Merge branch 'master' into add-response-validation

.github/workflows/macos_build.yml

@@ -188,5 +188,7 @@ jobs:
           echo $PATH
           ./waf configure --board ${{matrix.config}}
           ./waf
+          ./waf configure --board ${{matrix.config}} --debug
+          ./waf
           ccache -s
           ccache -z

AntennaTracker/ReleaseNotes.txt

@@ -1,5 +1,47 @@
 Antenna Tracker Release Notes:
 ------------------------------
+Release 4.5.5-beta1 1st July 2024
+
+Changes from 4.5.4
+
+1) Board specific enhancements and bug fixes
+
+- fixed IOMCU transmission errors when using bdshot
+- update relay parameter names on various boards
+- add ASP5033 airspeed in minimal builds
+- added RadiolinkPIX6
+- fix Aocoda-RC H743Dual motor issue
+- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
+
+2) System level minor enhancements and bug fixes
+
+- correct use-after-free in script statistics
+- added arming check for eeprom full
+- fixed a block logging issue which caused log messages to be dropped
+- enable Socket SO_REUSEADDR on LwIP
+- removed IST8310 overrun message
+- added Siyi ZT6 support
+- added BTFL sidebar symbols to the OSD
+- added CRSF extended link stats to the OSD
+- use the ESC with the highest RPM in the OSD when only one can be displayed
+- support all Tramp power levels on high power VTXs
+- emit jump count in missions even if no limit
+- improve the bitmask indicating persistent parameters on bootloader flash	
+- fix duplicate error condition in the MicroStrain7
+
+5) Other minor enhancements and bug fixes
+
+- specify pymonocypher version in more places
+- added DroneCAN dependencies to custom builds
+
+------------------------------------------------------------------
+Release 4.5.4 12th June 2024
+
+Changes from 4.5.3
+
+Disable highres IMU sampling on ICM42670 fixing an issue on some versions of Pixhawk6X
+
+------------------------------------------------------------------
 Release 4.5.3 28th May 2024
 
 No changes from 4.5.3-beta1

ArduCopter/APM_Config.h

@@ -4,7 +4,6 @@
 //#define LOGGING_ENABLED       DISABLED            // disable logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
-//#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
 //#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 MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support

ArduCopter/AP_Arming.cpp

@@ -257,6 +257,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
                 return false;
                 break;
             case AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER:
+#if AP_RANGEFINDER_ENABLED
                 if (!copter.rangefinder_state.enabled || !copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
                     check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "no rangefinder");
                     return false;
@@ -266,6 +267,9 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
                     check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "RTL_ALT>RNGFND_MAX_CM");
                     return false;
                 }
+#else
+                check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "rangefinder not in firmware");
+#endif
                 break;
             case AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE:
                 // these checks are done in AP_Arming
@@ -444,23 +448,21 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
     #endif
 
-    if (mode_requires_gps) {
+    if (mode_requires_gps || copter.option_is_enabled(Copter::FlightOption::REQUIRE_POSITION_FOR_ARMING)) {
         if (!copter.position_ok()) {
             // vehicle level position estimate checks
             check_failed(display_failure, "Need Position Estimate");
             return false;
         }
-    } else {
-        if (fence_requires_gps) {
-            if (!copter.position_ok()) {
-                // clarify to user why they need GPS in non-GPS flight mode
-                check_failed(display_failure, "Fence enabled, need position estimate");
-                return false;
-            }
-        } else {
-            // return true if GPS is not required
-            return true;
+    } else if (fence_requires_gps) {
+        if (!copter.position_ok()) {
+            // clarify to user why they need GPS in non-GPS flight mode
+            check_failed(display_failure, "Fence enabled, need position estimate");
+            return false;
         }
+    } else {
+        // return true if GPS is not required
+        return true;
     }
 
     // check for GPS glitch (as reported by EKF)

ArduCopter/Copter.cpp

@@ -164,7 +164,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
     SCHED_TASK(auto_disarm_check,     10,     50,  27),
     SCHED_TASK(auto_trim,             10,     75,  30),
-#if RANGEFINDER_ENABLED == ENABLED
+#if AP_RANGEFINDER_ENABLED
     SCHED_TASK(read_rangefinder,      20,    100,  33),
 #endif
 #if HAL_PROXIMITY_ENABLED
@@ -446,6 +446,32 @@ bool Copter::has_ekf_failsafed() const
     return failsafe.ekf;
 }
 
+// get target location (for use by scripting)
+bool Copter::get_target_location(Location& target_loc)
+{
+    return flightmode->get_wp(target_loc);
+}
+
+/*
+  update_target_location() acts as a wrapper for set_target_location
+ */
+bool Copter::update_target_location(const Location &old_loc, const Location &new_loc)
+{
+    /*
+      by checking the caller has provided the correct old target
+      location we prevent a race condition where the user changes mode
+      or commands a different target in the controlling lua script
+    */
+    Location next_WP_loc;
+    flightmode->get_wp(next_WP_loc);
+    if (!old_loc.same_loc_as(next_WP_loc) ||
+         old_loc.get_alt_frame() != new_loc.get_alt_frame()) {
+        return false;
+    }
+
+    return set_target_location(new_loc);
+}
+
 #endif // AP_SCRIPTING_ENABLED
 
 // returns true if vehicle is landing. Only used by Lua scripts

ArduCopter/Copter.h

@@ -121,7 +121,7 @@
 #if AP_TERRAIN_AVAILABLE
  # include <AP_Terrain/AP_Terrain.h>
 #endif
-#if RANGEFINDER_ENABLED == ENABLED
+#if AP_RANGEFINDER_ENABLED
  # include <AP_RangeFinder/AP_RangeFinder.h>
 #endif
 
@@ -258,6 +258,7 @@ class Copter : public AP_Vehicle {
     // helper function to get inertially interpolated rangefinder height.
     bool get_rangefinder_height_interpolated_cm(int32_t& ret) const;
 
+#if AP_RANGEFINDER_ENABLED
     class SurfaceTracking {
     public:
 
@@ -292,6 +293,7 @@ class Copter : public AP_Vehicle {
         bool valid_for_logging;     // true if we have a desired target altitude
         bool reset_target;          // true if target should be reset because of change in surface being tracked
     } surface_tracking;
+#endif
 
 #if AP_RPM_ENABLED
     AP_RPM rpm_sensor;
@@ -622,11 +624,16 @@ class Copter : public AP_Vehicle {
     };
 
 
-    enum class FlightOptions {
+    enum class FlightOption : uint32_t {
         DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
         DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
         RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
+        REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
+    // returns true if option is enabled for this vehicle
+    bool option_is_enabled(FlightOption option) const {
+        return (g2.flight_options & uint32_t(option)) != 0;
+    }
 
     static constexpr int8_t _failsafe_priorities[] = {
                                                       (int8_t)FailsafeAction::TERMINATE,
@@ -666,6 +673,8 @@ class Copter : public AP_Vehicle {
 #if AP_SCRIPTING_ENABLED
 #if MODE_GUIDED_ENABLED == ENABLED
     bool start_takeoff(float alt) override;
+    bool get_target_location(Location& target_loc) override;
+    bool update_target_location(const Location &old_loc, const Location &new_loc) override;
     bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;
     bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
     bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) override;
@@ -821,7 +830,8 @@ class Copter : public AP_Vehicle {
     void set_land_complete(bool b);
     void set_land_complete_maybe(bool b);
     void update_throttle_mix();
-
+    bool get_force_flying() const;
+
 #if AP_LANDINGGEAR_ENABLED
     // landing_gear.cpp
     void landinggear_update();

ArduCopter/GCS_Copter.cpp

@@ -91,7 +91,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
+#if AP_RANGEFINDER_ENABLED
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;

ArduCopter/GCS_Mavlink.cpp

@@ -89,6 +89,10 @@ MAV_STATE GCS_MAVLINK_Copter::vehicle_system_status() const
         return MAV_STATE_STANDBY;
     }
 
+    if (!copter.ap.initialised) {
+    	return MAV_STATE_BOOT;
+    }
+
     return MAV_STATE_ACTIVE;
 }
 
@@ -1213,6 +1217,7 @@ void GCS_MAVLINK_Copter::handle_message_set_attitude_target(const mavlink_messag
 
         // ensure thrust field is not ignored
         if (throttle_ignore) {
+            // The throttle input is not defined
             return;
         }
 
@@ -1231,6 +1236,18 @@ void GCS_MAVLINK_Copter::handle_message_set_attitude_target(const mavlink_messag
             }
         }
 
+        Vector3f ang_vel_body;
+        if (!roll_rate_ignore && !pitch_rate_ignore && !yaw_rate_ignore) {
+            ang_vel_body.x = packet.body_roll_rate;
+            ang_vel_body.y = packet.body_pitch_rate;
+            ang_vel_body.z = packet.body_yaw_rate;
+        } else if (!(roll_rate_ignore && pitch_rate_ignore && yaw_rate_ignore)) {
+            // The body rates are ill-defined
+            // input is not valid so stop
+            copter.mode_guided.init(true);
+            return;
+        }
+
         // check if the message's thrust field should be interpreted as a climb rate or as thrust
         const bool use_thrust = copter.mode_guided.set_attitude_target_provides_thrust();
 
@@ -1252,18 +1269,7 @@ void GCS_MAVLINK_Copter::handle_message_set_attitude_target(const mavlink_messag
             }
         }
 
-        Vector3f ang_vel;
-        if (!roll_rate_ignore) {
-            ang_vel.x = packet.body_roll_rate;
-        }
-        if (!pitch_rate_ignore) {
-            ang_vel.y = packet.body_pitch_rate;
-        }
-        if (!yaw_rate_ignore) {
-            ang_vel.z = packet.body_yaw_rate;
-        }
-
-        copter.mode_guided.set_angle(attitude_quat, ang_vel,
+        copter.mode_guided.set_angle(attitude_quat, ang_vel_body,
                 climb_rate_or_thrust, use_thrust);
 }
 

ArduCopter/Log.cpp

@@ -39,11 +39,15 @@ void Copter::Log_Write_Control_Tuning()
         target_climb_rate_cms = pos_control->get_vel_target_z_cms();
     }
 
-    // get surface tracking alts
     float desired_rangefinder_alt;
+#if AP_RANGEFINDER_ENABLED
     if (!surface_tracking.get_target_dist_for_logging(desired_rangefinder_alt)) {
         desired_rangefinder_alt = AP::logger().quiet_nan();
     }
+#else
+    // get surface tracking alts
+    desired_rangefinder_alt = AP::logger().quiet_nan();
+#endif
 
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
@@ -56,7 +60,11 @@ void Copter::Log_Write_Control_Tuning()
         inav_alt            : inertial_nav.get_position_z_up_cm() * 0.01f,
         baro_alt            : baro_alt,
         desired_rangefinder_alt : desired_rangefinder_alt,
+#if AP_RANGEFINDER_ENABLED
         rangefinder_alt     : surface_tracking.get_dist_for_logging(),
+#else
+        rangefinder_alt     : AP::logger().quiet_nanf(),
+#endif
         terr_alt            : terr_alt,
         target_climb_rate   : target_climb_rate_cms,
         climb_rate          : int16_t(inertial_nav.get_velocity_z_up_cms()) // float -> int16_t

ArduCopter/Parameters.cpp

@@ -638,7 +638,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
     GOBJECT(rssi, "RSSI_",  AP_RSSI),
 
-#if RANGEFINDER_ENABLED == ENABLED
+#if AP_RANGEFINDER_ENABLED
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
     GOBJECT(rangefinder,   "RNGFND", RangeFinder),
@@ -1000,11 +1000,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),
 
-#if RANGEFINDER_ENABLED == ENABLED
+#if AP_RANGEFINDER_ENABLED
     // @Param: RNGFND_FILT
     // @DisplayName: Rangefinder filter
     // @Description: Rangefinder filter to smooth distance.  Set to zero to disable filtering
@@ -1028,13 +1028,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // ACRO_PR_RATE (47), ACRO_Y_RATE (48), PILOT_Y_RATE (49) and PILOT_Y_EXPO (50) moved to command model class
 
+#if AP_RANGEFINDER_ENABLED
     // @Param: SURFTRAK_MODE
     // @DisplayName: Surface Tracking Mode
     // @Description: set which surface to track in surface tracking
     // @Values: 0:Do not track, 1:Ground, 2:Ceiling
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("SURFTRAK_MODE", 51, ParametersG2, surftrak_mode, (uint8_t)Copter::SurfaceTracking::Surface::GROUND),
+#endif
 
     // @Param: FS_DR_ENABLE
     // @DisplayName: DeadReckon Failsafe Action

ArduCopter/Parameters.h

@@ -652,7 +652,7 @@ class ParametersG2 {
 
     AP_Int32 flight_options;
 
-#if RANGEFINDER_ENABLED == ENABLED
+#if AP_RANGEFINDER_ENABLED
     AP_Float rangefinder_filt;
 #endif