Merge branch 'master' into pr-murata_sch16t_imu

.github/workflows/test_environment.yml

@@ -32,10 +32,10 @@ jobs:
             name: focal
           - os: ubuntu
             name: jammy
-          - os: ubuntu
-            name: lunar
           - os: ubuntu
             name: mantic
+          - os: ubuntu
+            name: noble
           - os: archlinux
             name: latest
           - os: debian

AntennaTracker/ReleaseNotes.txt

@@ -1,4 +1,39 @@
 Antenna Tracker Release Notes:
+------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
 
 ------------------------------------------------------------------
 Release 4.5.1 8th April 2024

ArduCopter/AP_ExternalControl_Copter.cpp

@@ -29,6 +29,15 @@ bool AP_ExternalControl_Copter::set_linear_velocity_and_yaw_rate(const Vector3f
     return true;
 }
 
+bool AP_ExternalControl_Copter::set_global_position(const Location& loc)
+{
+    // Check if copter is ready for external control and returns false if it is not.
+    if (!ready_for_external_control()) {
+        return false;
+    }
+    return copter.set_target_location(loc);
+}
+
 bool AP_ExternalControl_Copter::ready_for_external_control()
 {
     return copter.flightmode->in_guided_mode() && copter.motors->armed();

ArduCopter/AP_ExternalControl_Copter.h

@@ -7,14 +7,20 @@
 
 #if AP_EXTERNAL_CONTROL_ENABLED
 
-class AP_ExternalControl_Copter : public AP_ExternalControl {
+class AP_ExternalControl_Copter : public AP_ExternalControl
+{
 public:
     /*
       Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
       Velocity is in earth frame, NED [m/s].
       Yaw is in earth frame, NED [rad/s].
      */
     bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads) override WARN_IF_UNUSED;
+
+    /*
+      Sets the target global position for a loiter point.
+    */
+    bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
 private:
     /*
       Return true if Copter is ready to handle external control data.

ArduCopter/Copter.cpp

@@ -272,32 +272,37 @@ void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
 
 constexpr int8_t Copter::_failsafe_priorities[7];
 
-#if AP_SCRIPTING_ENABLED
+
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 #if MODE_GUIDED_ENABLED == ENABLED
-// start takeoff to given altitude (for use by scripting)
-bool Copter::start_takeoff(float alt)
+// set target location (for use by external control and scripting)
+bool Copter::set_target_location(const Location& target_loc)
 {
     // exit if vehicle is not in Guided mode or Auto-Guided mode
     if (!flightmode->in_guided_mode()) {
         return false;
     }
 
-    if (mode_guided.do_user_takeoff_start(alt * 100.0f)) {
-        copter.set_auto_armed(true);
-        return true;
-    }
-    return false;
+    return mode_guided.set_destination(target_loc);
 }
+#endif //MODE_GUIDED_ENABLED == ENABLED
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
-// set target location (for use by scripting)
-bool Copter::set_target_location(const Location& target_loc)
+#if AP_SCRIPTING_ENABLED
+#if MODE_GUIDED_ENABLED == ENABLED
+// start takeoff to given altitude (for use by scripting)
+bool Copter::start_takeoff(float alt)
 {
     // exit if vehicle is not in Guided mode or Auto-Guided mode
     if (!flightmode->in_guided_mode()) {
         return false;
     }
 
-    return mode_guided.set_destination(target_loc);
+    if (mode_guided.do_user_takeoff_start(alt * 100.0f)) {
+        copter.set_auto_armed(true);
+        return true;
+    }
+    return false;
 }
 
 // set target position (for use by scripting)

ArduCopter/Copter.h

@@ -666,10 +666,15 @@ class Copter : public AP_Vehicle {
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+#if MODE_GUIDED_ENABLED == ENABLED
+    bool set_target_location(const Location& target_loc) override;
+#endif // MODE_GUIDED_ENABLED == ENABLED
+#endif // AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+
 #if AP_SCRIPTING_ENABLED
 #if MODE_GUIDED_ENABLED == ENABLED
     bool start_takeoff(float alt) override;
-    bool set_target_location(const Location& target_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;

ArduCopter/GCS_Mavlink.cpp

@@ -836,6 +836,12 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
         return MAV_RESULT_ACCEPTED;
 
 #if MODE_AUTO_ENABLED == ENABLED
+    case MAV_CMD_DO_RETURN_PATH_START:
+        if (copter.mode_auto.return_path_start_auto_RTL(ModeReason::GCS_COMMAND)) {
+            return MAV_RESULT_ACCEPTED;
+        }
+        return MAV_RESULT_FAILED;
+
     case MAV_CMD_DO_LAND_START:
         if (copter.mode_auto.jump_to_landing_sequence_auto_RTL(ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_ACCEPTED;

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,46 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Copter specific changes
+
+- Auto mode condition yaw fix to avoid pointing at out-of-date target
+- Guided mode angle control yaw target initialisation fix (was always turning North)
+
+5) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
+
+------------------------------------------------------------------
 
 Release 4.5.1 8th April 2024
 

ArduCopter/config.h

@@ -382,6 +382,9 @@
 #ifndef LAND_DETECTOR_ACCEL_MAX
 # define LAND_DETECTOR_ACCEL_MAX            1.0f    // vehicle acceleration must be under 1m/s/s
 #endif
+#ifndef LAND_DETECTOR_VEL_Z_MAX
+# define LAND_DETECTOR_VEL_Z_MAX              1.0f    // vehicle vertical velocity must be under 1m/s
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Flight mode definitions

ArduCopter/land_detector.cpp

@@ -100,11 +100,19 @@ void Copter::update_land_detector()
         }
 #endif
 
+        // check for aggressive flight requests - requested roll or pitch angle below 15 degrees
+        const Vector3f angle_target = attitude_control->get_att_target_euler_cd();
+        bool large_angle_request = angle_target.xy().length() > LAND_CHECK_LARGE_ANGLE_CD;
+
+        // check for large external disturbance - angle error over 30 degrees
+        const float angle_error = attitude_control->get_att_error_angle_deg();
+        bool large_angle_error = (angle_error > LAND_CHECK_ANGLE_ERROR_DEG);
+
         // check that the airframe is not accelerating (not falling or braking after fast forward flight)
         bool accel_stationary = (land_accel_ef_filter.get().length() <= LAND_DETECTOR_ACCEL_MAX * land_detector_scalar);
 
         // check that vertical speed is within 1m/s of zero
-        bool descent_rate_low = fabsf(inertial_nav.get_velocity_z_up_cms()) < 100 * land_detector_scalar;
+        bool descent_rate_low = fabsf(inertial_nav.get_velocity_z_up_cms()) < 100.0 * LAND_DETECTOR_VEL_Z_MAX * land_detector_scalar;
 
         // if we have a healthy rangefinder only allow landing detection below 2 meters
         bool rangefinder_check = (!rangefinder_alt_ok() || rangefinder_state.alt_cm_filt.get() < LAND_RANGEFINDER_MIN_ALT_CM);
@@ -116,7 +124,7 @@ void Copter::update_land_detector()
         const bool WoW_check = true;
 #endif
 
-        if (motor_at_lower_limit && throttle_mix_at_min && accel_stationary && descent_rate_low && rangefinder_check && WoW_check) {
+        if (motor_at_lower_limit && throttle_mix_at_min && !large_angle_request && !large_angle_error && accel_stationary && descent_rate_low && rangefinder_check && WoW_check) {
             // landed criteria met - increment the counter and check if we've triggered
             if( land_detector_count < land_trigger_sec*scheduler.get_loop_rate_hz()) {
                 land_detector_count++;

ArduCopter/mode.cpp

@@ -276,7 +276,8 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
 #if MODE_AUTO_ENABLED == ENABLED
     if (mode == Mode::Number::AUTO_RTL) {
         // Special case for AUTO RTL, not a true mode, just AUTO in disguise
-        return mode_auto.jump_to_landing_sequence_auto_RTL(reason);
+        // Attempt to join return path, fallback to do-land-start
+        return mode_auto.return_path_or_jump_to_landing_sequence_auto_RTL(reason);
     }
 #endif
 
@@ -972,19 +973,19 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
         switch (motors->get_spool_state()) {
 
         case AP_Motors::SpoolState::SHUT_DOWN:
-            return AltHold_MotorStopped;
+            return AltHoldModeState::MotorStopped;
 
         case AP_Motors::SpoolState::GROUND_IDLE:
-            return AltHold_Landed_Ground_Idle;
+            return AltHoldModeState::Landed_Ground_Idle;
 
         default:
-            return AltHold_Landed_Pre_Takeoff;
+            return AltHoldModeState::Landed_Pre_Takeoff;
         }
 
     } else if (takeoff.running() || takeoff.triggered(target_climb_rate_cms)) {
         // the aircraft is currently landed or taking off, asking for a positive climb rate and in THROTTLE_UNLIMITED
         // the aircraft should progress through the take off procedure
-        return AltHold_Takeoff;
+        return AltHoldModeState::Takeoff;
 
     } else if (!copter.ap.auto_armed || copter.ap.land_complete) {
         // the aircraft is armed and landed
@@ -999,17 +1000,17 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
 
         if (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
             // the aircraft is waiting in ground idle
-            return AltHold_Landed_Ground_Idle;
+            return AltHoldModeState::Landed_Ground_Idle;
 
         } else {
             // the aircraft can leave the ground at any time
-            return AltHold_Landed_Pre_Takeoff;
+            return AltHoldModeState::Landed_Pre_Takeoff;
         }
 
     } else {
         // the aircraft is in a flying state
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-        return AltHold_Flying;
+        return AltHoldModeState::Flying;
     }
 }
 

ArduCopter/mode.h

@@ -231,12 +231,12 @@ class Mode {
     virtual float throttle_hover() const;
 
     // Alt_Hold based flight mode states used in Alt_Hold, Loiter, and Sport
-    enum AltHoldModeState {
-        AltHold_MotorStopped,
-        AltHold_Takeoff,
-        AltHold_Landed_Ground_Idle,
-        AltHold_Landed_Pre_Takeoff,
-        AltHold_Flying
+    enum class AltHoldModeState {
+        MotorStopped,
+        Takeoff,
+        Landed_Ground_Idle,
+        Landed_Pre_Takeoff,
+        Flying
     };
     AltHoldModeState get_alt_hold_state(float target_climb_rate_cms);
 
@@ -553,6 +553,12 @@ class ModeAuto : public Mode {
     // Go straight to landing sequence via DO_LAND_START, if succeeds pretend to be Auto RTL mode
     bool jump_to_landing_sequence_auto_RTL(ModeReason reason);
 
+    // Join mission after DO_RETURN_PATH_START waypoint, if succeeds pretend to be Auto RTL mode
+    bool return_path_start_auto_RTL(ModeReason reason);
+
+    // Try join return path else do land start
+    bool return_path_or_jump_to_landing_sequence_auto_RTL(ModeReason reason);
+
     // lua accessors for nav script time support
     bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4);
     void nav_script_time_done(uint16_t id);
@@ -589,6 +595,9 @@ class ModeAuto : public Mode {
         AllowWeatherVaning                 = (1 << 7U),
     };
 
+    // Enter auto rtl pseudo mode
+    bool enter_auto_rtl(ModeReason reason);
+
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);
     void exit_mission();

ArduCopter/mode_acro.cpp

@@ -162,7 +162,7 @@ void ModeAcro::get_pilot_desired_angle_rates(float roll_in, float pitch_in, floa
         }
 
         // convert earth-frame level rates to body-frame level rates
-        attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd() * radians(0.01f), rate_ef_level_cd, rate_bf_level_cd);
+        attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level_cd, rate_bf_level_cd);
 
         // combine earth frame rate corrections with rate requests
         if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {

ArduCopter/mode_acro_heli.cpp

@@ -144,7 +144,7 @@ void ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, float &ya
     rate_ef_level.z = 0;
 
     // convert earth-frame leak rates to body-frame leak rates
-    attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
+    attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level);
 
     // combine earth frame rate corrections with rate requests
     roll_out += rate_bf_level.x;