Merge branch 'master' into afs-improvement2

ArduPilot · Apr 12, 2023 · 3a7b20b · 3a7b20b
2 parents 3aac163 + db7fad0
commit 3a7b20b
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diff --git a/.github/workflows/test_scripts.yml b/.github/workflows/test_scripts.yml
@@ -17,6 +17,7 @@ jobs:
             check_autotest_options,
             param_parse,
             python-cleanliness,
+            astyle-cleanliness,
             validate_board_list,
        ]
     steps:
@@ -29,4 +30,6 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          sudo apt update
+          sudo apt-get install -y astyle
           Tools/scripts/build_ci.sh
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "modules/uavcan"]
-	path = modules/uavcan
-	url = https://github.com/DroneCAN/libuavcan.git
 [submodule "modules/waf"]
 	path = modules/waf
 	url = https://github.com/ArduPilot/waf.git

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -36,6 +36,11 @@ repos:
         -   id: check-xml
         -   id: check-yaml
 
+  -   repo: https://github.com/lsst-ts/pre-commit-xmllint
+      rev: v1.0.0
+      hooks:
+        - id: format-xmllint
+          files: libraries/AP_DDS/dds_xrce_profile.xml
 # Disable isort and mypy temporarily due to config conflicts
 # # Use to sort python imports by name and put system import first.
 #   -   repo: https://github.com/pycqa/isort

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
@@ -9,8 +9,6 @@
 //#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
-//#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
-//#define BEACON_ENABLED        DISABLED            // disable beacon support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -33,12 +33,6 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
         return false;
     }
 
-    // if we are using motor Estop switch, it must not be in Estop position
-    if (SRV_Channels::get_emergency_stop()){
-        check_failed(display_failure, "Motor Emergency Stopped");
-        return false;
-    }
-
     if (!disarm_switch_checks(display_failure)) {
         return false;
     }

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -165,7 +165,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         200,  50,  36),
 #endif
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     SCHED_TASK_CLASS(AP_Beacon,            &copter.g2.beacon,           update,         400,  50,  39),
 #endif
     SCHED_TASK(update_altitude,       10,    100,  42),
@@ -180,7 +180,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(three_hz_loop,          3,     75, 57),
     SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,  75,  60),
     SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,             accumulate,    50,  90,  63),
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     SCHED_TASK(update_precland,      400,     50,  69),
 #endif
 #if FRAME_CONFIG == HELI_FRAME
@@ -550,7 +550,7 @@ void Copter::ten_hz_logging_loop()
 #if HAL_PROXIMITY_ENABLED
         g2.proximity.log();  // Write proximity sensor distances
 #endif
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
         g2.beacon.log();
 #endif
     }

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -69,6 +69,7 @@
 #include <AC_Sprayer/AC_Sprayer.h>          // Crop sprayer library
 #include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
 #include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
+#include <AC_PrecLand/AC_PrecLand_config.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_Winch/AP_Winch_config.h>
 
@@ -99,8 +100,8 @@
 #include "AP_Rally.h"           // Rally point library
 #include "AP_Arming.h"
 
-// libraries which are dependent on #defines in defines.h and/or config.h
-#if BEACON_ENABLED == ENABLED
+#include <AP_Beacon/AP_Beacon_config.h>
+#if AP_BEACON_ENABLED
  #include <AP_Beacon/AP_Beacon.h>
 #endif
 
@@ -115,7 +116,7 @@
 #if AP_GRIPPER_ENABLED
  # include <AP_Gripper/AP_Gripper.h>
 #endif
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AC_PrecLand/AC_PrecLand_StateMachine.h>
 #endif
@@ -529,7 +530,7 @@ class Copter : public AP_Vehicle {
 #endif
 
     // Precision Landing
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     AC_PrecLand precland;
     AC_PrecLand_StateMachine precland_statemachine;
 #endif

diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
@@ -114,7 +114,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     if (copter.precland.enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -640,7 +640,7 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)
 */
 void GCS_MAVLINK_Copter::handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms)
 {
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     copter.precland.handle_msg(packet, timestamp_ms);
 #endif
 }

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -664,7 +664,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(optflow,   "FLOW", AP_OpticalFlow),
 #endif
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     // @Group: PLND_
     // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
     GOBJECT(precland, "PLND_", AC_PrecLand),
@@ -776,7 +776,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
 
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     // @Group: BCN
     // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
     AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
@@ -1225,7 +1225,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
  */
 ParametersG2::ParametersG2(void)
     : temp_calibration() // this doesn't actually need constructing, but removing it here is problematic syntax-wise
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     , beacon()
 #endif
 #if HAL_PROXIMITY_ENABLED
@@ -1294,12 +1294,6 @@ ParametersG2::ParametersG2(void)
   old object. This should be zero for top level parameters.
  */
 const AP_Param::ConversionInfo conversion_table[] = {
-    // PARAMETER_CONVERSION - Added: Oct-2014
-    { Parameters::k_param_log_bitmask_old,    0,      AP_PARAM_INT16, "LOG_BITMASK" },
-    // PARAMETER_CONVERSION - Added: Jan-2015
-    { Parameters::k_param_serial0_baud,       0,      AP_PARAM_INT16, "SERIAL0_BAUD" },
-    { Parameters::k_param_serial1_baud,       0,      AP_PARAM_INT16, "SERIAL1_BAUD" },
-    { Parameters::k_param_serial2_baud,       0,      AP_PARAM_INT16, "SERIAL2_BAUD" },
     // PARAMETER_CONVERSION - Added: Jan-2017
     { Parameters::k_param_arming_check_old,   0,      AP_PARAM_INT8,  "ARMING_CHECK" },
     // battery
@@ -1370,46 +1364,7 @@ void Copter::load_parameters(void)
 // handle conversion of PID gains
 void Copter::convert_pid_parameters(void)
 {
-    // conversion info
-    const AP_Param::ConversionInfo pid_conversion_info[] = {
-        // PARAMETER_CONVERSION - Added: Apr-2016
-        { Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
-        { Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
-        { Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
-        { Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
-        { Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
-        { Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
-        { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
-        { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
-        { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
-#if FRAME_CONFIG == HELI_FRAME
-        // PARAMETER_CONVERSION - Added: May-2016
-        { Parameters::k_param_pid_rate_roll,  4, AP_PARAM_FLOAT, "ATC_RAT_RLL_VFF" },
-        { Parameters::k_param_pid_rate_pitch, 4, AP_PARAM_FLOAT, "ATC_RAT_PIT_VFF" },
-        { Parameters::k_param_pid_rate_yaw  , 4, AP_PARAM_FLOAT, "ATC_RAT_YAW_VFF" },
-#endif
-    };
-    const AP_Param::ConversionInfo imax_conversion_info[] = {
-        // PARAMETER_CONVERSION - Added: Apr-2016
-        { Parameters::k_param_pid_rate_roll,  5, AP_PARAM_FLOAT, "ATC_RAT_RLL_IMAX" },
-        { Parameters::k_param_pid_rate_pitch, 5, AP_PARAM_FLOAT, "ATC_RAT_PIT_IMAX" },
-        { Parameters::k_param_pid_rate_yaw,   5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" },
-#if FRAME_CONFIG == HELI_FRAME
-        // PARAMETER_CONVERSION - Added: May-2016
-        { Parameters::k_param_pid_rate_roll,  7, AP_PARAM_FLOAT, "ATC_RAT_RLL_ILMI" },
-        { Parameters::k_param_pid_rate_pitch, 7, AP_PARAM_FLOAT, "ATC_RAT_PIT_ILMI" },
-        { Parameters::k_param_pid_rate_yaw,   7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" },
-#endif
-    };
-    // conversion from Copter-3.3 to Copter-3.4
     const AP_Param::ConversionInfo angle_and_filt_conversion_info[] = {
-        // PARAMETER_CONVERSION - Added: May-2016
-        { Parameters::k_param_p_stabilize_roll, 0, AP_PARAM_FLOAT, "ATC_ANG_RLL_P" },
-        { Parameters::k_param_p_stabilize_pitch, 0, AP_PARAM_FLOAT, "ATC_ANG_PIT_P" },
-        { Parameters::k_param_p_stabilize_yaw, 0, AP_PARAM_FLOAT, "ATC_ANG_YAW_P" },
-        // PARAMETER_CONVERSION - Added: Apr-2016
-        { Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },
-        { Parameters::k_param_pid_rate_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
         // PARAMETER_CONVERSION - Added: Jan-2018
         { Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" },
         { Parameters::k_param_pi_vel_xy, 0, AP_PARAM_FLOAT, "PSC_VELXY_P" },
@@ -1429,11 +1384,6 @@ void Copter::convert_pid_parameters(void)
         { Parameters::k_param_p_alt_hold, 0, AP_PARAM_FLOAT, "PSC_POSZ_P" },
         { Parameters::k_param_p_pos_xy, 0, AP_PARAM_FLOAT, "PSC_POSXY_P" },
     };
-    const AP_Param::ConversionInfo throttle_conversion_info[] = {
-        // PARAMETER_CONVERSION - Added: Jun-2016
-        { Parameters::k_param_throttle_min, 0, AP_PARAM_FLOAT, "MOT_SPIN_MIN" },
-        { Parameters::k_param_throttle_mid, 0, AP_PARAM_FLOAT, "MOT_THST_HOVER" }
-    };
     const AP_Param::ConversionInfo loiter_conversion_info[] = {
         // PARAMETER_CONVERSION - Added: Apr-2018
         { Parameters::k_param_wp_nav, 4, AP_PARAM_FLOAT, "LOIT_SPEED" },
@@ -1442,34 +1392,10 @@ void Copter::convert_pid_parameters(void)
         { Parameters::k_param_wp_nav, 9, AP_PARAM_FLOAT, "LOIT_BRK_ACCEL" }
     };
 
-    // PARAMETER_CONVERSION - Added: Apr-2016
-    // gains increase by 27% due to attitude controller's switch to use radians instead of centi-degrees
-    // and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
-    float pid_scaler = 1.27f;
-
-#if FRAME_CONFIG != HELI_FRAME
-    // Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
-    if (g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_H) {
-        pid_scaler = 0.9f;
-    }
-#endif
-
-    // scale PID gains
-    for (const auto &info : pid_conversion_info) {
-        AP_Param::convert_old_parameter(&info, pid_scaler);
-    }
-    // reduce IMAX into -1 ~ +1 range
-    for (const auto &info : imax_conversion_info) {
-        AP_Param::convert_old_parameter(&info, 1.0f/4500.0f);
-    }
     // convert angle controller gain and filter without scaling
     for (const auto &info : angle_and_filt_conversion_info) {
         AP_Param::convert_old_parameter(&info, 1.0f);
     }
-    // convert throttle parameters (multicopter only)
-    for (const auto &info : throttle_conversion_info) {
-        AP_Param::convert_old_parameter(&info, 0.001f);
-    }
     // convert RC_FEEL_RP to ATC_INPUT_TC
     // PARAMETER_CONVERSION - Added: Mar-2018
     const AP_Param::ConversionInfo rc_feel_rp_conversion_info = { Parameters::k_param_rc_feel_rp, 0, AP_PARAM_INT8, "ATC_INPUT_TC" };

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -525,7 +525,7 @@ class ParametersG2 {
     // temperature calibration handling
     AP_TempCalibration temp_calibration;
 
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     // beacon (non-GPS positioning) library
     AP_Beacon beacon;
 #endif

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
@@ -391,7 +391,7 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             break;
 
         case AUX_FUNC::PRECISION_LOITER:
-#if PRECISION_LANDING == ENABLED && MODE_LOITER_ENABLED == ENABLED
+#if AC_PRECLAND_ENABLED && MODE_LOITER_ENABLED == ENABLED
             switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     copter.mode_loiter.set_precision_loiter_enabled(true);

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,9 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023
+Changes from 4.3.5
+1) Bi-directional DShot fix for possible motor stop approx 72min after startup 
+------------------------------------------------------------------
 Copter Copter 4.3.5 14-Mar-2023 / 4.3.5-rc1 01-Mar-2023
 Changes from 4.3.4
 1) Bug fixes

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -138,12 +138,6 @@
  # define AUTOTUNE_ENABLED  ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Precision Landing with companion computer or IRLock sensor
-#ifndef PRECISION_LANDING
- # define PRECISION_LANDING ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Parachute release
 #ifndef PARACHUTE
@@ -294,13 +288,6 @@
     # define MODE_AUTOROTATE_ENABLED DISABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-
-// Beacon support - support for local positioning systems
-#ifndef BEACON_ENABLED
-# define BEACON_ENABLED !HAL_MINIMIZE_FEATURES
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
 //////////////////////////////////////////////////////////////////////////////

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -594,7 +594,7 @@ void Mode::land_run_vertical_control(bool pause_descent)
         // Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
         cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
         const bool navigating = pos_control->is_active_xy();
         bool doing_precision_landing = !copter.ap.land_repo_active && copter.precland.target_acquired() && navigating;
 
@@ -668,7 +668,7 @@ void Mode::land_run_horizontal_control()
                     AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
                 }
                 copter.ap.land_repo_active = true;
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
             } else {
                 // no override right now, check if we should allow precland
                 if (copter.precland.allow_precland_after_reposition()) {
@@ -681,7 +681,7 @@ void Mode::land_run_horizontal_control()
 
     // this variable will be updated if prec land target is in sight and pilot isn't trying to reposition the vehicle
     copter.ap.prec_land_active = false;
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     copter.ap.prec_land_active = !copter.ap.land_repo_active && copter.precland.target_acquired();
     // run precision landing
     if (copter.ap.prec_land_active) {
@@ -738,7 +738,7 @@ void Mode::land_run_horizontal_control()
 // pause_descent is true if vehicle should not descend
 void Mode::land_run_normal_or_precland(bool pause_descent)
 {
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     if (pause_descent || !copter.precland.enabled()) {
         // we don't want to start descending immediately or prec land is disabled
         // in both cases just run simple land controllers
@@ -753,7 +753,7 @@ void Mode::land_run_normal_or_precland(bool pause_descent)
 #endif
 }
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
 // Go towards a position commanded by prec land state machine in order to retry landing
 // The passed in location is expected to be NED and in m
 void Mode::precland_retry_position(const Vector3f &retry_pos)