSI SPI6
-
-PF7 SPI5_SCK  SPI5
-PF9 SPI5_MOSI SPI5
-
-# Now setup the pins for the microSD card, if available.
-PC8 SDMMC1_D0 SDMMC1
-PC9 SDMMC1_D1 SDMMC1
-PC10 SDMMC1_D2 SDMMC1
-PC11 SDMMC1_D3 SDMMC1
-PC12 SDMMC1_CK SDMMC1
-PD2 SDMMC1_CMD SDMMC1
-
-define BOARD_SER1_RTSCTS_DEFAULT 0
-
-define HAL_OS_FATFS_IO 1
-define HAL_WITH_DRONECAN 1
-env HAL_WITH_DRONECAN 1
-define HAL_PICCOLO_CAN_ENABLE 0
-define AP_CAN_SLCAN_ENABLED 1
-
-PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
-PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
-
-#gps f9
-PD10 F91TXR INPUT 
-PD11 F92RST INPUT
-PD13 F93SB INPUT 
-PD14 F94EXTINT INPUT 
-PD15 F95RSV1 INPUT 
-PG2 F97 INPUT GPIO(100)
-PG3 F96RSV2 INPUT 
-PD4 RTKSTAT INPUT
-PD5 GEOFENCESTAT INPUT
-
-#others
-PG10 can2int INPUT 
-PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
-PF1 GNDDET2 INPUT
-PF2 GNDDET1 INPUT
-PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
-PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
-PD6 TERMCAN1 OUTPUT LOW GPIO(3)
-PB3 TERMCAN2 OUTPUT LOW GPIO(4)
-
-#sensor enable
-PC0 SENSEN OUTPUT HIGH
-PB1 IMUINT INPUT
-PB4 QCAN2INT0 INPUT
-PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
-PE0 QCAN1INT INPUT
-PE1 QCAN1INT0 INPUT
-PE3 QCAN1INT1 INPUT
-
-PD7 QCAN2INT1 INPUT
-PA8 QCAN12OSC1 INPUT
-
-# This defines more ADC inputs.
-PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
-PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
-
-# This input pin is used to detect that power is valid on USB.
-PA9 VBUS INPUT
-PH13 VDD_33V_SENS INPUT
-
-# This defines some input pins, currently unused.
-PB2 BOOT1 INPUT
-
-
-
-# disabled compass cal as it doesn't work for now
-# define COMPASS_CAL_ENABLED 1
-
-define HAL_ENABLE_SLCAN 1
-# passthrough CAN1
-define HAL_DEFAULT_CPORT 1
-
-define CONFIGURE_PPS_PIN TRUE
-define AP_PERIPH_HAVE_LED TRUE
-
-define AP_SCRIPTING_ENABLED 1
-define SCRIPTING_HEAP_SIZE (64*1024)
-
-define GPS_MOVING_BASELINE 1
-
-define AP_RC_CHANNEL_ENABLED 1
-
-define AP_RELAY_ENABLED 1
-define AP_SERVORELAYEVENTS_ENABLED 1
-
-# bootloader embedding / bootloader flashing not available
-define AP_BOOTLOADER_FLASHING_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua
deleted file mode 100644
index 106d27e150ff42..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua
+++ /dev/null
@@ -1,315 +0,0 @@
--- This script is a test of led override
--- luacheck: only 0
-
-local count = 0
-local num_leds = 16
-local total_time = 1
-local animation_end = 0
-local current_anim = 0
-
--- constrain a value between limits
-function constrain(v, vmin, vmax)
-  if v < vmin then
-     v = vmin
-  end
-  if v > vmax then
-     v = vmax
-    
-  end
-  return v
-end
-
---[[
-Table of neon colors on a rainbow, red first
---]]
--- local rainbow = {
---   { 252, 23, 0 },
---   { 253, 72, 37 },
---   { 250, 237, 39 },
---   { 51,   255, 20 },
---   { 27,   3,   163 }
--- }
-
-local rainbow = {
-  { 252, 23, 0 },
-  { 253, 100, 0 },
-  { 250, 237, 0 },
-  { 51,   255, 20 },
-  { 27,   3,   163 }
-}
-
-local led_map = {
-  14,
-  15,
-  2,
-  3,
-  4,
-  5,
-  6,
-  7,
-  8,
-  9,
-  1,
-  0,
-  10,
-  11,
-  12,
-  13}
-
-function table.contains(table, element)
-  for _, value in pairs(table) do
-    if value == element then
-      return true
-    end
-  end
-  return false
-end
-
---[[
-Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
---]]
-function get_Rainbow(v, num_rows)
-  local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
-  local v0 = (row-1) / (num_rows-1)
-  local v1 = row / (num_rows-1)
-  local p = (v - v0) / (v1 - v0)
-  r = math.max(math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1])),0)
-  g = math.max(math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2])),0)
-  b = math.max(math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3])),0)
-  return r,g,b
-end
-
-function do_initialisation()
-  local pos = math.rad(total_time/2)
-  local v  =0.5 + 0.5 * math.sin(pos)
-  local invert = 1
-  local r, g, b = get_Rainbow(v, 5)
-  local led_trail_length = 3
-  local softness = 10
-  local bfact = 1
-  local updated_leds = {}
-  if math.cos(pos) > 0 then
-    invert = 1
-  else
-    invert = 0
-  end
-
-  pos = math.floor(6 + (v*8))%16
-  if pos == 6 then
-    animation_end = 1
-  else
-    animation_end = 0
-  end
-
-  for trail = 0, led_trail_length-1 do
-    if invert == 1 then
-      bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
-    else
-      bfact = softness^(2*trail/(led_trail_length-1))
-    end
-    local led_id = 1 + ((pos + trail) % num_leds)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  pos = math.floor(6 - (v*8))%16
-  for trail = 0, led_trail_length-1 do
-    if invert == 0 then
-      bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
-    else
-      bfact = softness^(2*trail/(led_trail_length-1))
-    end
-    local led_id = 1 + ((pos + trail) % num_leds)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-end
-
-function do_point_north(r, g, b, led_trail_length, softness)
-  local north_bias = 4
-  local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
-  local ofs = yaw - math.floor(yaw+0.5)
-  yaw = math.floor(yaw+0.5) % 16
-  local updated_leds = {}
-  for trail = 0, led_trail_length-1 do
-    local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail + ofs))/(led_trail_length-1))
-    local led_id = 1 + ((yaw + trail) % 16)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-  return yaw
-end
-
-function finish_initialisation(r, g, b, led_trail_length, softness, speed_factor, next_call)
-  local north_bias = 4
-  local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
-  yaw = math.floor(yaw+0.5) % 16
-  local led_id = math.floor((count/speed_factor) + north_bias) % 16
-  if yaw == led_id then
-    if total_time > 3000 then
-      animation_end = 1
-    end
-    return
-  end
-  count = count + next_call
-  local updated_leds = {}
-  for trail = 0, led_trail_length-1 do
-    local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail))/(led_trail_length-1))
-    local this_led_id = 1 + ((led_id + trail) % 16)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[this_led_id])
-    table.insert(updated_leds, this_led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-end
-
-function do_arm_spin(r, g, b, softness, speed_factor, arming)
-  -- reset led states
-  local updated_leds = {}
-
-  -- calculate next call based on time
-  local next_call = 1
-  if arming then
-    next_call = speed_factor - math.floor(((total_time)/speed_factor) + 0.5)
-    if next_call < 1 then
-      return next_call
-    end
-  else
-    next_call = 1 + math.floor(((total_time)/speed_factor) + 0.5)
-    if next_call > speed_factor then
-      return next_call
-    end
-  end
-  -- set trail length bassed on spin progress
-  local led_trail_length =  3 + (13 * (1 - (next_call/75)))
-
-
-  -- create a trail
-  for trail = 0, led_trail_length-1 do
-    local bfact = softness^(led_trail_length - trail)
-    local led_id = 1 + (count + trail) % 16
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-  return next_call
-end
-
-function set_all(r, g, b)
-  for led = 1, num_leds do
-    notify:handle_rgb_id(r, g, b, led_map[led])
-  end
-end
-
-function animation_state_machine(vehicle_state)
-  -- change state only when last loop finished
-  if animation_end == 0 then
-    return
-  end
-
-  if ((vehicle_state & 1) == uint32_t(1)) then
-    -- do_initialisation
-    if current_anim ~= 0 then
-      current_anim = 0
-      total_time = 0
-      animation_end = 0
-    end
-  elseif current_anim == 0 then
-    -- do finish by move to north
-    count = 0
-    total_time = 0
-    current_anim = 1
-    animation_end = 0
-  elseif current_anim == 1 then
-    -- do always point north
-    current_anim = 2
-  elseif current_anim ~= 3 and ((vehicle_state & (1 << 1)) ~= uint32_t(0)) then --VEHICLE_STATE_ARMED
-    total_time = 0
-    current_anim = 3
-    animation_end = 0
-  elseif current_anim == 3 and ((vehicle_state & (1 << 1)) == uint32_t(0)) then
-    total_time = 0
-    current_anim = 4
-    animation_end = 0
-  elseif current_anim == 4 then
-    current_anim = 1
-  end
-end
-
-function update() -- this is the loop which periodically runs
-  local next_call = 20
-  local vehicle_state = periph:get_vehicle_state()
-  animation_state_machine(vehicle_state)
-
-  -- Initialisation
-  if current_anim == 0 then
-    do_initialisation()
-    total_time = total_time + next_call
-  elseif current_anim == 1 then
-    finish_initialisation(rainbow[1][1], rainbow[1][2], rainbow[1][3], 5, 20, 50, next_call)
-    total_time = total_time + next_call
-  elseif current_anim == 2 then
-    local v
-    if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
-       (vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
-       (vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
-       (vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
-       (vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
-      v = 0.0
-    end
-    if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
-      v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
-    else
-      v = 1.0
-    end
-    local r, g, b = get_Rainbow(v, 4)
-    count = do_point_north(r, g, b, 5, 20)
-  -- --[[ ARM Display
-  elseif current_anim == 3 then
-    if animation_end == 0 then
-      next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, true)
-      count = count + 1
-    end
-    if next_call < 1 then
-      set_all(rainbow[4][1], rainbow[4][2], rainbow[4][3])
-      animation_end = 1
-    else
-      total_time = total_time + next_call
-    end
-  elseif current_anim == 4 then
-    if animation_end == 0 then
-      next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, false)
-      count = count - 1
-    end
-    if next_call > 75 then
-      animation_end = 1
-    else
-      total_time = total_time + next_call
-    end
-  end
-  -- gcs:send_text(0, string.format("NCALL: %s", tostring(next_call)))
-  return update, next_call -- reschedules the loop in next_call milliseconds
-end
-
-return update() -- run immediately before starting to reschedule
\ No newline at end of file

From 492bbe48305efdee203a8d973efbb355fa690757 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 18:39:29 +1100
Subject: [PATCH 78/83] Tools: remove HerePro

to be replaced by a HereProAP
---
 Tools/scripts/board_list.py | 1 -
 Tools/scripts/build_ci.sh   | 8 --------
 2 files changed, 9 deletions(-)

diff --git a/Tools/scripts/board_list.py b/Tools/scripts/board_list.py
index ab92794673821a..9758a1cc800ea3 100755
--- a/Tools/scripts/board_list.py
+++ b/Tools/scripts/board_list.py
@@ -179,7 +179,6 @@ def find_ap_periph_boards(self):
             "f103-HWESC",
             "f103-Trigger",
             "G4-ESC",
-            "HerePro",
         ]
         ret = []
         for x in self.boards:
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index ec491de5891730..75a42b516c6bbe 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -215,18 +215,10 @@ for t in $CI_BUILD_TARGET; do
         $waf configure --board f303-Universal
         $waf clean
         $waf AP_Periph
-        echo "Building HerePro peripheral fw"
-        $waf configure --board HerePro
-        $waf clean
-        $waf AP_Periph
         echo "Building CubeOrange-periph peripheral fw"
         $waf configure --board CubeOrange-periph
         $waf clean
         $waf AP_Periph
-        echo "Building HerePro bootloader"
-        $waf configure --board HerePro --bootloader
-        $waf clean
-        $waf bootloader
         echo "Building G4-ESC peripheral fw"
         $waf configure --board G4-ESC
         $waf clean

From 594f96670a8fdd7a4a43c7496bc4bfbbf267d111 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:30 +1100
Subject: [PATCH 79/83] AP_Torqeedo: correct compilation when GCS not available

this variable is unused in that case
---
 libraries/AP_Torqeedo/AP_Torqeedo.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Torqeedo/AP_Torqeedo.cpp b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
index 0d4b80ec86396f..2f4ec59e311adb 100644
--- a/libraries/AP_Torqeedo/AP_Torqeedo.cpp
+++ b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
@@ -345,6 +345,7 @@ void AP_Torqeedo::report_error_codes()
 
     // report display system errors
     const char* msg_prefix = "Torqeedo:";
+    (void)msg_prefix;  // sometimes unused when HAL_GCS_ENABLED is false
     if (_display_system_state.flags.set_throttle_stop) {
         GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "%s zero throttle required", msg_prefix);
     }

From 3668616c53e173312c9047db2be035dfbcd986bd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 14 Feb 2024 12:03:10 +1100
Subject: [PATCH 80/83] Tools: added -e to cygwin build

error if any part of build fails

also ensure cygwin build in CI is parallelised
---
 Tools/scripts/cygwin_build.sh | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 204acbe9cca257..8c8228df90afa5 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -7,6 +7,7 @@
 # the script assumes you start in the root of the ardupilot git tree
 
 set -x
+set -e
 
 # TOOLCHAIN=i686-pc-cygwin
 TOOLCHAIN=x86_64-pc-cygwin
@@ -22,13 +23,16 @@ git config --global --add safe.directory /cygdrive/d/a/ardupilot/ardupilot
 rm -rf artifacts
 mkdir artifacts
 
+# cygwin doesn't work out the parallelism properly
+WAF_OPTIONS="-j8"
+
 (
     python ./waf --color yes --toolchain $TOOLCHAIN --board sitl configure 2>&1
-    python ./waf plane 2>&1
-    python ./waf copter 2>&1
-    python ./waf heli 2>&1
-    python ./waf rover 2>&1
-    python ./waf sub 2>&1
+    python ./waf plane $WAF_OPTIONS 2>&1
+    python ./waf copter $WAF_OPTIONS 2>&1
+    python ./waf heli $WAF_OPTIONS 2>&1
+    python ./waf rover $WAF_OPTIONS 2>&1
+    python ./waf sub $WAF_OPTIONS 2>&1
 ) | tee artifacts/build.txt
 
 # copy both with exe and without to cope with differences

From ff00d562fe71b9af04f4fd445a732310f733c5ac Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Feb 2024 17:04:59 +0000
Subject: [PATCH 81/83] AP_DroneCAN: DNA_Server: log driver index in CAND

---
 libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
index 1164d4f7346c5d..12262859c53a0b 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
@@ -448,6 +448,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
         // @LoggerMessage: CAND
         // @Description: Info from GetNodeInfo request
         // @Field: TimeUS: Time since system startup
+        // @Field: Driver: Driver index
         // @Field: NodeId: Node ID
         // @Field: UID1: Hardware ID, part 1
         // @Field: UID2: Hardware ID, part 2
@@ -455,9 +456,10 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
         // @Field: Major: major revision id
         // @Field: Minor: minor revision id
         // @Field: Version: AP_Periph git hash
-        AP::logger().Write("CAND", "TimeUS,NodeId,UID1,UID2,Name,Major,Minor,Version",
-                           "s#------", "F-------", "QBQQZBBI",
+        AP::logger().Write("CAND", "TimeUS,Driver,NodeId,UID1,UID2,Name,Major,Minor,Version",
+                           "s-#------", "F--------", "QBBQQZBBI",
                            AP_HAL::micros64(),
+                           _ap_dronecan.get_driver_index(),
                            transfer.source_node_id,
                            uid[0], uid[1],
                            rsp.name.data,

From c0deee23a3cc0146d3a1cafb55ec47bc51dd89bb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:30 +1100
Subject: [PATCH 82/83] AP_TemperatureSensor: correct compilation when GCS not
 available

This variable becomes unused
---
 libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
index 649a0063a31b06..eb14de06a77575 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
@@ -36,6 +36,7 @@ static const uint8_t TSYS03_CMD_READ_ADC    = 0x00;
 void AP_TemperatureSensor_TSYS03::init()
 {
     constexpr char name[] = "TSYS03";
+    (void)name;  // sometimes this is unused (e.g. HAL_GCS_ENABLED false)
 
 #if AP_TEMPERATURE_SENSOR_TSYS03_ENFORCE_KNOWN_VALID_I2C_ADDRESS
     // I2C Address: Default to using TSYS03_ADDR_CSB0 & Check I2C Address is Correct

From 9986fb972635016171235750a465adc0d0174ba0 Mon Sep 17 00:00:00 2001
From: Jaaaky <43599380+Jaaaky@users.noreply.github.com>
Date: Tue, 13 Feb 2024 12:24:50 +0300
Subject: [PATCH 83/83] Tools: Add prerequisites install script for openSUSE
 Tumbleweed

Tried to make it as complete as compatible as possible with Ubuntu environment

Installing static libs for SITL_static
And gcc_arm-linux for Linux based boards
---
 .../install-prereqs-openSUSE-Tumbleweed.sh    | 214 ++++++++++++++++++
 1 file changed, 214 insertions(+)
 create mode 100755 Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh

diff --git a/Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh b/Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh
new file mode 100755
index 00000000000000..5895dbdeb5b2be
--- /dev/null
+++ b/Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh
@@ -0,0 +1,214 @@
+#!/usr/bin/env bash
+echo "---------- $0 start ----------"
+set -e
+set -x
+set +H
+
+if [ $EUID == 0 ]; then
+    echo "Please do not run this script as root; don't sudo it!"
+    exit 1
+fi
+
+
+OPT="/opt"
+# Ardupilot Tools
+ARDUPILOT_TOOLS="Tools/autotest"
+
+ASSUME_YES=false
+QUIET=false
+sep="##############################################"
+
+OPTIND=1  # Reset in case getopts has been used previously in the shell.
+while getopts "yq" opt; do
+    case "$opt" in
+        \?)
+            exit 1
+            ;;
+        y)  ASSUME_YES=true
+            ;;
+        q)  QUIET=true
+            ;;
+    esac
+done
+
+ZYPPER="sudo zypper in --no-recommends"
+if $ASSUME_YES; then
+    ZYPPER="sudo zypper in -y --no-recommends"
+fi
+PIP3=pip3
+if $QUIET; then
+    PIP3="pip3 -q"
+fi
+
+function package_is_installed() {
+    rpm -q $1 &>/dev/null
+}
+
+function heading() {
+    echo "$sep"
+    echo $*
+    echo "$sep"
+}
+
+#Install python3 1st, as openSUSE TW WSL does not come with preinstalled python
+$ZYPPER python3 || echo "Check zypper output for errors"
+
+#As tumbleweed can have many python versions, we need to know which one is currently active
+PYPKGVER=python$(python3 --version | cut -d' ' -f2 | awk -F. '{print $1$2}')
+
+BASE_PKGS="patterns-devel-base-devel_basis ccache git axel valgrind screen gcc-c++ xterm free-ttf-fonts sfml2-devel zip glibc-devel-static rsync"
+SITL_PKGS="${PYPKGVER}-pip ${PYPKGVER}-devel ${PYPKGVER}-setuptools ${PYPKGVER}-wheel ${PYPKGVER}-lxml ${PYPKGVER}-pyaml ${PYPKGVER}-wxPython ${PYPKGVER}-pyparsing ${PYPKGVER}-opencv ${PYPKGVER}-numpy ${PYPKGVER}-scipy ${PYPKGVER}-matplotlib"
+
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse pyparsing geocoder pyserial empy==3.3.4 ptyprocess dronecan"
+PYTHON_PKGS+=" flake8 junitparser pygame intelhex psutil pyyaml"
+# GNU Tools for ARM Embedded Processors
+# (see https://launchpad.net/gcc-arm-embedded/)
+ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
+ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+
+ARM_LINUX_ROOT=gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf
+ARM_LINUX_GCC_URL="https://releases.linaro.org/components/toolchain/binaries/7.5-2019.12/arm-linux-gnueabihf/gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf.tar.xz"
+ARM_LINUX_TARBALL="gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf.tar.xz"
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+sudo usermod -a -G dialout "$USER"
+
+$ZYPPER $BASE_PKGS $SITL_PKGS || echo "Check zypper output for errors"
+
+python3 -m venv "$HOME"/venv-ardupilot
+
+SHELL_LOGIN=".profile"
+# activate it:
+SOURCE_LINE="source $HOME/venv-ardupilot/bin/activate"
+$SOURCE_LINE
+
+if ! grep -Fxq "$SOURCE_LINE" ~/.bashrc; then 
+    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?" ; then
+        DO_PYTHON_VENV_ENV=1
+    fi
+
+    if [[ $DO_PYTHON_VENV_ENV -eq 1 ]]; then
+        echo $SOURCE_LINE >> ~/.bashrc
+    fi
+fi
+
+$PIP3 install -U pip setuptools wheel
+$PIP3 install -U attrdict3
+$PIP3 install -U $PYTHON_PKGS
+
+(
+    cd /usr/lib64/ccache
+    for C in arm-none-eabi-g++  arm-none-eabi-gcc arm-linux-gnueabihf-g++ arm-linux-gnueabihf-gcc; do
+        if [ ! -f "$C" ]; then
+            sudo ln -s ../../bin/ccache "$C"
+        fi
+    done
+)
+
+ccache --set-config sloppiness=file_macro,locale,time_macros
+ccache --set-config ignore_options="--specs=nano.specs --specs=nosys.specs"
+
+if [ ! -d $OPT/$ARM_ROOT ]; then
+    (
+        cd $OPT;
+        sudo axel -a -c $ARM_TARBALL_URL;
+        sudo tar xjf ${ARM_TARBALL};
+        sudo rm ${ARM_TARBALL};
+    )
+fi
+
+if [ ! -d $OPT/$ARM_LINUX_ROOT ]; then
+    (
+        cd $OPT;
+        sudo axel -a -c "${ARM_LINUX_GCC_URL}";
+        sudo tar xf ${ARM_LINUX_TARBALL};
+        sudo rm ${ARM_LINUX_TARBALL};
+    )
+fi
+
+heading "Removing modemmanager and brltty package that could conflict with firmware uploading"
+if package_is_installed "ModemManager"; then
+    sudo zypper rm ModemManager
+fi
+if package_is_installed "brltty"; then
+    sudo zypper rm brltty
+fi
+echo "Done!"
+
+heading "Adding ArduPilot Tools to environment"
+
+SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
+ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
+
+
+exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
+if ! grep -Fxq "$exportline" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
+        echo $exportline >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
+    fi
+fi
+
+exportline1="export PATH=$OPT/$ARM_LINUX_ROOT/bin:\$PATH";
+if ! grep -Fxq "$exportline1" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Add $OPT/$ARM_LINUX_ROOT/bin to your PATH [N/y]?" ; then
+        echo $exportline1 >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping adding $OPT/$ARM_LINUX_ROOT/bin to PATH."
+    fi
+fi
+
+exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
+if  ! grep -Fxq "$exportline2" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
+        echo $exportline2 >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
+    fi
+fi
+
+exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash";
+if  ! grep -Fxq "$exportline3" ~/.bashrc ; then
+    if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then
+        echo $exportline3 >> ~/.bashrc
+    else
+        echo "Skipping adding ArduPilot Bash Completion."
+    fi
+fi
+
+exportline4="export PATH=/usr/lib64/ccache:\$PATH";
+if ! grep -Fxq "$exportline4" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then
+        echo $exportline4 >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping appending CCache to PATH."
+    fi
+fi
+echo "Done!"
+
+if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then
+  cd "$ARDUPILOT_ROOT"
+  if [ -d ".git" ]; then
+    heading "Update git submodules"
+    cd $ARDUPILOT_ROOT
+    git submodule update --init --recursive
+    echo "Done!"
+  fi
+fi
+
+echo "---------- $0 end ----------"
+echo "Done. Please log out and log in again."