Merge branch 'master' into gpsid_detect

.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

.github/workflows/test_scripting.yml

@@ -36,6 +36,17 @@ jobs:
           sudo apt-get -y install lua-check
           ./Tools/scripts/run_luacheck.sh
 
+      - name: Language server check
+        shell: bash
+        run: |
+          python -m pip install github-release-downloader
+          python ./Tools/scripts/run_lua_language_check.py
+
+      - name: Generate docs md
+        shell: bash
+        run: |
+          ./Tools/scripts/generate_lua_docs.sh
+
       - name: copy docs
         run: |
           PATH="/github/home/.local/bin:$PATH"
@@ -53,3 +64,10 @@ jobs:
         run: |
           PATH="/github/home/.local/bin:$PATH"
           python ./libraries/AP_Scripting/tests/docs_check.py "./libraries/AP_Scripting/docs/docs.lua" "./libraries/AP_Scripting/docs/current_docs.lua"
+
+      - name: Upload docs
+        uses: actions/upload-artifact@v3
+        with:
+          name: Docs
+          path: ScriptingDocs.md
+          retention-days: 7

.gitignore

@@ -156,6 +156,11 @@ build.tmp.binaries/
 tasklist.json
 modules/esp_idf
 
+# lua-language-server linter
+ScriptingDocs.md
+/lua-language-server/
+repo-LuaLS-lua-language-server.cache
+
 # Ignore Python virtual environments
 #   from: https://github.com/github/gitignore/blob/4488915eec0b3a45b5c63ead28f286819c0917de/Python.gitignore#L125
 .env

AntennaTracker/Parameters.cpp

@@ -518,7 +518,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @DisplayName: GCS PID tuning mask
     // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
     // @User: Advanced
-    // @Values: 0:None,1:Pitch,2:Yaw
     // @Bitmask: 0:Pitch,1:Yaw
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
@@ -556,7 +555,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @DisplayName: Auto mode options
     // @Description: 1: Scan for unknown target
     // @User: Standard
-    // @Values: 0:None, 1: Scan for unknown target in auto mode
     // @Bitmask: 0:Scan for unknown target
     GSCALAR(auto_opts,              "AUTO_OPTIONS",        0),
 

AntennaTracker/ReleaseNotes.txt

@@ -1,39 +1,76 @@
 Antenna Tracker Release Notes:
+------------------------------
 
-------------------------------------------------------------------
-Release 4.5.1 8th April 2024
+Release 4.5.3-beta1 16th May 2024
 
-This release fixes a critical bug in the CRSF R/C protocol parser that
-can lead to a handfault and a vehicle crashing. A similar fix was
-applied to the GHST protocol, although we believe that GHST could not
-be affected by the bug, so this was just a precaution.
+Changes from 4.5.2
 
-There are no other changes in this release.
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
 
 ------------------------------------------------------------------
-Release 4.5.0-beta4 22nd March 2024
+Release 4.5.2 14th May 2024
 
-Changes from 4.5.0-beta3
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
+Release 4.5.2-beta1 29th April 2024
 
-1) system changes
+Changes from 4.5.1
 
-- fixed a cache corruption issue with microSD card data on H7 based boards
-- rename parameter NET_ENABLED to NET_ENABLE
-- fixed FDCAN labels for adding new H7 boards
-- avoid logging dma.txt to save CPU
-- fixed roll/pitch in viewpro driver
-- added band X in VideoTX
-- fixed quaternion attitude reporting for Microstrain external AHRS
-- add RPLidarC1 proximity support
+1) Board specific enhancements and bug fixes
 
-2) new boards
-- added MicoAir405v2
-- add Orqa F405 Pro
+- 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 4.5.0 2nd April 2024
+Release 4.5.1 8th April 2024
+
+This release fixes a critical bug in the CRSF R/C protocol parser that
+can lead to a handfault and a vehicle crashing. A similar fix was
+applied to the GHST protocol, although we believe that GHST could not
+be affected by the bug, so this was just a precaution.
+
+There are no other changes in this release.
 
-No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 

AntennaTracker/Tracker.cpp

@@ -58,7 +58,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10, 1500, 40),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_send,    50, 3000, 50),
-    SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900, 55),
 #if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,    10,    300, 60),
     SCHED_TASK_CLASS(AP_Logger,   &tracker.logger, periodic_tasks, 50,  300, 65),

AntennaTracker/wscript

@@ -6,11 +6,7 @@ def build(bld):
     bld.ap_stlib(
         name=vehicle + '_libs',
         ap_vehicle=vehicle,
-        ap_libraries=bld.ap_common_vehicle_libraries() + [
-            'AP_Beacon',
-            'AP_Arming',
-            'AP_RCMapper',
-        ],
+        ap_libraries=bld.ap_common_vehicle_libraries(),
     )
 
     bld.ap_program(

ArduCopter/AP_Arming.cpp

@@ -495,18 +495,6 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
         }
     }
 
-    // check if home is too far from EKF origin
-    if (copter.far_from_EKF_origin(ahrs.get_home())) {
-        check_failed(display_failure, "Home too far from EKF origin");
-        return false;
-    }
-
-    // check if vehicle is too far from EKF origin
-    if (copter.far_from_EKF_origin(copter.current_loc)) {
-        check_failed(display_failure, "Vehicle too far from EKF origin");
-        return false;
-    }
-
     // if we got here all must be ok
     return true;
 }

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

@@ -186,7 +186,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_SERVORELAYEVENTS_ENABLED
     SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,  75,  60),
 #endif
-    SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,             accumulate,    50,  90,  63),
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(update_precland,      400,     50,  69),
 #endif
@@ -273,32 +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;
@@ -741,7 +746,6 @@ class Copter : public AP_Vehicle {
     void set_home_to_current_location_inflight();
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
-    bool far_from_EKF_origin(const Location& loc);
 
     // compassmot.cpp
     MAV_RESULT mavlink_compassmot(const GCS_MAVLINK &gcs_chan);