Merge branch 'master' into bug_fix/dronecan_efi_health

ArduSub/ArduSub.cpp

@@ -271,6 +271,9 @@ void Sub::three_hz_loop()
 // one_hz_loop - runs at 1Hz
 void Sub::one_hz_loop()
 {
+    // sync MAVLink system ID
+    mavlink_system.sysid = g.sysid_this_mav;
+
     bool arm_check = arming.pre_arm_checks(false);
     ap.pre_arm_check = arm_check;
     AP_Notify::flags.pre_arm_check = arm_check;

libraries/AP_Logger/LogStructure.h

@@ -1082,7 +1082,7 @@ struct PACKED log_VER {
 // @Field: NumPts: number of points currently in use
 // @Field: MaxPts: maximum number of points that could be used
 // @Field: Action: most recent internal action taken by SRTL library
-// @FieldValueEnum: Action: AP_SmartRTL::SRTL_Actions
+// @FieldValueEnum: Action: AP_SmartRTL::Action
 // @Field: N: point associated with most recent action (North component)
 // @Field: E: point associated with most recent action (East component)
 // @Field: D: point associated with most recent action (Down component)

libraries/AP_Scripting/applets/VTOL-quicktune.lua

@@ -401,7 +401,7 @@ function adjust_gain(pname, value)
       local FF = params[ffname]
       if FF:get() > 0 then
          -- if we have any FF on an axis then we don't couple I to P,
-         -- usually we want I = FF for a one sectond time constant for trim
+         -- usually we want I = FF for a one second time constant for trim
          return
       end
       param_changed[iname] = true

libraries/AP_Scripting/applets/forward_flight_motor_shutdown.lua

@@ -93,7 +93,6 @@ local slew
 local slew_pwm
 function update()
 
-  local switch_pos = switch:get_aux_switch_pos()
   if switch:get_aux_switch_pos() == 2 then
     if not script_enabled then
       gcs:send_text(0, "Lua: Forward flight motor shutdown enabled")

libraries/AP_SmartRTL/AP_SmartRTL.cpp

@@ -117,7 +117,7 @@ void AP_SmartRTL::init()
 
     // check if memory allocation failed
     if (_path == nullptr || _prune.loops == nullptr || _simplify.stack == nullptr) {
-        log_action(SRTL_DEACTIVATED_INIT_FAILED);
+        log_action(Action::DEACTIVATED_INIT_FAILED);
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
         free(_path);
         free(_prune.loops);
@@ -150,7 +150,7 @@ bool AP_SmartRTL::pop_point(Vector3f& point)
 
     // get semaphore
     if (!_path_sem.take_nonblocking()) {
-        log_action(SRTL_POP_FAILED_NO_SEMAPHORE);
+        log_action(Action::POP_FAILED_NO_SEMAPHORE);
         return false;
     }
 
@@ -180,7 +180,7 @@ bool AP_SmartRTL::peek_point(Vector3f& point)
 
     // get semaphore
     if (!_path_sem.take_nonblocking()) {
-        log_action(SRTL_PEEK_FAILED_NO_SEMAPHORE);
+        log_action(Action::PEEK_FAILED_NO_SEMAPHORE);
         return false;
     }
 
@@ -268,12 +268,12 @@ void AP_SmartRTL::update(bool position_ok, const Vector3f& current_pos)
             _last_position_save_ms = now;
         } else if (AP_HAL::millis() - _last_position_save_ms > SMARTRTL_TIMEOUT) {
             // deactivate after timeout due to failure to save points to path (most likely due to buffer filling up)
-            deactivate(SRTL_DEACTIVATED_PATH_FULL_TIMEOUT, "buffer full");
+            deactivate(Action::DEACTIVATED_PATH_FULL_TIMEOUT, "buffer full");
         }
     } else {
         // check for timeout due to bad position
         if (AP_HAL::millis() - _last_good_position_ms > SMARTRTL_TIMEOUT) {
-            deactivate(SRTL_DEACTIVATED_BAD_POSITION_TIMEOUT, "bad position");
+            deactivate(Action::DEACTIVATED_BAD_POSITION_TIMEOUT, "bad position");
             return;
         }
     }
@@ -322,7 +322,7 @@ bool AP_SmartRTL::add_point(const Vector3f& point)
 {
     // get semaphore
     if (!_path_sem.take_nonblocking()) {
-        log_action(SRTL_ADD_FAILED_NO_SEMAPHORE, point);
+        log_action(Action::ADD_FAILED_NO_SEMAPHORE, point);
         return false;
     }
 
@@ -338,13 +338,13 @@ bool AP_SmartRTL::add_point(const Vector3f& point)
     // check we have space in the path
     if (_path_points_count >= _path_points_max) {
         _path_sem.give();
-        log_action(SRTL_ADD_FAILED_PATH_FULL, point);
+        log_action(Action::ADD_FAILED_PATH_FULL, point);
         return false;
     }
 
     // add point to path
     _path[_path_points_count++] = point;
-    log_action(SRTL_POINT_ADD, point);
+    log_action(Action::POINT_ADD, point);
 
     _path_sem.give();
     return true;
@@ -672,7 +672,7 @@ void AP_SmartRTL::remove_points_by_simplify_bitmask()
     uint16_t removed = 0;
     for (uint16_t src = 1; src < _path_points_count; src++) {
         if (!_simplify.bitmask.get(src)) {
-            log_action(SRTL_POINT_SIMPLIFY, _path[src]);
+            log_action(Action::POINT_SIMPLIFY, _path[src]);
             removed++;
         } else {
             _path[dest] = _path[src];
@@ -687,7 +687,7 @@ void AP_SmartRTL::remove_points_by_simplify_bitmask()
         _simplify.path_points_completed = _simplify.path_points_count;
     } else {
         // this is an error that should never happen so deactivate
-        deactivate(SRTL_DEACTIVATED_PROGRAM_ERROR, "program error");
+        deactivate(Action::DEACTIVATED_PROGRAM_ERROR, "program error");
     }
 
     _path_sem.give();
@@ -724,7 +724,7 @@ bool AP_SmartRTL::remove_points_by_loops(uint16_t num_points_to_remove)
         // shift points after the end of the loop down by the number of points in the loop
         uint16_t loop_num_points_to_remove = loop.end_index - loop.start_index;
         for (uint16_t dest = loop.start_index + 1; dest < _path_points_count - loop_num_points_to_remove; dest++) {
-            log_action(SRTL_POINT_PRUNE, _path[dest]);
+            log_action(Action::POINT_PRUNE, _path[dest]);
             _path[dest] = _path[dest + loop_num_points_to_remove];
         }
 
@@ -733,7 +733,7 @@ bool AP_SmartRTL::remove_points_by_loops(uint16_t num_points_to_remove)
             removed_points += loop_num_points_to_remove;
         } else {
             // this is an error that should never happen so deactivate
-            deactivate(SRTL_DEACTIVATED_PROGRAM_ERROR, "program error");
+            deactivate(Action::DEACTIVATED_PROGRAM_ERROR, "program error");
             _path_sem.give();
             // we return true so thorough_cleanup does not get stuck
             return true;
@@ -862,7 +862,7 @@ AP_SmartRTL::dist_point AP_SmartRTL::segment_segment_dist(const Vector3f &p1, co
 }
 
 // de-activate SmartRTL, send warning to GCS and logger
-void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
+void AP_SmartRTL::deactivate(Action action, const char *reason)
 {
     _active = false;
     log_action(action);
@@ -871,7 +871,7 @@ void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
 
 #if HAL_LOGGING_ENABLED
 // logging
-void AP_SmartRTL::log_action(SRTL_Actions action, const Vector3f &point) const
+void AP_SmartRTL::log_action(Action action, const Vector3f &point) const
 {
     if (!_example_mode) {
         AP::logger().Write_SRTL(_active, _path_points_count, _path_points_max, action, point);

libraries/AP_SmartRTL/AP_SmartRTL.h

@@ -88,19 +88,19 @@ class AP_SmartRTL {
 private:
 
     // enums for logging latest actions
-    enum SRTL_Actions {
-        SRTL_POINT_ADD,
-        SRTL_POINT_PRUNE,
-        SRTL_POINT_SIMPLIFY,
-        SRTL_ADD_FAILED_NO_SEMAPHORE,
-        SRTL_ADD_FAILED_PATH_FULL,
-        SRTL_POP_FAILED_NO_SEMAPHORE,
-        SRTL_PEEK_FAILED_NO_SEMAPHORE,
-        SRTL_DEACTIVATED_INIT_FAILED,
-        SRTL_DEACTIVATED_BAD_POSITION,
-        SRTL_DEACTIVATED_BAD_POSITION_TIMEOUT,
-        SRTL_DEACTIVATED_PATH_FULL_TIMEOUT,
-        SRTL_DEACTIVATED_PROGRAM_ERROR,
+    enum Action : uint8_t {
+        POINT_ADD = 0,
+        POINT_PRUNE = 1,
+        POINT_SIMPLIFY = 2,
+        ADD_FAILED_NO_SEMAPHORE = 3,
+        ADD_FAILED_PATH_FULL = 4,
+        POP_FAILED_NO_SEMAPHORE = 5,
+        PEEK_FAILED_NO_SEMAPHORE = 6,
+        DEACTIVATED_INIT_FAILED = 7,
+        // DEACTIVATED_BAD_POSITION = 8,  unused, but historical
+        DEACTIVATED_BAD_POSITION_TIMEOUT = 9,
+        DEACTIVATED_PATH_FULL_TIMEOUT = 10,
+        DEACTIVATED_PROGRAM_ERROR = 11,
     };
 
     // enum for SRTL_OPTIONS parameter
@@ -171,13 +171,13 @@ class AP_SmartRTL {
     static dist_point segment_segment_dist(const Vector3f& p1, const Vector3f& p2, const Vector3f& p3, const Vector3f& p4);
 
     // de-activate SmartRTL, send warning to GCS and logger
-    void deactivate(SRTL_Actions action, const char *reason);
+    void deactivate(Action action, const char *reason);
 
 #if HAL_LOGGING_ENABLED
     // logging
-    void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const;
+    void log_action(Action action, const Vector3f &point = Vector3f()) const;
 #else
-    void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const {}
+    void log_action(Action action, const Vector3f &point = Vector3f()) const {}
 #endif
 
     // parameters