Merge branch 'ArduPilot:master' into avoid-rid

.github/workflows/cygwin_build.yml

@@ -189,7 +189,7 @@ 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

@@ -161,11 +161,26 @@ jobs:
       - name: Install Prerequisites
         shell: bash
         run: |
-          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
+          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+          update-alternatives --query python
+          python --version
+          pip3 install gevent
 
-          rm -rf /usr/local/bin/cmake
+          # we actualy want 3.11 .. but the above only gave us 3.10, not ok with esp32 builds.
+          sudo add-apt-repository ppa:deadsnakes/ppa
+          sudo apt update
+          sudo apt install python3.11 python3.11-venv python3.11-distutils  -y
+          sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools
+          update-alternatives --query python
+          pip3 install gevent
+          python --version
+          python3.11 --version
+          which python3.11
+          sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
+          update-alternatives --query python
 
+          rm -rf /usr/local/bin/cmake
           sudo apt remove --purge --auto-remove cmake
           sudo apt update && \
           sudo apt install -y software-properties-common lsb-release && \
@@ -183,7 +198,7 @@ jobs:
 
           cd modules/esp_idf
           echo "Installing ESP-IDF tools...."
-          ./install.sh 2>&1 > /dev/null
+          ./install.sh esp32,esp32s3 2>&1 > /dev/null
           cd ../..
           
           
@@ -200,7 +215,7 @@ 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

.github/workflows/test_chibios.yml

@@ -155,7 +155,10 @@ jobs:
             CubeRedPrimary-bootloader,
             configure-all,
             build-options-defaults-test,
-            signing
+            signing,
+            CubeOrange-PPP,
+            CubeOrange-SOHW,
+            Pixhawk6X-PPPGW,
         ]
         toolchain: [
             chibios,

.github/workflows/test_linux_sbc.yml

@@ -149,7 +149,8 @@ jobs:
             bebop,
             erlebrain2,
             pxfmini,
-            pxf
+            pxf,
+            canzero,
         ]
         toolchain: [
             armhf,

.github/workflows/test_sitl_rover.yml

@@ -192,6 +192,8 @@ jobs:
       - name: build rover ${{ matrix.toolchain }}
         shell: bash
         run: |
+          sudo apt-get update || true
+          sudo apt-get -y install ppp || true
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang

.gitmodules

@@ -39,3 +39,6 @@
 	path = modules/Micro-CDR
 	url = https://github.com/ardupilot/Micro-CDR.git
 	branch = master
+[submodule "modules/lwip"]
+	path = modules/lwip
+	url = https://github.com/ArduPilot/lwip.git

AntennaTracker/GCS_Mavlink.cpp

@@ -313,6 +313,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_MAG_CAL_PROGRESS,
 #endif
     MSG_EKF_STATUS_REPORT,
+    MSG_BATTERY_STATUS,
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
     MSG_NEXT_PARAM

AntennaTracker/Parameters.cpp

@@ -23,6 +23,7 @@ const AP_Param::Info Tracker::var_info[] = {
     // @DisplayName: Ground station MAVLink system ID
     // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),
 

AntennaTracker/Parameters.h

@@ -44,8 +44,8 @@ class Parameters {
         k_param_format_version = 0,
         k_param_software_type,      // deprecated
 
-        k_param_gcs0 = 100,         // stream rates for uartA
-        k_param_gcs1,               // stream rates for uartC
+        k_param_gcs0 = 100,         // stream rates for SERIAL0
+        k_param_gcs1,               // stream rates for SERIAL1
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
         k_param_serial0_baud,       // deprecated
@@ -60,7 +60,7 @@ class Parameters {
         k_param_sitl,
         k_param_pidPitch_old,   // deprecated
         k_param_pidYaw_old,     // deprecated
-        k_param_gcs2,               // stream rates for uartD
+        k_param_gcs2,               // stream rates for SERIAL2
         k_param_serial2_baud,       // deprecated
 
         k_param_yaw_slew_time,

ArduCopter/AP_Arming.cpp

@@ -398,10 +398,10 @@ bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
     return filt_status.flags.attitude;
 }
 
+#if HAL_PROXIMITY_ENABLED
 // check nothing is too close to vehicle
 bool AP_Arming_Copter::proximity_checks(bool display_failure) const
 {
-#if HAL_PROXIMITY_ENABLED
 
     if (!AP_Arming::proximity_checks(display_failure)) {
         return false;
@@ -425,9 +425,9 @@ bool AP_Arming_Copter::proximity_checks(bool display_failure) const
     }
 #endif
 
-#endif
     return true;
 }
+#endif  // HAL_PROXIMITY_ENABLED
 
 // performs mandatory gps checks.  returns true if passed
 bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)

ArduCopter/AP_Arming.h

@@ -27,7 +27,9 @@ class AP_Arming_Copter : public AP_Arming
 
     bool pre_arm_checks(bool display_failure) override;
     bool pre_arm_ekf_attitude_check();
+#if HAL_PROXIMITY_ENABLED
     bool proximity_checks(bool display_failure) const override;
+#endif
     bool arm_checks(AP_Arming::Method method) override;
 
     // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced

ArduCopter/Copter.cpp

@@ -404,13 +404,7 @@ bool Copter::set_circle_rate(float rate_dps)
 // set desired speed (m/s). Used for scripting.
 bool Copter::set_desired_speed(float speed)
 {
-    // exit if vehicle is not in auto mode
-    if (!flightmode->is_autopilot()) {
-        return false;
-    }
-
-    wp_nav->set_speed_xy(speed * 100.0f);
-    return true;
+    return flightmode->set_speed_xy(speed * 100.0f);
 }
 
 #if MODE_AUTO_ENABLED == ENABLED

ArduCopter/Copter.h

@@ -77,12 +77,6 @@
 #include "defines.h"
 #include "config.h"
 
-#if FRAME_CONFIG == HELI_FRAME
-    #define AC_AttitudeControl_t AC_AttitudeControl_Heli
-#else
-    #define AC_AttitudeControl_t AC_AttitudeControl_Multi
-#endif
-
 #if FRAME_CONFIG == HELI_FRAME
  #define MOTOR_CLASS AP_MotorsHeli
 #else
@@ -485,7 +479,8 @@ class Copter : public AP_Vehicle {
 
     // Attitude, Position and Waypoint navigation objects
     // To-Do: move inertial nav up or other navigation variables down here
-    AC_AttitudeControl_t *attitude_control;
+    AC_AttitudeControl *attitude_control;
+    const struct AP_Param::GroupInfo *attitude_control_var_info;
     AC_PosControl *pos_control;
     AC_WPNav *wp_nav;
     AC_Loiter *loiter_nav;

ArduCopter/Parameters.cpp

@@ -46,6 +46,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @DisplayName: My ground station number
     // @Description: Allows restricting radio overrides to only come from my ground station
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 
@@ -450,9 +451,9 @@ const AP_Param::Info Copter::var_info[] = {
 #endif
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED
@@ -497,11 +498,7 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
-#if FRAME_CONFIG == HELI_FRAME
-    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
-#else
-    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
-#endif
+    GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),
 
     // @Group: PSC
     // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -699,6 +696,20 @@ const AP_Param::Info Copter::var_info[] = {
     // @Values: 0:Stopped,1:Running
     // @User: Standard
     GSCALAR(throw_motor_start, "THROW_MOT_START", (float)ModeThrow::PreThrowMotorState::STOPPED),
+
+    // @Param: THROW_ALT_MIN
+    // @DisplayName: Throw mode minimum altitude
+    // @Description: Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check
+    // @Units: m
+    // @User: Advanced
+    GSCALAR(throw_altitude_min, "THROW_ALT_MIN", 0),
+
+    // @Param: THROW_ALT_MAX
+    // @DisplayName: Throw mode maximum altitude
+    // @Description: Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check
+    // @Units: m
+    // @User: Advanced
+    GSCALAR(throw_altitude_max, "THROW_ALT_MAX", 0),
 #endif
 
 #if OSD_ENABLED || OSD_PARAM_ENABLED

ArduCopter/Parameters.h

@@ -383,6 +383,8 @@ class Parameters {
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        k_param_throw_altitude_min,
+        k_param_throw_altitude_max,
 
         // the k_param_* space is 9-bits in size
         // 511: reserved
@@ -463,6 +465,8 @@ class Parameters {
 
 #if MODE_THROW_ENABLED == ENABLED
     AP_Enum<ModeThrow::PreThrowMotorState>         throw_motor_start;
+    AP_Int16         throw_altitude_min; // minimum altitude in m above which a throw can be detected
+    AP_Int16         throw_altitude_max; // maximum altitude in m below which a throw can be detected
 #endif
 
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,20 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 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

ArduCopter/autoyaw.cpp

@@ -114,9 +114,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
     } else {
         // absolute angle
         _fixed_yaw_offset_cd = wrap_180_cd(angle_deg * 100.0 - _yaw_angle_cd);
-        if ( direction < 0 && is_positive(_fixed_yaw_offset_cd) ) {
+        if (direction < 0 && is_positive(_fixed_yaw_offset_cd)) {
             _fixed_yaw_offset_cd -= 36000.0;
-        } else if ( direction > 0 && is_negative(_fixed_yaw_offset_cd) ) {
+        } else if (direction > 0 && is_negative(_fixed_yaw_offset_cd)) {
             _fixed_yaw_offset_cd += 36000.0;
         }
     }

ArduCopter/config.h

@@ -433,10 +433,6 @@
  # define RTL_CLIMB_MIN_DEFAULT     0       // vehicle will always climb this many cm as first stage of RTL
 #endif
 
-#ifndef RTL_ABS_MIN_CLIMB
- # define RTL_ABS_MIN_CLIMB         250     // absolute minimum initial climb
-#endif
-
 #ifndef RTL_CONE_SLOPE_DEFAULT
  # define RTL_CONE_SLOPE_DEFAULT    3.0f    // slope of RTL cone (height / distance). 0 = No cone
 #endif

ArduCopter/mode.h

@@ -241,7 +241,7 @@ class Mode {
     AC_PosControl *&pos_control;
     AP_InertialNav &inertial_nav;
     AP_AHRS &ahrs;
-    AC_AttitudeControl_t *&attitude_control;
+    AC_AttitudeControl *&attitude_control;
     MOTOR_CLASS *&motors;
     RC_Channel *&channel_roll;
     RC_Channel *&channel_pitch;
@@ -679,6 +679,7 @@ class ModeAuto : public Mode {
     int32_t condition_value;  // used in condition commands (eg delay, change alt, etc.)
     uint32_t condition_start;
 
+    // Land within Auto state
     enum class State {
         FlyToLocation = 0,
         Descending = 1
@@ -713,6 +714,13 @@ class ModeAuto : public Mode {
         float climb_rate;   // climb rate in m/s. provided by mission command
         uint32_t start_ms;  // system time that nav attitude time command was received (used for timeout)
     } nav_attitude_time;
+
+    // desired speeds
+    struct {
+        float xy;     // desired speed horizontally in m/s. 0 if unset
+        float up;     // desired speed upwards in m/s. 0 if unset
+        float down;   // desired speed downwards in m/s. 0 if unset
+    } desired_speed_override;
 };
 
 #if AUTOTUNE_ENABLED == ENABLED