Merge remote-tracking branch 'ArduPilot/Copter-4.4' into Copter-4.4-K…

…akuteH7Mini_OEM

.github/workflows/cygwin_build.yml

@@ -55,7 +55,7 @@ jobs:
         shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
         run: >-
           ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
-          python -m pip install --progress-bar off empy pexpect &&
+          python -m pip install --progress-bar off empy==3.3.4 pexpect &&
           python -m pip install --progress-bar off dronecan --upgrade &&
           cp /usr/bin/ccache /usr/local/bin/ &&
           cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&

.github/workflows/esp32_build.yml

@@ -62,7 +62,7 @@ jobs:
           ./install.sh
           source ./export.sh
           cd ../..
-          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan
+          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
           which cmake
           ./waf configure --board ${{matrix.config}}
           ./waf plane

AntennaTracker/GCS_Mavlink.h

@@ -9,14 +9,15 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 
     using GCS_MAVLINK::GCS_MAVLINK;
 
+    uint8_t sysid_my_gcs() const override;
+
 protected:
 
     // telem_delay is not used by Tracker but is pure virtual, thus
     // this implementaiton.  it probably *should* be used by Tracker,
     // as currently Tracker may brick XBees
     uint32_t telem_delay() const override { return 0; }
 
-    uint8_t sysid_my_gcs() const override;
 
     MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet) override;
     MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;

ArduCopter/GCS_Copter.h

@@ -28,9 +28,10 @@ class GCS_Copter : public GCS
     bool simple_input_active() const override;
     bool supersimple_input_active() const override;
 
+    uint8_t sysid_this_mav() const override;
+
 protected:
 
-    uint8_t sysid_this_mav() const override;
 
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,62 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.4 05-Dec-2023
+Changes from 4.4.3
+1) Autopilot related enhancement and fixes
+    - CubeOrange Sim-on-hardware compilation fix
+    - RADIX2HD supports external I2C compasses
+    - SpeedyBeeF405v4 support
+2) Bug fixes
+    - DroneCAN battery monitor with cell monitor SoC reporting fix
+    - NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+    - ProfiLED output fixed in both Notify and Scripting
+    - Scripting bug that could cause crash if parameters were added in flight
+    - STAT_BOOTCNT param fix (was not updating in some cases)
+    - Takeoff RPM check fixed where motors are attached to AUX channels
+    - don't query hobbywing DroneCAN ESC IDs while armed
+------------------------------------------------------------------
+Copter 4.4.3 14-Nov-2023
+Changes from 4.4.3-beta1
+1) AP_GPS: correct uBlox M10 configuration on low flash boards
+------------------------------------------------------------------
+Copter 4.4.3-beta1 07-Nov-2023
+Changes from 4.4.2
+1) Autopilot related enhancements and fixes
+    - BETAFTP-F405 board configuration fixes
+    - CubeOrangePlus-BG edition ICM45486 IMU setup fixed
+    - YJUAV_A6SE_H743 support
+2) Minor enhancements
+    - GPS_DRV_OPTION allows using ellipsoid height in more GPS drivers
+    - Lua script support for fully populating ESC telemetry data
+3) Bug fixes
+   - AK09916 compass being non-responsive fixed
+   - IxM42xxx IMUs "stuck" gyros fixed
+   - MAVLink response fixed when no airspeed sensor during preflight calibration
+   - Notch filtering protection when using uninitialised RPM source in ESC telemetry
+   - SIYI gimbal driver parsing bug fixed (was causing lost packets)
+------------------------------------------------------------------
+Copter 4.4.2 22-Oct-2023 / Copter 4.4.2-beta1 13-Oct-2023
+Changes from 4.4.1
+1) Autopilot related enhancements and fixes
+    - BETAFPV-F405 support
+    - MambaF405v2 battery and serial setup corrected
+    - mRo Control Zero OEM H7 bdshot support
+    - SpeedyBee-F405-Wing gets VTX power control
+    - SpeedyBee-F405-Mini support
+    - T-Motor H743 Mini support
+2) EKF3 supports baroless boards
+3) GPS-for-yaw allows base GPS to update at only 3Hz
+4) INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
+5) Log VER message includes vehicle type
+6) OpenDroneId option to auto-store IDs in persistent flash
+7) RC SBUS protection against invalid data in first 4 channels
+8) Bug fixes
+    - BMI088 IMU error value handling fixed to avoid occasional negative spike
+    - Dev environment CI autotest stability improvements
+    - OSD correct DisplayPort BF MSP symbols
+    - OSD option to correct direction arrows for BF font set
+    - Sensor status reporting to GCS fixed for baroless boards
+------------------------------------------------------------------
 Copter 4.4.1 26-Sep-2023 / 4.4.1-beta2 14-Sep-2023
 Changes from 4.4.1-beta1
 1) Autopilot related enhancements
@@ -194,7 +251,6 @@ Changes from 4.3.6
         - Touchdown detection threshold is configurable (see PLDP_THRESH)
     - Position controller angle max adjusted inflight with CH6 Tuning knob (set TUNE=59)
     - Surface tracking time constant allows tuning response (see SURFTRAK_TC)
-    - Takeoff throttle max is configurable (see TKOFF_TH_MAX)
     - Throttle-Gain boost increases attitude control gains when throttle high (see ATC_THR_G_BOOST)
     - Waypoint navigation cornering acceleration is configurable (see WPNAV_ACCEL_C)
     - WeatherVane into the wind in Auto and Guided modes (see WVANE_ENABLE)

ArduCopter/takeoff_check.cpp

@@ -29,6 +29,12 @@ void Copter::takeoff_check()
 
     // check ESCs are sending RPM at expected level
     uint32_t motor_mask = motors->get_motor_mask();
+#if HAL_WITH_IO_MCU
+    if (AP_BoardConfig::io_enabled()) {
+        // In 4.4 and earlier ESC telemetry is always indexed from 1 for servo channels 9+
+        motor_mask >>= 8;
+    }
+#endif
     const bool telem_active = AP::esc_telem().is_telemetry_active(motor_mask);
     const bool rpm_adequate = AP::esc_telem().are_motors_running(motor_mask, g2.takeoff_rpm_min);
 

ArduCopter/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.4.1"
+#define THISFIRMWARE "ArduCopter V4.4.4-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,4,4,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 4
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduPlane/Attitude.cpp

@@ -259,7 +259,7 @@ void Plane::stabilize_stick_mixing_fbw()
     // non-linear and ends up as 2x the maximum, to ensure that
     // the user can direct the plane in any direction with stick
     // mixing.
-    float roll_input = channel_roll->norm_input();
+    float roll_input = channel_roll->norm_input_dz();
     if (roll_input > 0.5f) {
         roll_input = (3*roll_input - 1);
     } else if (roll_input < -0.5f) {
@@ -273,7 +273,7 @@ void Plane::stabilize_stick_mixing_fbw()
         return;
     }
 
-    float pitch_input = channel_pitch->norm_input();
+    float pitch_input = channel_pitch->norm_input_dz();
     if (pitch_input > 0.5f) {
         pitch_input = (3*pitch_input - 1);
     } else if (pitch_input < -0.5f) {

ArduPlane/GCS_Mavlink.h

@@ -11,13 +11,14 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
 
     using GCS_MAVLINK::GCS_MAVLINK;
 
+    uint8_t sysid_my_gcs() const override;
+
 protected:
 
     uint32_t telem_delay() const override;
 
     void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
 
-    uint8_t sysid_my_gcs() const override;
     bool sysid_enforce() const override;
 
     MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;

ArduPlane/Plane.h

@@ -723,6 +723,9 @@ class Plane : public AP_Vehicle {
         // are we trying to follow terrain?
         bool terrain_following;
 
+        // are we waiting to load terrain data to init terrain following
+        bool terrain_following_pending;
+
         // target altitude above terrain in cm, valid if terrain_following
         // is set
         int32_t terrain_alt_cm;
@@ -836,7 +839,7 @@ class Plane : public AP_Vehicle {
     void reset_offset_altitude(void);
     void set_offset_altitude_location(const Location &start_loc, const Location &destination_loc);
     bool above_location_current(const Location &loc);
-    void setup_terrain_target_alt(Location &loc) const;
+    void setup_terrain_target_alt(Location &loc);
     int32_t adjusted_altitude_cm(void);
     int32_t adjusted_relative_altitude_cm(void);
     float mission_alt_offset(void);

ArduPlane/ReleaseNotes.txt

@@ -1,3 +1,65 @@
+Release 4.4.4-beta1 5th December 2023
+-------------------------------------
+
+Changes from 4.4.3:
+
+- CubeOrange Sim-on-hardware compilation fix
+- RADIX2HD supports external I2C compasses
+- SpeedyBeeF405v4 support
+- DroneCAN battery monitor with cell monitor SoC reporting fix
+- ProfiLED output fixed in both Notify and Scripting
+- NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+- Scripting bug that could cause crash if parameters were added in flight
+- STAT_BOOTCNT param fix (was not updating in some cases)
+- don't query hobbywing DroneCAN ESC IDs while armed
+- clamp empy version to prevent build errors
+
+Release 4.4.3 14th November 2023
+--------------------------------
+
+Changes from 4.4.2:
+
+ - fixed setup of ICM45486 IMU on CubeOrangePlus-BG edition
+ - disable AFSR on IxM42xxx IMUs to prevent gyro bias for "stuck" gyros
+ - fixed AK09916 compass being non-responsive
+ - implement GPS_DRV_OPTION for using ellipsoid height in more GPS drivers
+ - fixed SIYI AP_Mount parsing bug
+ - configuration fixes for BETAFTP-F405 boards
+ - fixed origin versus home relative bug in quadplane landing and guided takeoff
+ - correct mavlink response for no airspeed sensor on preflight calibration
+ - protect against notch filtering with uninitialised RPM source in ESC telemetry
+ - allow lua scripts to populate full ESC telemetry data
+ - added YJUAV_A6SE_H743 support
+ - fixed uBlox M10 GPS support on boards with 1M flash
+
+Release 4.4.2 23th October 2023
+-------------------------------
+
+Changes from 4.4.1
+
+- BETAFPV-F405 support
+- MambaF405v2 battery and serial setup corrected
+- mRo Control Zero OEM H7 bdshot support
+- SpeedyBee-F405-Wing gets VTX power control
+- SpeedyBee-F405-Mini support
+- T-Motor H743 Mini support
+- EKF3 supports baroless boards
+- INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
+- BMI088 IMU error value handling fixed to avoid occasional negative spike
+- Dev environment CI autotest stability improvements
+- OSD correct DisplayPort BF MSP symbols
+- OSD option to correct direction arrows for BF font set
+- Sensor status reporting to GCS fixed for baroless boards
+- added opendroneid option to auto-store IDs in persistent flash
+- fixed TECS bug that could cause inability to climb or descend
+- fixed race condition when starting TECS controlled mode
+- fixed RTL with rally point and terrain follow
+- protect against invalid data in SBUS for first 4 channels
+- added build type to VER message
+- allow moving baseline rover at 3Hz
+- use RC deadzones in stick mixing
+
+
 Release 4.4.1 26th September 2023
 ---------------------------------
 

ArduPlane/altitude.cpp

@@ -191,6 +191,12 @@ void Plane::set_target_altitude_location(const Location &loc)
         target_altitude.amsl_cm += home.alt;
     }
 #if AP_TERRAIN_AVAILABLE
+    if (target_altitude.terrain_following_pending) {
+        /* we didn't get terrain data to init when we started on this
+           target, retry
+        */
+        setup_terrain_target_alt(next_WP_loc);
+    }
     /*
       if this location has the terrain_alt flag set and we know the
       terrain altitude of our current location then treat it as a
@@ -448,12 +454,16 @@ bool Plane::above_location_current(const Location &loc)
   modify a destination to be setup for terrain following if
   TERRAIN_FOLLOW is enabled
  */
-void Plane::setup_terrain_target_alt(Location &loc) const
+void Plane::setup_terrain_target_alt(Location &loc)
 {
 #if AP_TERRAIN_AVAILABLE
     if (terrain_enabled_in_current_mode()) {
-        loc.change_alt_frame(Location::AltFrame::ABOVE_TERRAIN);
+        if (!loc.change_alt_frame(Location::AltFrame::ABOVE_TERRAIN)) {
+            target_altitude.terrain_following_pending = true;
+            return;
+        }
     }
+    target_altitude.terrain_following_pending = false;
 #endif
 }
 

ArduPlane/commands_logic.cpp

@@ -8,7 +8,11 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     // default to non-VTOL loiter
     auto_state.vtol_loiter = false;
 
-        // log when new commands start
+#if AP_TERRAIN_AVAILABLE
+    plane.target_altitude.terrain_following_pending = false;
+#endif
+
+    // log when new commands start
     if (should_log(MASK_LOG_CMD)) {
         logger.Write_Mission_Cmd(mission, cmd);
     }

ArduPlane/mode.cpp

@@ -91,6 +91,10 @@ bool Mode::enter()
     quadplane.mode_enter();
 #endif
 
+#if AP_TERRAIN_AVAILABLE
+    plane.target_altitude.terrain_following_pending = false;
+#endif
+
     bool enter_result = _enter();
 
     if (enter_result) {

ArduPlane/quadplane.cpp

@@ -2821,15 +2821,15 @@ void QuadPlane::vtol_position_controller(void)
         if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) {
             plane.ahrs.get_location(plane.current_loc);
             int32_t target_altitude_cm;
-            if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) {
+            if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN,target_altitude_cm)) {
                 break;
             }
             if (poscontrol.slow_descent &&
                 plane.prev_WP_loc.get_distance(plane.next_WP_loc) > 50) {
                 // gradually descend as we approach target
                 plane.auto_state.wp_proportion = plane.current_loc.line_path_proportion(plane.prev_WP_loc, plane.next_WP_loc);
                 int32_t prev_alt;
-                if (plane.prev_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,prev_alt)) {
+                if (plane.prev_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN,prev_alt)) {
                     target_altitude_cm = linear_interpolate(prev_alt,
                                                          target_altitude_cm,
                                                          plane.auto_state.wp_proportion,

ArduPlane/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.4.1"
+#define THISFIRMWARE "ArduPlane V4.4.4-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,4,4,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 4
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduSub/GCS_Mavlink.h

@@ -8,6 +8,7 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
 
     using GCS_MAVLINK::GCS_MAVLINK;
 
+    uint8_t sysid_my_gcs() const override;
 protected:
 
     uint32_t telem_delay() const override {
@@ -16,8 +17,6 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
 
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
 
-    uint8_t sysid_my_gcs() const override;
-
     MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
     MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;

Blimp/GCS_Blimp.h

@@ -25,10 +25,10 @@ class GCS_Blimp : public GCS
 
     bool vehicle_initialised() const override;
 
-protected:
-
     uint8_t sysid_this_mav() const override;
 
+protected:
+
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any
     // mavlink messages.  We want to prioritise the main flight