Merge branch 'ArduPilot:master' into new-ChibiOS-Board-podmanH7

.github/workflows/test_chibios.yml

@@ -159,6 +159,7 @@ jobs:
             CubeOrange-PPP,
             SOHW,
             Pixhawk6X-PPPGW,
+            new-check,
         ]
         toolchain: [
             chibios,

AntennaTracker/GCS_Tracker.h

@@ -28,7 +28,7 @@ class GCS_Tracker : public GCS
 
     GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
                                                  AP_HAL::UARTDriver &uart) override {
-        return new GCS_MAVLINK_Tracker(params, uart);
+        return NEW_NOTHROW GCS_MAVLINK_Tracker(params, uart);
     }
 
 private:

AntennaTracker/ReleaseNotes.txt

@@ -1,5 +1,12 @@
 Antenna Tracker Release Notes:
 ------------------------------
+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/AP_Arming.cpp

@@ -450,17 +450,15 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
             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.h

@@ -622,11 +622,15 @@ 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
     };
+    // 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,

ArduCopter/GCS_Copter.h

@@ -43,7 +43,7 @@ class GCS_Copter : public GCS
 
     GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
                                                 AP_HAL::UARTDriver &uart) override {
-        return new GCS_MAVLINK_Copter(params, uart);
+        return NEW_NOTHROW GCS_MAVLINK_Copter(params, uart);
     }
 
 };

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;
 }
 

ArduCopter/RC_Channel.cpp

@@ -144,7 +144,7 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
     switch(ch_flag) {
     case AuxSwitchPos::HIGH: {
         // engage mode (if not possible we remain in current flight mode)
-        copter.set_mode(mode, ModeReason::RC_COMMAND);
+        copter.set_mode(mode, ModeReason::AUX_FUNCTION);
         break;
     }
     default:
@@ -163,7 +163,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
         case AUX_FUNC::FLIP:
             // flip if switch is on, positive throttle and we're actually flying
             if (ch_flag == AuxSwitchPos::HIGH) {
-                copter.set_mode(Mode::Number::FLIP, ModeReason::RC_COMMAND);
+                copter.set_mode(Mode::Number::FLIP, ModeReason::AUX_FUNCTION);
             }
             break;
 

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,12 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+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/autoyaw.cpp

@@ -111,6 +111,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
 
     // calculate final angle as relative to vehicle heading or absolute
     if (relative_angle) {
+        if (_mode == Mode::HOLD) {
+            _yaw_angle_cd = copter.ahrs.yaw_sensor;
+        }
         _fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0);
     } else {
         // absolute angle

ArduCopter/config.h

@@ -600,10 +600,6 @@
   #error Toy mode is not available on Helicopters
 #endif
 
-#ifndef OSD_ENABLED
- #define OSD_ENABLED DISABLED
-#endif
-
 #ifndef HAL_FRAME_TYPE_DEFAULT
 #define HAL_FRAME_TYPE_DEFAULT AP_Motors::MOTOR_FRAME_TYPE_X
 #endif

ArduCopter/crash_check.cpp

@@ -102,7 +102,7 @@ void Copter::thrust_loss_check()
     static uint16_t thrust_loss_counter;  // number of iterations vehicle may have been crashed
 
     // no-op if suppressed by flight options param
-    if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_THRUST_LOSS_CHECK)) != 0) {
+    if (copter.option_is_enabled(FlightOption::DISABLE_THRUST_LOSS_CHECK)) {
         return;
     }
 
@@ -171,7 +171,7 @@ void Copter::thrust_loss_check()
         // the motors library disables this when it is no longer needed to achieve the commanded output
 
 #if AP_GRIPPER_ENABLED
-        if ((copter.g2.flight_options & uint32_t(FlightOptions::RELEASE_GRIPPER_ON_THRUST_LOSS)) != 0) {
+        if (copter.option_is_enabled(FlightOption::RELEASE_GRIPPER_ON_THRUST_LOSS)) {
             gripper.release();
         }
 #endif
@@ -182,7 +182,7 @@ void Copter::thrust_loss_check()
 void Copter::yaw_imbalance_check()
 {
     // no-op if suppressed by flight options param
-    if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_YAW_IMBALANCE_WARNING)) != 0) {
+    if (copter.option_is_enabled(FlightOption::DISABLE_YAW_IMBALANCE_WARNING)) {
         return;
     }
 

ArduCopter/events.cpp

@@ -379,41 +379,46 @@ void Copter::failsafe_deadreckon_check()
 //  this is always called from a failsafe so we trigger notification to pilot
 void Copter::set_mode_RTL_or_land_with_pause(ModeReason reason)
 {
+#if MODE_RTL_ENABLED
     // attempt to switch to RTL, if this fails then switch to Land
-    if (!set_mode(Mode::Number::RTL, reason)) {
-        // set mode to land will trigger mode change notification to pilot
-        set_mode_land_with_pause(reason);
-    } else {
-        // alert pilot to mode change
+    if (set_mode(Mode::Number::RTL, reason)) {
         AP_Notify::events.failsafe_mode_change = 1;
+        return;
     }
+#endif
+    // set mode to land will trigger mode change notification to pilot
+    set_mode_land_with_pause(reason);
 }
 
 // set_mode_SmartRTL_or_land_with_pause - sets mode to SMART_RTL if possible or LAND with 4 second delay before descent starts
 // this is always called from a failsafe so we trigger notification to pilot
 void Copter::set_mode_SmartRTL_or_land_with_pause(ModeReason reason)
 {
+#if MODE_SMARTRTL_ENABLED
     // attempt to switch to SMART_RTL, if this failed then switch to Land
-    if (!set_mode(Mode::Number::SMART_RTL, reason)) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode");
-        set_mode_land_with_pause(reason);
-    } else {
+    if (set_mode(Mode::Number::SMART_RTL, reason)) {
         AP_Notify::events.failsafe_mode_change = 1;
+        return;
     }
+#endif
+    gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode");
+    set_mode_land_with_pause(reason);
 }
 
 // set_mode_SmartRTL_or_RTL - sets mode to SMART_RTL if possible or RTL if possible or LAND with 4 second delay before descent starts
 // this is always called from a failsafe so we trigger notification to pilot
 void Copter::set_mode_SmartRTL_or_RTL(ModeReason reason)
 {
+#if MODE_SMARTRTL_ENABLED
     // attempt to switch to SmartRTL, if this failed then attempt to RTL
     // if that fails, then land
-    if (!set_mode(Mode::Number::SMART_RTL, reason)) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Trying RTL Mode");
-        set_mode_RTL_or_land_with_pause(reason);
-    } else {
+    if (set_mode(Mode::Number::SMART_RTL, reason)) {
         AP_Notify::events.failsafe_mode_change = 1;
+        return;
     }
+#endif
+    gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Trying RTL Mode");
+    set_mode_RTL_or_land_with_pause(reason);
 }
 
 // Sets mode to Auto and jumps to DO_LAND_START, as set with AUTO_RTL param

ArduCopter/mode_circle.cpp

@@ -22,17 +22,16 @@ bool ModeCircle::init(bool ignore_checks)
     copter.circle_nav->init();
 
 #if HAL_MOUNT_ENABLED
-    AP_Mount *s = AP_Mount::get_singleton();
-
     // Check if the CIRCLE_OPTIONS parameter have roi_at_center
     if (copter.circle_nav->roi_at_center()) {
         const Vector3p &pos { copter.circle_nav->get_center() };
         Location circle_center;
-        if (!AP::ahrs().get_location_from_origin_offset(circle_center, pos * 0.01)) {
+        if (!AP::ahrs().get_location_from_origin_offset_NED(circle_center, pos * 0.01)) {
             return false;
         }
         // point at the ground:
         circle_center.set_alt_cm(0, Location::AltFrame::ABOVE_TERRAIN);
+        AP_Mount *s = AP_Mount::get_singleton();
         s->set_roi_target(circle_center);
     }
 #endif

ArduCopter/mode_guided.cpp

@@ -243,10 +243,10 @@ void ModeGuided::pos_control_start()
     pva_control_start();
 }
 
-// initialise guided mode's velocity controller
+// initialise guided mode's acceleration controller
 void ModeGuided::accel_control_start()
 {
-    // set guided_mode to velocity controller
+    // set guided_mode to acceleration controller
     guided_mode = SubMode::Accel;
 
     // initialise position controller
@@ -256,7 +256,7 @@ void ModeGuided::accel_control_start()
 // initialise guided mode's velocity and acceleration controller
 void ModeGuided::velaccel_control_start()
 {
-    // set guided_mode to velocity controller
+    // set guided_mode to velocity and acceleration controller
     guided_mode = SubMode::VelAccel;
 
     // initialise position controller
@@ -266,7 +266,7 @@ void ModeGuided::velaccel_control_start()
 // initialise guided mode's position, velocity and acceleration controller
 void ModeGuided::posvelaccel_control_start()
 {
-    // set guided_mode to velocity controller
+    // set guided_mode to position, velocity and acceleration controller
     guided_mode = SubMode::PosVelAccel;
 
     // initialise position controller
@@ -414,11 +414,14 @@ bool ModeGuided::get_wp(Location& destination) const
     case SubMode::Pos:
         destination = Location(guided_pos_target_cm.tofloat(), guided_pos_terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
         return true;
-    default:
-        return false;
+    case SubMode::Angle:
+    case SubMode::TakeOff:
+    case SubMode::Accel:
+    case SubMode::VelAccel:
+    case SubMode::PosVelAccel:
+        break;
     }
 
-    // should never get here but just in case
     return false;
 }
 
@@ -515,7 +518,7 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
 // set_velaccel - sets guided mode's target velocity and acceleration
 void ModeGuided::set_accel(const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request)
 {
-    // check we are in velocity control mode
+    // check we are in acceleration control mode
     if (guided_mode != SubMode::Accel) {
         accel_control_start();
     }
@@ -547,7 +550,7 @@ void ModeGuided::set_velocity(const Vector3f& velocity, bool use_yaw, float yaw_
 // set_velaccel - sets guided mode's target velocity and acceleration
 void ModeGuided::set_velaccel(const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request)
 {
-    // check we are in velocity control mode
+    // check we are in velocity and acceleration control mode
     if (guided_mode != SubMode::VelAccel) {
         velaccel_control_start();
     }
@@ -589,7 +592,7 @@ bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const
     }
 #endif
 
-    // check we are in velocity control mode
+    // check we are in position, velocity and acceleration control mode
     if (guided_mode != SubMode::PosVelAccel) {
         posvelaccel_control_start();
     }

ArduCopter/motors.cpp

@@ -16,6 +16,7 @@ void Copter::arm_motors_check()
     // check if arming/disarm using rudder is allowed
     AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
     if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
+        arming_counter = 0;
         return;
     }