From e27dea7003fd53443a798251cc67c8909a1837ac Mon Sep 17 00:00:00 2001 From: Colin Wong Date: Tue, 14 May 2024 19:13:13 -0500 Subject: [PATCH 001/282] ArduSub: implement servo 2 and 3 min/max-toggle button functions --- ArduSub/joystick.cpp | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp index ad2710c6c1ae38..4d25b433a24cc6 100644 --- a/ArduSub/joystick.cpp +++ b/ArduSub/joystick.cpp @@ -525,6 +525,16 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held) ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed } break; + case JSButton::button_function_t::k_servo_2_min_toggle: + if(!held) { + SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed + if(chan->get_output_pwm() != chan->get_output_min()) { + ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed + } else { + ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed + } + } + break; case JSButton::button_function_t::k_servo_2_max: case JSButton::button_function_t::k_servo_2_max_momentary: { @@ -532,6 +542,16 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held) ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed } break; + case JSButton::button_function_t::k_servo_2_max_toggle: + if(!held) { + SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed + if(chan->get_output_pwm() != chan->get_output_max()) { + ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed + } else { + ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed + } + } + break; case JSButton::button_function_t::k_servo_2_center: { SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed @@ -562,6 +582,16 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held) ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed } break; + case JSButton::button_function_t::k_servo_3_min_toggle: + if(!held) { + SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed + if(chan->get_output_pwm() != chan->get_output_min()) { + ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed + } else { + ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed + } + } + break; case JSButton::button_function_t::k_servo_3_max: case JSButton::button_function_t::k_servo_3_max_momentary: { @@ -569,6 +599,16 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held) ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed } break; + case JSButton::button_function_t::k_servo_3_max_toggle: + if(!held) { + SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed + if(chan->get_output_pwm() != chan->get_output_max()) { + ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed + } else { + ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed + } + } + break; case JSButton::button_function_t::k_servo_3_center: { SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed From 513938b0ff210db46ab6f6457a929649e8a5bfd1 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Sat, 25 May 2024 18:55:15 -0600 Subject: [PATCH 002/282] AP_DDS: Use common quaternion initialization function Signed-off-by: Ryan Friedman --- libraries/AP_DDS/AP_DDS_Client.cpp | 30 +++++++++++++----------------- 1 file changed, 13 insertions(+), 17 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index d01cc19f4a9a7a..2e9a69165031de 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -77,6 +77,14 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] { AP_GROUPEND }; +static void initialize(geometry_msgs_msg_Quaternion& q) +{ + q.x = 0.0; + q.y = 0.0; + q.z = 0.0; + q.w = 1.0; +} + AP_DDS_Client::~AP_DDS_Client() { // close transport @@ -226,11 +234,8 @@ void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg) msg.transforms[i].transform.translation.y = -1 * offset[1]; msg.transforms[i].transform.translation.z = -1 * offset[2]; - // Ensure rotation is normalised - msg.transforms[i].transform.rotation.x = 0.0; - msg.transforms[i].transform.rotation.y = 0.0; - msg.transforms[i].transform.rotation.z = 0.0; - msg.transforms[i].transform.rotation.w = 1.0; + // Ensure rotation is initialized. + initialize(msg.transforms[i].transform.rotation); msg.transforms_size++; } @@ -344,10 +349,7 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg) msg.pose.orientation.y = orientation[2]; msg.pose.orientation.z = orientation[3]; } else { - msg.pose.orientation.x = 0.0; - msg.pose.orientation.y = 0.0; - msg.pose.orientation.z = 0.0; - msg.pose.orientation.w = 1.0; + initialize(msg.pose.orientation); } } @@ -428,10 +430,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg) msg.pose.orientation.y = orientation[2]; msg.pose.orientation.z = orientation[3]; } else { - msg.pose.orientation.x = 0.0; - msg.pose.orientation.y = 0.0; - msg.pose.orientation.z = 0.0; - msg.pose.orientation.w = 1.0; + initialize(msg.pose.orientation); } } @@ -452,10 +451,7 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg) msg.orientation.z = orientation[2]; msg.orientation.w = orientation[3]; } else { - msg.orientation.x = 0.0; - msg.orientation.y = 0.0; - msg.orientation.z = 0.0; - msg.orientation.w = 1.0; + initialize(msg.orientation); } msg.orientation_covariance[0] = -1; From ac7629c54617bf54f11ecf637fb51cd3bf09f3a5 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 31 May 2024 11:24:58 +1000 Subject: [PATCH 003/282] autotest: fold close method into sole caller we're missing the non-zero-valgrind-logs-means-failure check somehow --- Tools/autotest/vehicle_test_suite.py | 39 +++++++++++++--------------- 1 file changed, 18 insertions(+), 21 deletions(-) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index b20e4dc37b4e33..ede3738c0462dc 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -3191,26 +3191,6 @@ def stop_SITL(self): util.pexpect_close(self.sitl) self.sitl = None - def close(self): - """Tidy up after running all tests.""" - - if self.mav is not None: - self.mav.close() - self.mav = None - self.stop_SITL() - - valgrind_log = util.valgrind_log_filepath(binary=self.binary, - model=self.frame) - files = glob.glob("*" + valgrind_log) - for valgrind_log in files: - os.chmod(valgrind_log, 0o644) - if os.path.getsize(valgrind_log) > 0: - target = self.buildlogs_path("%s-%s" % ( - self.log_name(), - os.path.basename(valgrind_log))) - self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target)) - shutil.move(valgrind_log, target) - def start_test(self, description): self.progress("##################################################################################") self.progress("########## %s ##########" % description) @@ -11833,7 +11813,24 @@ def run_tests(self, tests) -> List[Result]: self.rc_thread_should_quit = True self.rc_thread.join() self.rc_thread = None - self.close() + + if self.mav is not None: + self.mav.close() + self.mav = None + + self.stop_SITL() + + valgrind_log = util.valgrind_log_filepath(binary=self.binary, + model=self.frame) + files = glob.glob("*" + valgrind_log) + for valgrind_log in files: + os.chmod(valgrind_log, 0o644) + if os.path.getsize(valgrind_log) > 0: + target = self.buildlogs_path("%s-%s" % ( + self.log_name(), + os.path.basename(valgrind_log))) + self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target)) + shutil.move(valgrind_log, target) return result_list From c6a239ef63572cbb84fc8ebfb61d55671f51efc7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 31 May 2024 11:52:17 +1000 Subject: [PATCH 004/282] autotest: correct Valgrind error detection --- Tools/autotest/vehicle_test_suite.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index ede3738c0462dc..8a65a60e9254ef 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -1666,6 +1666,16 @@ def __str__(self): return ret +class ValgrindFailedResult(Result): + '''a custom Result to allow passing of Vaglrind failures around''' + def __init__(self): + super(ValgrindFailedResult, self).__init__(None) + self.passed = False + + def __str__(self): + return "Valgrind error detected" + + class TestSuite(ABC): """Base abstract class. It implements the common function for all vehicle types. @@ -11823,6 +11833,7 @@ def run_tests(self, tests) -> List[Result]: valgrind_log = util.valgrind_log_filepath(binary=self.binary, model=self.frame) files = glob.glob("*" + valgrind_log) + valgrind_failed = False for valgrind_log in files: os.chmod(valgrind_log, 0o644) if os.path.getsize(valgrind_log) > 0: @@ -11831,6 +11842,9 @@ def run_tests(self, tests) -> List[Result]: os.path.basename(valgrind_log))) self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target)) shutil.move(valgrind_log, target) + valgrind_failed = True + if valgrind_failed: + result_list.append(ValgrindFailedResult()) return result_list From b2b8eb93a6daa4748c6564f3242b22c2848d10df Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 31 May 2024 12:04:22 +1000 Subject: [PATCH 005/282] SITL: correct valgrind failure in SIM_GPS_SBP --- libraries/SITL/SIM_GPS_SBP.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/SITL/SIM_GPS_SBP.cpp b/libraries/SITL/SIM_GPS_SBP.cpp index b3b8e77d890711..9f4c8078e8c935 100644 --- a/libraries/SITL/SIM_GPS_SBP.cpp +++ b/libraries/SITL/SIM_GPS_SBP.cpp @@ -111,6 +111,7 @@ void GPS_SBP::publish(const GPS_Data *d) sbp_send_message(SBP_DOPS_MSGTYPE, 0x2222, sizeof(dops), (uint8_t*)&dops); + hb = {}; hb.protocol_major = 0; //Sends protocol version 0 sbp_send_message(SBP_HEARTBEAT_MSGTYPE, 0x2222, sizeof(hb), (uint8_t*)&hb); From 15bb86ded9846e09e3f6536a4fd8b0c79cef2035 Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Thu, 30 May 2024 09:30:59 -0700 Subject: [PATCH 006/282] Tools: Do not emit __field_text in JSON parameter documentation __field_text is basically the raw parsed text, and is used internally but as far as I can tell it was never meant for external usage, the JSON emitter already removes other fields that were not intended to be there. By including the __field_text entry we were doubling the size of the emitted documentation --- Tools/autotest/param_metadata/jsonemit.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Tools/autotest/param_metadata/jsonemit.py b/Tools/autotest/param_metadata/jsonemit.py index 8352b684951cb7..0ff31366a0c304 100644 --- a/Tools/autotest/param_metadata/jsonemit.py +++ b/Tools/autotest/param_metadata/jsonemit.py @@ -62,6 +62,10 @@ def emit(self, g): except KeyError: pass + # Remove __field_text key + if '__field_text' in param.__dict__: + param.__dict__.pop('__field_text') + # Get range section if available range_json = {} if 'Range' in param.__dict__: From 2082ecbedda941acb5ba3749051dee8a12c69d8e Mon Sep 17 00:00:00 2001 From: Ethan Nguyen Date: Fri, 31 May 2024 01:22:09 -0700 Subject: [PATCH 007/282] Tools: (autotest) add UCSB location.txt --- Tools/autotest/locations.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/autotest/locations.txt b/Tools/autotest/locations.txt index c005725430be4a..38e7c0ef2329d2 100644 --- a/Tools/autotest/locations.txt +++ b/Tools/autotest/locations.txt @@ -100,4 +100,4 @@ SFO_Bay=37.62561973,-122.33235387,0.0,0 Egge=60.215720,10.324071,198,303 Gundaroo=-35.02349196,149.26496411,576.8,0 Kaga=36.3268982,136.3316638,44,0 - +UCSB=34.413963,-119.848946,0,0 From f5a6193cbf383f98fb2a4b65a606658f36b0d0eb Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Fri, 31 May 2024 12:01:14 -0500 Subject: [PATCH 008/282] AP_HAL_ChibiOS:correct pin to be pulled high during boot --- libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef-bl.dat | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef-bl.dat index a15f04ffb22cbb..1add17be4730ba 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef-bl.dat @@ -12,4 +12,4 @@ undef APJ_BOARD_ID APJ_BOARD_ID 1180 #required to prevent ELRS from changing modes at boot -PD6 USART2_RX USART2 OUTPUT HIGH +PA10 USART1_RX USART1 OUTPUT HIGH From c908636cde8651d2006e30c3d22f43051184688c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 26 May 2024 19:27:16 +1000 Subject: [PATCH 009/282] Filter: added test of phase lag vs attenuation --- libraries/Filter/tests/plot_harmonictest5.gnu | 12 +++++++ libraries/Filter/tests/test_notchfilter.cpp | 32 +++++++++++++++++++ 2 files changed, 44 insertions(+) create mode 100644 libraries/Filter/tests/plot_harmonictest5.gnu diff --git a/libraries/Filter/tests/plot_harmonictest5.gnu b/libraries/Filter/tests/plot_harmonictest5.gnu new file mode 100644 index 00000000000000..92283141aafb2c --- /dev/null +++ b/libraries/Filter/tests/plot_harmonictest5.gnu @@ -0,0 +1,12 @@ +#!/usr/bin/gnuplot -persist +set y2tics 0,10 +set ytics nomirror +set style data linespoints +set key autotitle +set datafile separator "," +set key autotitle columnhead +set xlabel "Attenuation(dB)" +set ylabel "PhaseLag(deg)" +set key left bottom +plot "harmonicnotch_test5.csv" using 1:2, "harmonicnotch_test5.csv" using 1:3, "harmonicnotch_test5.csv" using 1:4, "harmonicnotch_test5.csv" using 1:5, "harmonicnotch_test5.csv" using 1:6 + diff --git a/libraries/Filter/tests/test_notchfilter.cpp b/libraries/Filter/tests/test_notchfilter.cpp index a13c9aeae161a2..6b60611c28af1f 100644 --- a/libraries/Filter/tests/test_notchfilter.cpp +++ b/libraries/Filter/tests/test_notchfilter.cpp @@ -325,4 +325,36 @@ TEST(NotchFilterTest, HarmonicNotchTest4) fclose(f); } +/* + show phase lag versus attenuation + */ +TEST(NotchFilterTest, HarmonicNotchTest5) +{ + const float min_attenuation = 0; + const float max_attenuation = 50; + const uint16_t steps = 200; + + const char *csv_file = "harmonicnotch_test5.csv"; + FILE *f = fopen(csv_file, "w"); + fprintf(f, "Attenuation(dB),Lag(10Hz),Lag(20Hz),Lag(30Hz),Lag(40Hz),Lag(50Hz),Lag(60Hz),Lag(70Hz)\n"); + + for (uint16_t i=0; i Date: Tue, 28 May 2024 23:05:15 +0100 Subject: [PATCH 010/282] Filter: Testes: notch: interpolate crossing points for acurate phase lag --- libraries/Filter/tests/plot_harmonictest5.gnu | 1 + libraries/Filter/tests/test_notchfilter.cpp | 16 +++++++++++----- 2 files changed, 12 insertions(+), 5 deletions(-) mode change 100644 => 100755 libraries/Filter/tests/plot_harmonictest5.gnu diff --git a/libraries/Filter/tests/plot_harmonictest5.gnu b/libraries/Filter/tests/plot_harmonictest5.gnu old mode 100644 new mode 100755 index 92283141aafb2c..4de8b27b730a38 --- a/libraries/Filter/tests/plot_harmonictest5.gnu +++ b/libraries/Filter/tests/plot_harmonictest5.gnu @@ -8,5 +8,6 @@ set key autotitle columnhead set xlabel "Attenuation(dB)" set ylabel "PhaseLag(deg)" set key left bottom +set yrange [0:60] plot "harmonicnotch_test5.csv" using 1:2, "harmonicnotch_test5.csv" using 1:3, "harmonicnotch_test5.csv" using 1:4, "harmonicnotch_test5.csv" using 1:5, "harmonicnotch_test5.csv" using 1:6 diff --git a/libraries/Filter/tests/test_notchfilter.cpp b/libraries/Filter/tests/test_notchfilter.cpp index 6b60611c28af1f..ce6d6ffa3a4b6c 100644 --- a/libraries/Filter/tests/test_notchfilter.cpp +++ b/libraries/Filter/tests/test_notchfilter.cpp @@ -186,8 +186,8 @@ static void test_one_filter(float base_freq, float attenuation_dB, double last_in; double last_out; double v_max; - uint32_t last_crossing; - uint32_t total_lag_samples; + double last_crossing; + double total_lag_samples; uint32_t lag_count; float get_lag_degrees(const float freq) const { const float lag_avg = total_lag_samples/float(lag_count); @@ -218,10 +218,16 @@ static void test_one_filter(float base_freq, float attenuation_dB, integral.v_max = MAX(integral.v_max, v); } if (sample >= 0 && integral.last_in < 0) { - integral.last_crossing = s; + // Always interpolating the value at 0.0 + // crossing happened some fraction before the current sample + // result in the range -1.0 to 0.0 + // linear interpolation: ((0.0 - last_in) / (sample - last_in)) - 1.0 is the same as: + // sample / (last_in - sample) + integral.last_crossing = (double)s + (sample / (integral.last_in - sample)); } - if (v >= 0 && integral.last_out < 0 && integral.last_crossing != 0) { - integral.total_lag_samples += s - integral.last_crossing; + if (v >= 0 && integral.last_out < 0 && integral.last_crossing > 0) { + const double crossing = (double)s + (v / (integral.last_out - v)); + integral.total_lag_samples += crossing - integral.last_crossing; integral.lag_count++; } integral.last_in = sample; From 4e0e20aee1e4e064344f95f91f6e3ba7cee8470b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 7 May 2024 16:55:38 +1000 Subject: [PATCH 011/282] SITL: added plane-steering model for ground steering needs to be updated with improved yaw rate calculation --- libraries/SITL/SIM_Plane.cpp | 15 +++++++++++++++ libraries/SITL/SIM_Plane.h | 1 + 2 files changed, 16 insertions(+) diff --git a/libraries/SITL/SIM_Plane.cpp b/libraries/SITL/SIM_Plane.cpp index 8dbdfc6fc4a872..82aa8c659d9ee4 100644 --- a/libraries/SITL/SIM_Plane.cpp +++ b/libraries/SITL/SIM_Plane.cpp @@ -80,6 +80,9 @@ Plane::Plane(const char *frame_str) : ground_behavior = GROUND_BEHAVIOR_TAILSITTER; thrust_scale *= 1.5; } + if (strstr(frame_str, "-steering")) { + have_steering = true; + } #if AP_FILESYSTEM_FILE_READING_ENABLED if (strstr(frame_str, "-3d")) { @@ -395,6 +398,18 @@ void Plane::update(const struct sitl_input &input) calculate_forces(input, rot_accel); update_dynamics(rot_accel); + + /* + add in ground steering, this should be replaced with a proper + calculation of a nose wheel effect + */ + if (have_steering && on_ground()) { + const float steering = filtered_servo_angle(input, 4); + const Vector3f velocity_bf = dcm.transposed() * velocity_ef; + const float steer_scale = radians(5); + gyro.z += steering * velocity_bf.x * steer_scale; + } + update_external_payload(input); // update lat/lon/altitude diff --git a/libraries/SITL/SIM_Plane.h b/libraries/SITL/SIM_Plane.h index 9b663889b0cb16..1779bff8ccb48c 100644 --- a/libraries/SITL/SIM_Plane.h +++ b/libraries/SITL/SIM_Plane.h @@ -101,6 +101,7 @@ class Plane : public Aircraft { bool aerobatic; bool copter_tailsitter; bool have_launcher; + bool have_steering; float launch_accel; float launch_time; uint64_t launch_start_ms; From c2a9bc93b5a2c935222ad7053d19993c7b4253e2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 1 Jun 2024 18:57:51 +1000 Subject: [PATCH 012/282] SITL: added --uartA alias for SITL needed for MissionPlanner SITL see https://github.com/ArduPilot/MissionPlanner/pull/3359 we will need this till a new stable release of MissionPlanner is done --- libraries/AP_HAL_SITL/SITL_cmdline.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp index 4f2e53162d472b..2151d5eab46c1a 100644 --- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp +++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp @@ -106,6 +106,7 @@ void SITL_State::_usage(void) "\t--serial7 device set device string for SERIAL7\n" "\t--serial8 device set device string for SERIAL8\n" "\t--serial9 device set device string for SERIAL9\n" + "\t--uartA device alias for --serial0 (do not use)\n" "\t--rtscts enable rtscts on serial ports (default false)\n" "\t--base-port PORT set port num for base port(default 5670) must be before -I option\n" "\t--rc-in-port PORT set port num for rc in\n" @@ -305,7 +306,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[]) {"enable-fgview", false, 0, CMDLINE_FGVIEW}, {"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR}, {"defaults", true, 0, CMDLINE_DEFAULTS}, - {"uartA", true, 0, CMDLINE_UARTA}, + // {"uartA", true, 0, CMDLINE_UARTA}, // alias for serial0 {"uartB", true, 0, CMDLINE_UARTB}, {"uartC", true, 0, CMDLINE_UARTC}, {"uartD", true, 0, CMDLINE_UARTD}, @@ -316,6 +317,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[]) {"uartI", true, 0, CMDLINE_UARTI}, {"uartJ", true, 0, CMDLINE_UARTJ}, {"serial0", true, 0, CMDLINE_SERIAL0}, + {"uartA", true, 0, CMDLINE_SERIAL0}, // for MissionPlanner compatibility {"serial1", true, 0, CMDLINE_SERIAL1}, {"serial2", true, 0, CMDLINE_SERIAL2}, {"serial3", true, 0, CMDLINE_SERIAL3}, From ae8a2d9513842be66bc0468cc9cd20d25182ec19 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 30 May 2024 16:30:59 +0100 Subject: [PATCH 013/282] AP_HAL_ChibiOS: reset pwm peripheral on F1 when deallocating IC DMA --- libraries/AP_HAL_ChibiOS/RCOutput.cpp | 5 ++-- libraries/AP_HAL_ChibiOS/RCOutput.h | 1 + libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp | 5 ++++ .../AP_HAL_ChibiOS/RCOutput_iofirmware.cpp | 23 +++++++++++++------ .../hwdef/iomcu-f103-dshot/hwdef.inc | 2 ++ 5 files changed, 26 insertions(+), 10 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp index d6157f0d96c69e..015b0c378feedb 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp @@ -1531,16 +1531,15 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx) for (auto &group : pwm_group_list) { if (group.dma_handle == ctx && group.dma != nullptr) { chSysLock(); + dmaStreamFreeI(group.dma); #if defined(STM32F1) // leaving the peripheral running on IOMCU plays havoc with the UART that is // also sharing this channel, we only turn it off rather than resetting so // that we don't have to worry about line modes etc if (group.pwm_started && group.dma_handle->is_shared()) { - group.pwm_drv->tim->CR1 = 0; - group.pwm_drv->tim->DIER = 0; + bdshot_disable_pwm_f1(group); } #endif - dmaStreamFreeI(group.dma); group.dma = nullptr; chSysUnlock(); } diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h index 3dc76d6f043266..87aa9948dbd9ca 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput.h +++ b/libraries/AP_HAL_ChibiOS/RCOutput.h @@ -733,6 +733,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput static void bdshot_receive_pulses_DMAR_f1(pwm_group* group); static void bdshot_reset_pwm(pwm_group& group, uint8_t telem_channel); static void bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel); + static void bdshot_disable_pwm_f1(pwm_group& group); static void bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch); static void bdshot_config_icu_dshot_f1(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch); static uint32_t bdshot_get_output_rate_hz(const enum output_mode mode); diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp index 7b2e88089f851f..1138f42b7137e3 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp @@ -230,6 +230,11 @@ void RCOutput::bdshot_ic_dma_deallocate(Shared_DMA *ctx) chSysLock(); if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] != nullptr) { dmaStreamFreeI(group.bdshot.ic_dma[icuch]); +#if defined(STM32F1) + if (group.bdshot.ic_dma_handle[icuch]->is_shared()) { + bdshot_disable_pwm_f1(group); + } +#endif group.bdshot.ic_dma[icuch] = nullptr; } chSysUnlock(); diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp index 70959c03e433b3..730023e5596fe2 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp @@ -135,23 +135,32 @@ void RCOutput::rcout_thread() { } } -#if defined(HAL_WITH_BIDIR_DSHOT) && defined(STM32F1) -// reset pwm driver to output mode without resetting the clock or the peripheral -// the code here is the equivalent of pwmStart()/pwmStop() -void RCOutput::bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel) +#if defined(STM32F1) +void RCOutput::bdshot_disable_pwm_f1(pwm_group& group) { - osalSysLock(); - stm32_tim_t* TIMx = group.pwm_drv->tim; // pwmStop sets these TIMx->CR1 = 0; /* Timer disabled. */ TIMx->DIER = 0; /* All IRQs disabled. */ TIMx->SR = 0; /* Clear eventual pending IRQs. */ - TIMx->CNT = 0; + TIMx->CNT = 0; TIMx->CCR[0] = 0; /* Comparator 1 disabled. */ TIMx->CCR[1] = 0; /* Comparator 2 disabled. */ TIMx->CCR[2] = 0; /* Comparator 3 disabled. */ TIMx->CCR[3] = 0; /* Comparator 4 disabled. */ +} +#endif + +#if defined(HAL_WITH_BIDIR_DSHOT) && defined(STM32F1) +// reset pwm driver to output mode without resetting the clock or the peripheral +// the code here is the equivalent of pwmStart()/pwmStop() +void RCOutput::bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel) +{ + osalSysLock(); + + stm32_tim_t* TIMx = group.pwm_drv->tim; + bdshot_disable_pwm_f1(group); + // at the point this is called we will have done input capture on two CC channels // we need to switch those channels back to output and the default settings // all other channels will not have been modified diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.inc index 30effb0cd50684..9202bf45e7d8c6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.inc @@ -40,6 +40,8 @@ define STM32_TIM_TIM4_CH3_DMA_CHAN 1 define STM32_TIM_TIM3_CH4_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) define STM32_TIM_TIM3_CH4_DMA_CHAN 1 +# STM32_UART_USART2_TX_DMA_STREAM defined as (1, 7) by ChibiOS + undef SHARED_DMA_MASK define SHARED_DMA_MASK (1U< Date: Thu, 30 May 2024 16:31:36 +0100 Subject: [PATCH 014/282] AP_IOMCU: correct TCIE setting and add more debug --- libraries/AP_IOMCU/AP_IOMCU.cpp | 4 ++-- libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp index 47b75e8d5e6679..3507db08fad701 100644 --- a/libraries/AP_IOMCU/AP_IOMCU.cpp +++ b/libraries/AP_IOMCU/AP_IOMCU.cpp @@ -646,8 +646,8 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1 // wait for the expected number of reply bytes or timeout if (!uart.wait_timeout(count*2+4, 10)) { - debug("t=%lu timeout read page=%u offset=%u count=%u\n", - AP_HAL::millis(), page, offset, count); + debug("t=%lu timeout read page=%u offset=%u count=%u avail=%u\n", + AP_HAL::millis(), page, offset, count, uart.available()); protocol_fail_count++; return false; } diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp index 37d991bd1c8de7..984c31deb09cb3 100644 --- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp +++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp @@ -91,7 +91,7 @@ static void setup_tx_dma(hal_uart_driver* uart) dmaStreamSetMode(uart->dmatx, uart->dmatxmode | STM32_DMA_CR_DIR_M2P | STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE); // enable transmission complete interrupt - uart->usart->SR = ~USART_SR_TC; + uart->usart->SR &= ~USART_SR_TC; uart->usart->CR1 |= USART_CR1_TCIE; dmaStreamEnable(uart->dmatx); From eb8eeba8516f5fc3a83b82a7f03235c2ca6578ae Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 30 May 2024 16:43:14 +0100 Subject: [PATCH 015/282] IO_Firmware: fix bdshot DMA channel reset --- .../IO_Firmware/iofirmware_dshot_highpolh.bin | Bin 47564 -> 47572 bytes .../IO_Firmware/iofirmware_dshot_lowpolh.bin | Bin 47564 -> 47572 bytes .../iofirmware_f103_8MHz_dshot_highpolh.bin | Bin 53356 -> 53372 bytes .../iofirmware_f103_8MHz_dshot_lowpolh.bin | Bin 53356 -> 53372 bytes .../iofirmware_f103_8MHz_highpolh.bin | Bin 40704 -> 40704 bytes .../iofirmware_f103_8MHz_lowpolh.bin | Bin 40704 -> 40704 bytes .../iofirmware_f103_dshot_highpolh.bin | Bin 53348 -> 53364 bytes .../iofirmware_f103_dshot_lowpolh.bin | Bin 53348 -> 53364 bytes .../IO_Firmware/iofirmware_f103_highpolh.bin | Bin 40696 -> 40696 bytes Tools/IO_Firmware/iofirmware_f103_lowpolh.bin | Bin 40696 -> 40696 bytes Tools/IO_Firmware/iofirmware_highpolh.bin | Bin 40704 -> 40704 bytes Tools/IO_Firmware/iofirmware_lowpolh.bin | Bin 40704 -> 40704 bytes 12 files changed, 0 insertions(+), 0 deletions(-) diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin index 45354a76ef3569dd06491e28cf0ce3f3d499e072..723f2568c3f256fc6e520cdb03d4df013ebbbcba 100755 GIT binary patch delta 3953 zcmY+H3se+W(tvNx1DfCnETRHS>}E`0g2(_tQ8a*P^U_7)??ELfh{Qo2!r}{A1%gCb z#YYM^_*ylrCz|L6(jiKeV2ti2f8se3@vM(^jep{ftYOmzwR?tnY>jJj&OhgTQ+4as zy?wj7Zr$#$hcyGkn%$FN+MejB%>IuV=Oj$08MlyVBus6Ln@QvnB}6UJN*pET@r;Xj z{{M4|#suv-8gH0)fN`;ZWLy!+pgniDL#tE)cSh+?*?r`_m^(UMzn!#dJTy8YtmYHO z8i4Uvw2Wu|jN^vbw~R5~V>9F3(W&0YT`nspFGG{xC3p#c^jiz#u*Cl?)S?g&19vbt zU;)_hSirGy>uhf2Jr^&6e8=V$p7V(1MvC5YnN;+vd=2$F6)4rr~$dtUhOSjGaH+R1GbG0-<(~a({4#E z732m;ExJ*fVF8OE`vDYQFJ%J$ou8iBZqZo6ew^LH=vvhC`&s8|!af^;p*|cPkw#FS?ai 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zcmV-#0FeLqy#n~X0(F}^gnaUp;n1d4^XGUcRXDEN*XBJL)oGFzNT|L(!6v$%xXuuSm zaVufk4+Dconam&TnS(NzjH4NX6CPzQ&Irn2F`f)$C1(a@IDeP~)Vm05iUYIoIstTtD$@V} delta 111 zcmV-#0FeLqy#n~X00_1+v&a8Zbp? z+)9}C!@%HCCi4e-=AaBF<7kH9gh!c+GlDW$j3)zG$(cbJ&L1WL^)3RN;=n9CxmZ+v J^BmEXP5=xpDct}7 delta 111 zcmV-#0FeKHz5;;000_1+v&a8Zbp? z+)9}C!@%HCCi4e-=AaBF<7kH9gh!c+GlDW$j3)zG$(cbJ&L1WL^)3RN;=n9CxmZ+v J^BmEXP5=xpDct}7 delta 111 zcmV-#0FeKHz5;;00 Date: Sat, 1 Jun 2024 21:30:56 +1000 Subject: [PATCH 016/282] Rover: disable AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED following the instructions... --- Rover/GCS_Mavlink.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h index 2d4ca700a29db8..b39a8cfb3630e1 100644 --- a/Rover/GCS_Mavlink.h +++ b/Rover/GCS_Mavlink.h @@ -4,7 +4,7 @@ // set 0 in 4.6, remove feature in 4.7: #ifndef AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED -#define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 1 +#define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 0 #endif #include "defines.h" From f9a22458e2848e782d65d61cc08f7e6b1aeaa2c1 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 2 Jun 2024 09:22:01 +1000 Subject: [PATCH 017/282] autotest: disable autotest for MAV_CMD_NAV_SET_YAW_SPEED --- Tools/autotest/rover.py | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py index 2b14250974e20c..ed79e1417bb263 100644 --- a/Tools/autotest/rover.py +++ b/Tools/autotest/rover.py @@ -6997,6 +6997,7 @@ def tests(self): def disabled_tests(self): return { "SlewRate": "got timing report failure on CI", + "MAV_CMD_NAV_SET_YAW_SPEED": "compiled out of code by default", } def rc_defaults(self): From 165b0e929f0910a567fed1ca4b0033ef501eba5f Mon Sep 17 00:00:00 2001 From: Bron2002 Date: Tue, 21 May 2024 13:56:33 +0300 Subject: [PATCH 018/282] AP_GPS: add checking of instance number before update with incoming data --- libraries/AP_GPS/AP_GPS_MAV.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp index 68f0ef957666f1..b9100f5f17c46f 100644 --- a/libraries/AP_GPS/AP_GPS_MAV.cpp +++ b/libraries/AP_GPS/AP_GPS_MAV.cpp @@ -47,6 +47,11 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg) mavlink_gps_input_t packet; mavlink_msg_gps_input_decode(&msg, &packet); + // check if target instance belongs to incoming gps data. + if (state.instance != packet.gps_id) { + return; + } + bool have_alt = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0); bool have_hdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0); bool have_vdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VDOP) == 0); @@ -145,6 +150,11 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg) mavlink_hil_gps_t packet; mavlink_msg_hil_gps_decode(&msg, &packet); + // check if target instance belongs to incoming gps data. + if (state.instance != packet.id) { + return; + } + state.time_week = 0; state.time_week_ms = packet.time_usec/1000; state.status = (AP_GPS::GPS_Status)packet.fix_type; From db6245bb66390d3eaf6ef47d344535c89d5df4cc Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 2 Jun 2024 09:05:02 +1000 Subject: [PATCH 019/282] AP_CRSF_Telem: add missing VideoTX include We use the vtx singleton in here, so we need the header. ... also fix up the includes and ifdefs a little. --- libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp index a27a38ce1fe2fe..6568a2cf1ced06 100644 --- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp +++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp @@ -13,6 +13,10 @@ along with this program. If not, see . */ +#include "AP_RCTelemetry_config.h" + +#if HAL_CRSF_TELEM_ENABLED + #include "AP_CRSF_Telem.h" #include #include @@ -30,7 +34,7 @@ #include #include -#if HAL_CRSF_TELEM_ENABLED +#include #include @@ -1270,7 +1274,7 @@ void AP_CRSF_Telem::calc_parameter() { _pending_request.frame_type = 0; _telem_pending = true; -#endif +#endif // OSD_PARAM_ENABLED } #if HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED @@ -1420,7 +1424,7 @@ void AP_CRSF_Telem::calc_text_selection(AP_OSD_ParamSetting* param, uint8_t chun _pending_request.frame_type = 0; _telem_pending = true; } -#endif +#endif // HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED // write parameter information back into AP - assumes we already know the encoding for floats void AP_CRSF_Telem::process_param_write_frame(ParameterSettingsWriteFrame* write_frame) @@ -1490,7 +1494,7 @@ void AP_CRSF_Telem::process_param_write_frame(ParameterSettingsWriteFrame* write default: break; } -#endif +#endif // OSD_PARAM_ENABLED } // get status text data @@ -1649,4 +1653,4 @@ namespace AP { } }; -#endif +#endif // HAL_CRSF_TELEM_ENABLED From eec7876028a1e266a08722f16daa508db37bd9e4 Mon Sep 17 00:00:00 2001 From: muramura Date: Sat, 1 Jun 2024 22:54:53 +0900 Subject: [PATCH 020/282] SITL: correct valgrind failure in SIM_GPS_SBP2 --- libraries/SITL/SIM_GPS_SBP2.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/SITL/SIM_GPS_SBP2.cpp b/libraries/SITL/SIM_GPS_SBP2.cpp index 1596d330af6fae..b8c75f5a1fb708 100644 --- a/libraries/SITL/SIM_GPS_SBP2.cpp +++ b/libraries/SITL/SIM_GPS_SBP2.cpp @@ -111,6 +111,7 @@ void GPS_SBP2::publish(const GPS_Data *d) sbp_send_message(SBP_DOPS_MSGTYPE, 0x2222, sizeof(dops), (uint8_t*)&dops); + hb = {}; hb.protocol_major = 2; //Sends protocol version 2.0 sbp_send_message(SBP_HEARTBEAT_MSGTYPE, 0x2222, sizeof(hb), (uint8_t*)&hb); From c764e60aa043d44aeaa623e8f5d37d0dbf04841b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:20:32 +1000 Subject: [PATCH 021/282] HAL_SITL: avoid use of std::queue use ObjectArray instead --- libraries/AP_HAL_SITL/CANSocketIface.cpp | 30 +++++++++++++----------- libraries/AP_HAL_SITL/CANSocketIface.h | 7 +++--- 2 files changed, 19 insertions(+), 18 deletions(-) diff --git a/libraries/AP_HAL_SITL/CANSocketIface.cpp b/libraries/AP_HAL_SITL/CANSocketIface.cpp index af8fc068759256..4f26ba2e8fdbd0 100644 --- a/libraries/AP_HAL_SITL/CANSocketIface.cpp +++ b/libraries/AP_HAL_SITL/CANSocketIface.cpp @@ -74,9 +74,12 @@ int16_t CANIface::send(const AP_HAL::CANFrame& frame, const uint64_t tx_deadline tx_item.setup = true; tx_item.index = _tx_frame_counter; tx_item.deadline = tx_deadline; - _tx_queue.emplace(tx_item); - _tx_frame_counter++; - stats.tx_requests++; + if (_tx_queue.push(tx_item)) { + _tx_frame_counter++; + stats.tx_requests++; + } else { + stats.tx_overflow++; + } _pollRead(); // Read poll is necessary because it can release the pending TX flag _pollWrite(); @@ -87,32 +90,32 @@ int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_u CANIface::CanIOFlags& out_flags) { WITH_SEMAPHORE(sem); - if (_rx_queue.empty()) { + if (_rx_queue.is_empty()) { _pollRead(); // This allows to use the socket not calling poll() explicitly. - if (_rx_queue.empty()) { + if (_rx_queue.is_empty()) { return 0; } } { - const CanRxItem& rx = _rx_queue.front(); + const CanRxItem &rx = *_rx_queue[0]; out_frame = rx.frame; out_timestamp_us = rx.timestamp_us; out_flags = rx.flags; } - (void)_rx_queue.pop(); + IGNORE_RETURN(_rx_queue.pop()); return AP_HAL::CANIface::receive(out_frame, out_timestamp_us, out_flags); } bool CANIface::_hasReadyTx() { WITH_SEMAPHORE(sem); - return !_tx_queue.empty(); + return !_tx_queue.is_empty(); } bool CANIface::_hasReadyRx() { WITH_SEMAPHORE(sem); - return !_rx_queue.empty(); + return !_rx_queue.is_empty(); } void CANIface::_poll(bool read, bool write) @@ -137,7 +140,7 @@ void CANIface::_pollWrite() } while (_hasReadyTx()) { WITH_SEMAPHORE(sem); - const CanTxItem tx = _tx_queue.top(); + const CanTxItem tx = *_tx_queue[0]; const uint64_t curr_time = AP_HAL::micros64(); if (tx.deadline >= curr_time) { // hal.console->printf("%x TDEAD: %lu CURRT: %lu DEL: %lu\n",tx.frame.id, tx.deadline, curr_time, tx.deadline-curr_time); @@ -153,7 +156,7 @@ void CANIface::_pollWrite() } // Removing the frame from the queue - (void)_tx_queue.pop(); + IGNORE_RETURN(_tx_queue.pop()); } } @@ -180,15 +183,14 @@ void CANIface::flush_tx() WITH_SEMAPHORE(sem); do { _poll(true, true); - } while(!_tx_queue.empty()); + } while(!_tx_queue.is_empty()); } void CANIface::clear_rx() { WITH_SEMAPHORE(sem); // Clean Rx Queue - std::queue empty; - std::swap( _rx_queue, empty ); + _rx_queue.clear(); } void CANIface::_confirmSentFrame() diff --git a/libraries/AP_HAL_SITL/CANSocketIface.h b/libraries/AP_HAL_SITL/CANSocketIface.h index 5876217ecc4c4b..7e02e61be30eb4 100644 --- a/libraries/AP_HAL_SITL/CANSocketIface.h +++ b/libraries/AP_HAL_SITL/CANSocketIface.h @@ -20,9 +20,8 @@ #if HAL_NUM_CAN_IFACES #include - +#include #include -#include #include #include #include @@ -127,8 +126,8 @@ class CANIface: public AP_HAL::CANIface { AP_HAL::BinarySemaphore *sem_handle; pollfd _pollfd; - std::priority_queue _tx_queue; - std::queue _rx_queue; + ObjectArray _tx_queue{100}; + ObjectArray _rx_queue{100}; /* bus statistics From 4f6653e5c797dc7bc78f09c8cf81d233af8c8747 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:22:18 +1000 Subject: [PATCH 022/282] HAL_SITL: avoid std::vector in command line handling use ObjectArray instead --- libraries/AP_HAL_SITL/SITL_State.h | 3 ++- libraries/AP_HAL_SITL/SITL_cmdline.cpp | 6 +++--- libraries/AP_HAL_SITL/Util.cpp | 7 +++++-- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h index 1a0074f14a8820..4ff1c0c046b229 100644 --- a/libraries/AP_HAL_SITL/SITL_State.h +++ b/libraries/AP_HAL_SITL/SITL_State.h @@ -1,6 +1,7 @@ #pragma once #include +#include #if CONFIG_HAL_BOARD == HAL_BOARD_SITL @@ -40,7 +41,7 @@ class HALSITL::SITL_State : public SITL_State_Common { "tcp:7", "tcp:8", }; - std::vector cmdline_param; + ObjectArray cmdline_param{100}; /* parse a home location string */ static bool parse_home(const char *home_str, diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp index 2151d5eab46c1a..30cea03245060d 100644 --- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp +++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp @@ -384,13 +384,13 @@ void SITL_State::_parse_command_line(int argc, char * const argv[]) case 's': speedup = strtof(gopt.optarg, nullptr); temp_cmdline_param = {"SIM_SPEEDUP", speedup}; - cmdline_param.push_back(temp_cmdline_param); + cmdline_param.push(temp_cmdline_param); printf("Setting SIM_SPEEDUP=%f\n", speedup); break; case 'r': sim_rate_hz = strtof(gopt.optarg, nullptr); temp_cmdline_param = {"SIM_RATE_HZ", sim_rate_hz}; - cmdline_param.push_back(temp_cmdline_param); + cmdline_param.push(temp_cmdline_param); printf("Setting SIM_RATE_HZ=%f\n", sim_rate_hz); break; case 'C': @@ -513,7 +513,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[]) exit(1); } temp_cmdline_param = {"SYSID_THISMAV", static_cast(sysid)}; - cmdline_param.push_back(temp_cmdline_param); + cmdline_param.push(temp_cmdline_param); printf("Setting SYSID_THISMAV=%d\n", sysid); break; } diff --git a/libraries/AP_HAL_SITL/Util.cpp b/libraries/AP_HAL_SITL/Util.cpp index f5c6bbeeaaef9a..ce51bd8fd337e9 100644 --- a/libraries/AP_HAL_SITL/Util.cpp +++ b/libraries/AP_HAL_SITL/Util.cpp @@ -160,8 +160,11 @@ enum AP_HAL::Util::safety_state HALSITL::Util::safety_switch_state(void) void HALSITL::Util::set_cmdline_parameters() { - for (auto param: sitlState->cmdline_param) { - AP_Param::set_default_by_name(param.name, param.value); + for (uint16_t i=0; icmdline_param.available(); i++) { + const auto param = sitlState->cmdline_param[i]; + if (param != nullptr) { + AP_Param::set_default_by_name(param->name, param->value); + } } } #endif From aa2f885e2fafd07ff22dc11627152d1f6fe35481 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 12:36:26 +1000 Subject: [PATCH 023/282] AP_Common: added checks for new without std::nothrow and add NEW_NOTHROW macro --- libraries/AP_Common/AP_Common.h | 8 +++ libraries/AP_Common/AP_ExpandingArray.cpp | 4 ++ libraries/AP_Common/ExpandingString.cpp | 5 +- libraries/AP_Common/Location.cpp | 4 ++ libraries/AP_Common/MultiHeap.cpp | 5 ++ libraries/AP_Common/c++.cpp | 83 ++++++++++++++++++++--- 6 files changed, 100 insertions(+), 9 deletions(-) diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h index 65a5648ad66aa4..d51e888e53e465 100644 --- a/libraries/AP_Common/AP_Common.h +++ b/libraries/AP_Common/AP_Common.h @@ -23,6 +23,7 @@ #include #include #include +#include // used to pack structures #define PACKED __attribute__((__packed__)) @@ -184,3 +185,10 @@ template void BIT_CLEAR (T& value, uint8_t bitnumber) noexcept { ((value) &= ~((T)(1U) << (bitnumber))); } +/* + See the comments in libraries/AP_Common/c++.cpp + */ +#ifndef NEW_NOTHROW +#define NEW_NOTHROW new(std::nothrow) +#endif + diff --git a/libraries/AP_Common/AP_ExpandingArray.cpp b/libraries/AP_Common/AP_ExpandingArray.cpp index b5327c6f91f7be..99b95896c77387 100644 --- a/libraries/AP_Common/AP_ExpandingArray.cpp +++ b/libraries/AP_Common/AP_ExpandingArray.cpp @@ -16,6 +16,8 @@ #include "AP_ExpandingArray.h" #include +#ifndef HAL_BOOTLOADER_BUILD + extern const AP_HAL::HAL& hal; AP_ExpandingArrayGeneric::~AP_ExpandingArrayGeneric(void) @@ -75,3 +77,5 @@ bool AP_ExpandingArrayGeneric::expand_to_hold(uint16_t num_items) uint16_t chunks_required = ((num_items - max_items()) / chunk_size) + 1; return expand(chunks_required); } + +#endif // HAL_BOOTLOADER_BUILD diff --git a/libraries/AP_Common/ExpandingString.cpp b/libraries/AP_Common/ExpandingString.cpp index 31420d95fe0559..9be2b3a91abf17 100644 --- a/libraries/AP_Common/ExpandingString.cpp +++ b/libraries/AP_Common/ExpandingString.cpp @@ -17,9 +17,10 @@ */ #include "ExpandingString.h" - #include +#ifndef HAL_BOOTLOADER_BUILD + extern const AP_HAL::HAL& hal; #define EXPAND_INCREMENT 512 @@ -127,3 +128,5 @@ void ExpandingString::set_buffer(char *s, uint32_t total_len, uint32_t used_len) allocation_failed = false; external_buffer = true; } + +#endif // HAL_BOOTLOADER_BUILD diff --git a/libraries/AP_Common/Location.cpp b/libraries/AP_Common/Location.cpp index f414b6a9a14814..273ecb9fe50b16 100644 --- a/libraries/AP_Common/Location.cpp +++ b/libraries/AP_Common/Location.cpp @@ -4,6 +4,8 @@ #include "Location.h" +#ifndef HAL_BOOTLOADER_BUILD + #include #include @@ -527,3 +529,5 @@ void Location::linearly_interpolate_alt(const Location &point1, const Location & // new target's distance along the original track and then linear interpolate between the original origin and destination altitudes set_alt_cm(point1.alt + (point2.alt - point1.alt) * constrain_float(line_path_proportion(point1, point2), 0.0f, 1.0f), point2.get_alt_frame()); } + +#endif // HAL_BOOTLOADER_BUILD diff --git a/libraries/AP_Common/MultiHeap.cpp b/libraries/AP_Common/MultiHeap.cpp index 75033db1a156c6..af0b86cf268646 100644 --- a/libraries/AP_Common/MultiHeap.cpp +++ b/libraries/AP_Common/MultiHeap.cpp @@ -10,6 +10,8 @@ #include "MultiHeap.h" +#ifndef HAL_BOOTLOADER_BUILD + /* on ChibiOS allow up to 4 heaps. On other HALs only allow a single heap. This is needed as hal.util->heap_realloc() needs to have the @@ -141,3 +143,6 @@ void *MultiHeap::change_size(void *ptr, uint32_t old_size, uint32_t new_size) */ return hal.util->heap_realloc(heaps[0], ptr, old_size, new_size); } + +#endif // HAL_BOOTLOADER_BUILD + diff --git a/libraries/AP_Common/c++.cpp b/libraries/AP_Common/c++.cpp index b9804818e85cbc..8ab798744f8360 100644 --- a/libraries/AP_Common/c++.cpp +++ b/libraries/AP_Common/c++.cpp @@ -1,17 +1,43 @@ -// -// C++ runtime support not provided by Arduino -// -// Note: use new/delete with caution. The heap is small and -// easily fragmented. +/* + wrapper around new for C++ to ensure we always get zero filled memory + */ #include #include +#include +#include /* globally override new and delete to ensure that we always start with zero memory. This ensures consistent behaviour. + + Note that new comes in multiple different variants. When new is used + without std::nothrow the compiler is free to assume it will not fail + as it assumes exceptions are enabled. This makes code like this + unsafe when using -fno-exceptions: + + a = new b; + if (a == nullptr) { + handle_error() + } + + the compiler may remove the error handling. With g++ you can use + -fcheck-new to avoid this, but on clang++ the compiler accepts + -fcheck-new as a valid flag, but doesn't implement it, and may elide + the error checking. That makes using clang++ unsafe with + -fno-exceptions if you ever call new without std::nothrow. + + To avoid this we define NEW_NOTHROW as new(std::nothrow) and use it + everywhere in ArduPilot, then we catch any missing cases with both + an internal error and with a check of the elf for the symbols we + want to avoid +*/ + +/* + variant for new(std::nothrow), which is all that should be used in + ArduPilot */ -void * operator new(size_t size) +void * operator new(size_t size, std::nothrow_t const ¬hrow) { if (size < 1) { size = 1; @@ -19,11 +45,27 @@ void * operator new(size_t size) return(calloc(size, 1)); } -void operator delete(void *p) +void * operator new[](size_t size, std::nothrow_t const ¬hrow) { - if (p) free(p); + if (size < 1) { + size = 1; + } + return(calloc(size, 1)); +} + +/* + These variants are for new without std::nothrow. We don't want to ever + use this from ArduPilot code + */ +void * operator new(size_t size) +{ + if (size < 1) { + size = 1; + } + return(calloc(size, 1)); } + void * operator new[](size_t size) { if (size < 1) { @@ -32,7 +74,32 @@ void * operator new[](size_t size) return(calloc(size, 1)); } +void operator delete(void *p) +{ + if (p) free(p); +} + void operator delete[](void * ptr) { if (ptr) free(ptr); } + + +#if CONFIG_HAL_BOARD != HAL_BOARD_CHIBIOS +/* + wrapper around malloc to ensure all memory is initialised as zero + ChibiOS has its own wrapper + */ +extern "C" { + void *__wrap_malloc(size_t size); + void *__real_malloc(size_t size); +} +void *__wrap_malloc(size_t size) +{ + void *ret = __real_malloc(size); + if (ret != nullptr) { + memset(ret, 0, size); + } + return ret; +} +#endif From 07b5ffcc585ff31e3ca88788c515553e217fa2c7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 12:37:26 +1000 Subject: [PATCH 024/282] waf: removed -fcheck-new and added link checks check for use of new without std::nothrow --- Tools/ardupilotwaf/boards.py | 1 - Tools/ardupilotwaf/chibios.py | 6 +++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 2795c152256542..9c50faf4a332f1 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -276,7 +276,6 @@ def configure_env(self, cfg, env): '-Werror=implicit-fallthrough', ] env.CXXFLAGS += [ - '-fcheck-new', '-fsingle-precision-constant', '-Wno-psabi', ] diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py index 4f1e7a8626d0c7..1d1c5052cbcfa6 100644 --- a/Tools/ardupilotwaf/chibios.py +++ b/Tools/ardupilotwaf/chibios.py @@ -162,7 +162,11 @@ def check_elf_symbols(task): # we use string find on these symbols, so this catches all types of throw # calls this should catch all uses of exceptions unless the compiler # manages to inline them - blacklist = ['std::__throw'] + blacklist = ['std::__throw', + 'operator new[](unsigned int)', + 'operator new[](unsigned long)', + 'operator new(unsigned int)', + 'operator new(unsigned long)'] nmout = subprocess.getoutput("%s -C %s" % (task.env.get_flat('NM'), elfpath)) for b in blacklist: From c36c37099df1a3cbc8610cebb254f2de52814fe6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:08 +1000 Subject: [PATCH 025/282] AC_Avoidance: use NEW_NOTHROW for new(std::nothrow) --- libraries/AC_Avoidance/AP_OADatabase.cpp | 4 ++-- libraries/AC_Avoidance/AP_OAPathPlanner.cpp | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AC_Avoidance/AP_OADatabase.cpp b/libraries/AC_Avoidance/AP_OADatabase.cpp index 20bc48f594807b..ac3c7d02c1042d 100644 --- a/libraries/AC_Avoidance/AP_OADatabase.cpp +++ b/libraries/AC_Avoidance/AP_OADatabase.cpp @@ -190,7 +190,7 @@ void AP_OADatabase::init_queue() return; } - _queue.items = new ObjectBuffer(_queue.size); + _queue.items = NEW_NOTHROW ObjectBuffer(_queue.size); if (_queue.items != nullptr && _queue.items->get_size() == 0) { // allocation failed delete _queue.items; @@ -205,7 +205,7 @@ void AP_OADatabase::init_database() return; } - _database.items = new OA_DbItem[_database.size]; + _database.items = NEW_NOTHROW OA_DbItem[_database.size]; } // get bitmask of gcs channels item should be sent to based on its importance diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp index a702ed6de52e12..a7aa671190b96c 100644 --- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp +++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp @@ -92,25 +92,25 @@ void AP_OAPathPlanner::init() return; case OA_PATHPLAN_BENDYRULER: if (_oabendyruler == nullptr) { - _oabendyruler = new AP_OABendyRuler(); + _oabendyruler = NEW_NOTHROW AP_OABendyRuler(); AP_Param::load_object_from_eeprom(_oabendyruler, AP_OABendyRuler::var_info); } break; case OA_PATHPLAN_DIJKSTRA: #if AP_FENCE_ENABLED if (_oadijkstra == nullptr) { - _oadijkstra = new AP_OADijkstra(_options); + _oadijkstra = NEW_NOTHROW AP_OADijkstra(_options); } #endif break; case OA_PATHPLAN_DJIKSTRA_BENDYRULER: #if AP_FENCE_ENABLED if (_oadijkstra == nullptr) { - _oadijkstra = new AP_OADijkstra(_options); + _oadijkstra = NEW_NOTHROW AP_OADijkstra(_options); } #endif if (_oabendyruler == nullptr) { - _oabendyruler = new AP_OABendyRuler(); + _oabendyruler = NEW_NOTHROW AP_OABendyRuler(); AP_Param::load_object_from_eeprom(_oabendyruler, AP_OABendyRuler::var_info); } break; From 18e5da78d22cbb49421e36bdda20c120978bbe63 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:08 +1000 Subject: [PATCH 026/282] AC_CustomControl: use NEW_NOTHROW for new(std::nothrow) --- libraries/AC_CustomControl/AC_CustomControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp index 903d854c127a92..407b9db249b4a4 100644 --- a/libraries/AC_CustomControl/AC_CustomControl.cpp +++ b/libraries/AC_CustomControl/AC_CustomControl.cpp @@ -55,11 +55,11 @@ void AC_CustomControl::init(void) break; case CustomControlType::CONT_EMPTY: // This is template backend. Don't initialize it. // This is template backend. Don't initialize it. - // _backend = new AC_CustomControl_Empty(*this, _ahrs, _att_control, _motors, _dt); + // _backend = NEW_NOTHROW AC_CustomControl_Empty(*this, _ahrs, _att_control, _motors, _dt); // _backend_var_info[get_type()] = AC_CustomControl_Empty::var_info; break; case CustomControlType::CONT_PID: - _backend = new AC_CustomControl_PID(*this, _ahrs, _att_control, _motors, _dt); + _backend = NEW_NOTHROW AC_CustomControl_PID(*this, _ahrs, _att_control, _motors, _dt); _backend_var_info[get_type()] = AC_CustomControl_PID::var_info; break; default: From c95624a040c3377d02d1a0c12711659122e795fc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:08 +1000 Subject: [PATCH 027/282] AC_Fence: use NEW_NOTHROW for new(std::nothrow) --- libraries/AC_Fence/AC_PolyFence_loader.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AC_Fence/AC_PolyFence_loader.cpp b/libraries/AC_Fence/AC_PolyFence_loader.cpp index ba38dea63a2aa2..509e039a843bbf 100644 --- a/libraries/AC_Fence/AC_PolyFence_loader.cpp +++ b/libraries/AC_Fence/AC_PolyFence_loader.cpp @@ -502,7 +502,7 @@ bool AC_PolyFence_loader::index_eeprom() Debug("Fence: Allocating %u bytes for index", (unsigned)(_eeprom_fence_count*sizeof(FenceIndex))); - _index = new FenceIndex[_eeprom_fence_count]; + _index = NEW_NOTHROW FenceIndex[_eeprom_fence_count]; if (_index == nullptr) { return false; } @@ -636,8 +636,8 @@ bool AC_PolyFence_loader::load_from_eeprom() const uint16_t count = sum_of_polygon_point_counts_and_returnpoint(); Debug("Fence: Allocating %u bytes for points", (unsigned)(count * sizeof(Vector2f))); - _loaded_offsets_from_origin = new Vector2f[count]; - _loaded_points_lla = new Vector2l[count]; + _loaded_offsets_from_origin = NEW_NOTHROW Vector2f[count]; + _loaded_points_lla = NEW_NOTHROW Vector2l[count]; if (_loaded_offsets_from_origin == nullptr || _loaded_points_lla == nullptr) { unload(); get_loaded_fence_semaphore().give(); @@ -651,7 +651,7 @@ bool AC_PolyFence_loader::load_from_eeprom() const uint8_t count = index_fence_count(AC_PolyFenceType::POLYGON_INCLUSION); Debug("Fence: Allocating %u bytes for inc. fences", (unsigned)(count * sizeof(InclusionBoundary))); - _loaded_inclusion_boundary = new InclusionBoundary[count]; + _loaded_inclusion_boundary = NEW_NOTHROW InclusionBoundary[count]; if (_loaded_inclusion_boundary == nullptr) { unload(); get_loaded_fence_semaphore().give(); @@ -663,7 +663,7 @@ bool AC_PolyFence_loader::load_from_eeprom() const uint8_t count = index_fence_count(AC_PolyFenceType::POLYGON_EXCLUSION); Debug("Fence: Allocating %u bytes for exc. fences", (unsigned)(count * sizeof(ExclusionBoundary))); - _loaded_exclusion_boundary = new ExclusionBoundary[count]; + _loaded_exclusion_boundary = NEW_NOTHROW ExclusionBoundary[count]; if (_loaded_exclusion_boundary == nullptr) { unload(); get_loaded_fence_semaphore().give(); @@ -676,7 +676,7 @@ bool AC_PolyFence_loader::load_from_eeprom() count += index_fence_count(AC_PolyFenceType::CIRCLE_INCLUSION_INT) Debug("Fence: Allocating %u bytes for circ. inc. fences", (unsigned)(count * sizeof(InclusionCircle))); - _loaded_circle_inclusion_boundary = new InclusionCircle[count]; + _loaded_circle_inclusion_boundary = NEW_NOTHROW InclusionCircle[count]; if (_loaded_circle_inclusion_boundary == nullptr) { unload(); get_loaded_fence_semaphore().give(); @@ -689,7 +689,7 @@ bool AC_PolyFence_loader::load_from_eeprom() count += index_fence_count(AC_PolyFenceType::CIRCLE_EXCLUSION_INT) Debug("Fence: Allocating %u bytes for circ. exc. fences", (unsigned)(count * sizeof(ExclusionCircle))); - _loaded_circle_exclusion_boundary = new ExclusionCircle[count]; + _loaded_circle_exclusion_boundary = NEW_NOTHROW ExclusionCircle[count]; if (_loaded_circle_exclusion_boundary == nullptr) { unload(); get_loaded_fence_semaphore().give(); From 4c41805a3d39b02ccf8c7814961ae98cf99fe9d2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:08 +1000 Subject: [PATCH 028/282] AC_PID: use NEW_NOTHROW for new(std::nothrow) --- libraries/AC_PID/AC_PID.cpp | 4 ++-- libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp index 166be7b7b3122b..3f6d22e5624ad6 100644 --- a/libraries/AC_PID/AC_PID.cpp +++ b/libraries/AC_PID/AC_PID.cpp @@ -162,7 +162,7 @@ void AC_PID::set_notch_sample_rate(float sample_rate) if (_notch_T_filter != 0) { if (_target_notch == nullptr) { - _target_notch = new NotchFilterFloat(); + _target_notch = NEW_NOTHROW NotchFilterFloat(); } AP_Filter* filter = AP::filters().get_filter(_notch_T_filter); if (filter != nullptr && !filter->setup_notch_filter(*_target_notch, sample_rate)) { @@ -174,7 +174,7 @@ void AC_PID::set_notch_sample_rate(float sample_rate) if (_notch_E_filter != 0) { if (_error_notch == nullptr) { - _error_notch = new NotchFilterFloat(); + _error_notch = NEW_NOTHROW NotchFilterFloat(); } AP_Filter* filter = AP::filters().get_filter(_notch_E_filter); if (filter != nullptr && !filter->setup_notch_filter(*_error_notch, sample_rate)) { diff --git a/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp b/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp index ad193a4aa33aaf..0053c9b22e0aa5 100644 --- a/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp +++ b/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp @@ -70,8 +70,8 @@ void setup() void loop() { // setup (unfortunately must be done here as we cannot create a global AC_PID object) - AC_PID *pid = new AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER); - // AC_HELI_PID *heli_pid= new AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER); + AC_PID *pid = NEW_NOTHROW AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER); + // AC_HELI_PID *heli_pid= NEW_NOTHROW AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER); // display PID gains hal.console->printf("P %f I %f D %f imax %f\n", (double)pid->kP(), (double)pid->kI(), (double)pid->kD(), (double)pid->imax()); From 260a8eaddc790c8099b96eb0f7c618378e53d979 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 029/282] AC_PrecLand: use NEW_NOTHROW for new(std::nothrow) --- libraries/AC_PrecLand/AC_PrecLand.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp index d42a2ae7384cb5..35c1d1af702a21 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.cpp +++ b/libraries/AC_PrecLand/AC_PrecLand.cpp @@ -229,7 +229,7 @@ void AC_PrecLand::init(uint16_t update_rate_hz) const uint16_t inertial_buffer_size = MAX((uint16_t)roundf(_lag * MIN(update_rate_hz, AP::scheduler().get_loop_rate_hz())), 1); // instantiate ring buffer to hold inertial history, return on failure so no backends are created - _inertial_history = new ObjectArray(inertial_buffer_size); + _inertial_history = NEW_NOTHROW ObjectArray(inertial_buffer_size); if (_inertial_history == nullptr) { return; } @@ -243,23 +243,23 @@ void AC_PrecLand::init(uint16_t update_rate_hz) // companion computer #if AC_PRECLAND_COMPANION_ENABLED case Type::COMPANION: - _backend = new AC_PrecLand_Companion(*this, _backend_state); + _backend = NEW_NOTHROW AC_PrecLand_Companion(*this, _backend_state); break; // IR Lock #endif #if AC_PRECLAND_IRLOCK_ENABLED case Type::IRLOCK: - _backend = new AC_PrecLand_IRLock(*this, _backend_state); + _backend = NEW_NOTHROW AC_PrecLand_IRLock(*this, _backend_state); break; #endif #if AC_PRECLAND_SITL_GAZEBO_ENABLED case Type::SITL_GAZEBO: - _backend = new AC_PrecLand_SITL_Gazebo(*this, _backend_state); + _backend = NEW_NOTHROW AC_PrecLand_SITL_Gazebo(*this, _backend_state); break; #endif #if AC_PRECLAND_SITL_ENABLED case Type::SITL: - _backend = new AC_PrecLand_SITL(*this, _backend_state); + _backend = NEW_NOTHROW AC_PrecLand_SITL(*this, _backend_state); break; #endif } From b8eab36298d486ef4ad22e95bee15896ec7d3857 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 030/282] AP_ADC: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_ADC/AP_ADC_ADS1115.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_ADC/AP_ADC_ADS1115.cpp b/libraries/AP_ADC/AP_ADC_ADS1115.cpp index 21f124a88d1816..96ab43244fb498 100644 --- a/libraries/AP_ADC/AP_ADC_ADS1115.cpp +++ b/libraries/AP_ADC/AP_ADC_ADS1115.cpp @@ -113,7 +113,7 @@ AP_ADC_ADS1115::AP_ADC_ADS1115() , _gain(ADS1115_PGA_4P096) , _channel_to_read(0) { - _samples = new adc_report_s[_channels_number]; + _samples = NEW_NOTHROW adc_report_s[_channels_number]; } AP_ADC_ADS1115::~AP_ADC_ADS1115() From 715e8346a66c05ebb99534ed32c1df9d23782e93 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 031/282] AP_ADSB: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_ADSB/AP_ADSB.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp index 5d1508873149ad..dc0cb16b2ec8dc 100644 --- a/libraries/AP_ADSB/AP_ADSB.cpp +++ b/libraries/AP_ADSB/AP_ADSB.cpp @@ -204,7 +204,7 @@ void AP_ADSB::init(void) // sanity check param in_state.list_size_param.set(constrain_int16(in_state.list_size_param, 1, INT16_MAX)); - in_state.vehicle_list = new adsb_vehicle_t[in_state.list_size_param]; + in_state.vehicle_list = NEW_NOTHROW adsb_vehicle_t[in_state.list_size_param]; if (in_state.vehicle_list == nullptr) { // dynamic RAM allocation of in_state.vehicle_list[] failed @@ -272,7 +272,7 @@ void AP_ADSB::detect_instance(uint8_t instance) case Type::uAvionix_MAVLink: #if HAL_ADSB_UAVIONIX_MAVLINK_ENABLED if (AP_ADSB_uAvionix_MAVLink::detect()) { - _backend[instance] = new AP_ADSB_uAvionix_MAVLink(*this, instance); + _backend[instance] = NEW_NOTHROW AP_ADSB_uAvionix_MAVLink(*this, instance); } #endif break; @@ -280,7 +280,7 @@ void AP_ADSB::detect_instance(uint8_t instance) case Type::uAvionix_UCP: #if HAL_ADSB_UCP_ENABLED if (AP_ADSB_uAvionix_UCP::detect()) { - _backend[instance] = new AP_ADSB_uAvionix_UCP(*this, instance); + _backend[instance] = NEW_NOTHROW AP_ADSB_uAvionix_UCP(*this, instance); } #endif break; @@ -288,7 +288,7 @@ void AP_ADSB::detect_instance(uint8_t instance) case Type::Sagetech: #if HAL_ADSB_SAGETECH_ENABLED if (AP_ADSB_Sagetech::detect()) { - _backend[instance] = new AP_ADSB_Sagetech(*this, instance); + _backend[instance] = NEW_NOTHROW AP_ADSB_Sagetech(*this, instance); } #endif break; @@ -296,7 +296,7 @@ void AP_ADSB::detect_instance(uint8_t instance) case Type::Sagetech_MXS: #if HAL_ADSB_SAGETECH_MXS_ENABLED if (AP_ADSB_Sagetech_MXS::detect()) { - _backend[instance] = new AP_ADSB_Sagetech_MXS(*this, instance); + _backend[instance] = NEW_NOTHROW AP_ADSB_Sagetech_MXS(*this, instance); } #endif break; From 54017b820b51f672c23a0507eccd578d2d719d5b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 032/282] AP_AHRS: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_AHRS/AP_AHRS_Backend.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.cpp b/libraries/AP_AHRS/AP_AHRS_Backend.cpp index 0b1a75842f2584..aac74a5a23e148 100644 --- a/libraries/AP_AHRS/AP_AHRS_Backend.cpp +++ b/libraries/AP_AHRS/AP_AHRS_Backend.cpp @@ -167,7 +167,7 @@ AP_AHRS_View *AP_AHRS::create_view(enum Rotation rotation, float pitch_trim_deg) // can only have one return nullptr; } - _view = new AP_AHRS_View(*this, rotation, pitch_trim_deg); + _view = NEW_NOTHROW AP_AHRS_View(*this, rotation, pitch_trim_deg); return _view; } From 8fdf085e2fa7037135a97250f25cfc3242fcd76b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 033/282] AP_Airspeed: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Airspeed/AP_Airspeed.cpp | 32 +++++++++---------- libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp | 2 +- .../AP_Airspeed/AP_Airspeed_DroneCAN.cpp | 2 +- 3 files changed, 18 insertions(+), 18 deletions(-) diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp index ac6a7b2d34b28e..b61bec4c9292ab 100644 --- a/libraries/AP_Airspeed/AP_Airspeed.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed.cpp @@ -356,67 +356,67 @@ void AP_Airspeed::allocate() break; case TYPE_I2C_MS4525: #if AP_AIRSPEED_MS4525_ENABLED - sensor[i] = new AP_Airspeed_MS4525(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_MS4525(*this, i); #endif break; case TYPE_SITL: #if AP_AIRSPEED_SITL_ENABLED - sensor[i] = new AP_Airspeed_SITL(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_SITL(*this, i); #endif break; case TYPE_ANALOG: #if AP_AIRSPEED_ANALOG_ENABLED - sensor[i] = new AP_Airspeed_Analog(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_Analog(*this, i); #endif break; case TYPE_I2C_MS5525: #if AP_AIRSPEED_MS5525_ENABLED - sensor[i] = new AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_AUTO); + sensor[i] = NEW_NOTHROW AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_AUTO); #endif break; case TYPE_I2C_MS5525_ADDRESS_1: #if AP_AIRSPEED_MS5525_ENABLED - sensor[i] = new AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_1); + sensor[i] = NEW_NOTHROW AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_1); #endif break; case TYPE_I2C_MS5525_ADDRESS_2: #if AP_AIRSPEED_MS5525_ENABLED - sensor[i] = new AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_2); + sensor[i] = NEW_NOTHROW AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_2); #endif break; case TYPE_I2C_SDP3X: #if AP_AIRSPEED_SDP3X_ENABLED - sensor[i] = new AP_Airspeed_SDP3X(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_SDP3X(*this, i); #endif break; case TYPE_I2C_DLVR_5IN: #if AP_AIRSPEED_DLVR_ENABLED - sensor[i] = new AP_Airspeed_DLVR(*this, i, 5); + sensor[i] = NEW_NOTHROW AP_Airspeed_DLVR(*this, i, 5); #endif break; case TYPE_I2C_DLVR_10IN: #if AP_AIRSPEED_DLVR_ENABLED - sensor[i] = new AP_Airspeed_DLVR(*this, i, 10); + sensor[i] = NEW_NOTHROW AP_Airspeed_DLVR(*this, i, 10); #endif break; case TYPE_I2C_DLVR_20IN: #if AP_AIRSPEED_DLVR_ENABLED - sensor[i] = new AP_Airspeed_DLVR(*this, i, 20); + sensor[i] = NEW_NOTHROW AP_Airspeed_DLVR(*this, i, 20); #endif break; case TYPE_I2C_DLVR_30IN: #if AP_AIRSPEED_DLVR_ENABLED - sensor[i] = new AP_Airspeed_DLVR(*this, i, 30); + sensor[i] = NEW_NOTHROW AP_Airspeed_DLVR(*this, i, 30); #endif break; case TYPE_I2C_DLVR_60IN: #if AP_AIRSPEED_DLVR_ENABLED - sensor[i] = new AP_Airspeed_DLVR(*this, i, 60); + sensor[i] = NEW_NOTHROW AP_Airspeed_DLVR(*this, i, 60); #endif // AP_AIRSPEED_DLVR_ENABLED break; case TYPE_I2C_ASP5033: #if AP_AIRSPEED_ASP5033_ENABLED - sensor[i] = new AP_Airspeed_ASP5033(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_ASP5033(*this, i); #endif break; case TYPE_UAVCAN: @@ -427,18 +427,18 @@ void AP_Airspeed::allocate() case TYPE_NMEA_WATER: #if AP_AIRSPEED_NMEA_ENABLED #if APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) - sensor[i] = new AP_Airspeed_NMEA(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_NMEA(*this, i); #endif #endif break; case TYPE_MSP: #if AP_AIRSPEED_MSP_ENABLED - sensor[i] = new AP_Airspeed_MSP(*this, i, 0); + sensor[i] = NEW_NOTHROW AP_Airspeed_MSP(*this, i, 0); #endif break; case TYPE_EXTERNAL: #if AP_AIRSPEED_EXTERNAL_ENABLED - sensor[i] = new AP_Airspeed_External(*this, i); + sensor[i] = NEW_NOTHROW AP_Airspeed_External(*this, i); #endif break; } diff --git a/libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp b/libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp index 211c36e3283bcc..75db53a9ad1a26 100644 --- a/libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp @@ -50,7 +50,7 @@ AP_Airspeed_Backend *AP_Airspeed_DLVR::probe(AP_Airspeed &_frontend, if (!_dev) { return nullptr; } - AP_Airspeed_DLVR *sensor = new AP_Airspeed_DLVR(_frontend, _instance, _range_inH2O); + AP_Airspeed_DLVR *sensor = NEW_NOTHROW AP_Airspeed_DLVR(_frontend, _instance, _range_inH2O); if (!sensor) { return nullptr; } diff --git a/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp index fc143b11c00d70..4f0b3da42f89ac 100644 --- a/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp @@ -45,7 +45,7 @@ AP_Airspeed_Backend* AP_Airspeed_DroneCAN::probe(AP_Airspeed &_frontend, uint8_t // match with previous ID only continue; } - backend = new AP_Airspeed_DroneCAN(_frontend, _instance); + backend = NEW_NOTHROW AP_Airspeed_DroneCAN(_frontend, _instance); if (backend == nullptr) { AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, From 6f6648a35c3d8dffd3920883bc19a606cb8f5bd1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 034/282] AP_AIS: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_AIS/AP_AIS.cpp | 2 +- libraries/AP_AIS/AP_AIS.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_AIS/AP_AIS.cpp b/libraries/AP_AIS/AP_AIS.cpp index a47c57ee6fc315..afb141ec5356a9 100644 --- a/libraries/AP_AIS/AP_AIS.cpp +++ b/libraries/AP_AIS/AP_AIS.cpp @@ -285,7 +285,7 @@ void AP_AIS::buffer_shift(uint8_t i) ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Functions related to the vessel list -// find vessel index in existing list, if not then return new index if possible +// find vessel index in existing list, if not then return NEW_NOTHROW index if possible bool AP_AIS::get_vessel_index(uint32_t mmsi, uint16_t &index, uint32_t lat, uint32_t lon) { const uint16_t list_size = _list.max_items(); diff --git a/libraries/AP_AIS/AP_AIS.h b/libraries/AP_AIS/AP_AIS.h index d55a08c82f8beb..2d81c37d1d3537 100644 --- a/libraries/AP_AIS/AP_AIS.h +++ b/libraries/AP_AIS/AP_AIS.h @@ -97,7 +97,7 @@ class AP_AIS // removed the given index from the AIVDM buffer shift following elements void buffer_shift(uint8_t i); - // find vessel in existing list, if not then return new index if possible + // find vessel in existing list, if not then return NEW_NOTHROW index if possible bool get_vessel_index(uint32_t mmsi, uint16_t &index, uint32_t lat = 0, uint32_t lon = 0) WARN_IF_UNUSED; void clear_list_item(uint16_t index); From 9ace1c6792a39c5c6e7fa4aa4923db126746864e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 035/282] AP_Avoidance: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Avoidance/AP_Avoidance.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Avoidance/AP_Avoidance.cpp b/libraries/AP_Avoidance/AP_Avoidance.cpp index 14e0d286283e0b..60dd149b473652 100644 --- a/libraries/AP_Avoidance/AP_Avoidance.cpp +++ b/libraries/AP_Avoidance/AP_Avoidance.cpp @@ -144,7 +144,7 @@ void AP_Avoidance::init(void) { debug("ADSB initialisation: %d obstacles", _obstacles_max.get()); if (_obstacles == nullptr) { - _obstacles = new AP_Avoidance::Obstacle[_obstacles_max]; + _obstacles = NEW_NOTHROW AP_Avoidance::Obstacle[_obstacles_max]; if (_obstacles == nullptr) { // dynamic RAM allocation of _obstacles[] failed, disable gracefully From 72dc87e5c1fdec5fc2d62f90c32385863c6f9064 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 036/282] AP_Baro: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Baro/AP_Baro.cpp | 6 +++--- libraries/AP_Baro/AP_Baro_BMP085.cpp | 2 +- libraries/AP_Baro/AP_Baro_BMP280.cpp | 2 +- libraries/AP_Baro/AP_Baro_BMP388.cpp | 2 +- libraries/AP_Baro/AP_Baro_DPS280.cpp | 2 +- libraries/AP_Baro/AP_Baro_DroneCAN.cpp | 2 +- libraries/AP_Baro/AP_Baro_Dummy.h | 2 +- libraries/AP_Baro/AP_Baro_FBM320.cpp | 2 +- libraries/AP_Baro/AP_Baro_ICM20789.cpp | 2 +- libraries/AP_Baro/AP_Baro_ICP101XX.cpp | 2 +- libraries/AP_Baro/AP_Baro_ICP201XX.cpp | 2 +- libraries/AP_Baro/AP_Baro_KellerLD.cpp | 2 +- libraries/AP_Baro/AP_Baro_LPS2XH.cpp | 4 ++-- libraries/AP_Baro/AP_Baro_MS5611.cpp | 2 +- libraries/AP_Baro/AP_Baro_SPL06.cpp | 2 +- 15 files changed, 18 insertions(+), 18 deletions(-) diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp index 60d0740a34ece9..b933203833e8af 100644 --- a/libraries/AP_Baro/AP_Baro.cpp +++ b/libraries/AP_Baro/AP_Baro.cpp @@ -547,7 +547,7 @@ void AP_Baro::init(void) #if !AP_TEST_DRONECAN_DRIVERS // use dronecan instances instead of SITL instances for(uint8_t i = 0; i < sitl->baro_count; i++) { - ADD_BACKEND(new AP_Baro_SITL(*this)); + ADD_BACKEND(NEW_NOTHROW AP_Baro_SITL(*this)); } #endif #endif @@ -562,7 +562,7 @@ void AP_Baro::init(void) #if AP_BARO_EXTERNALAHRS_ENABLED const int8_t serial_port = AP::externalAHRS().get_port(AP_ExternalAHRS::AvailableSensor::BARO); if (serial_port >= 0) { - ADD_BACKEND(new AP_Baro_ExternalAHRS(*this, serial_port)); + ADD_BACKEND(NEW_NOTHROW AP_Baro_ExternalAHRS(*this, serial_port)); } #endif @@ -716,7 +716,7 @@ void AP_Baro::init(void) } for (uint8_t i=0; i<8; i++) { if (msp_instance_mask & (1U<_init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_BMP280.cpp b/libraries/AP_Baro/AP_Baro_BMP280.cpp index 1c89ac0a4b9557..bf2cd51e340b99 100644 --- a/libraries/AP_Baro/AP_Baro_BMP280.cpp +++ b/libraries/AP_Baro/AP_Baro_BMP280.cpp @@ -60,7 +60,7 @@ AP_Baro_Backend *AP_Baro_BMP280::probe(AP_Baro &baro, return nullptr; } - AP_Baro_BMP280 *sensor = new AP_Baro_BMP280(baro, std::move(dev)); + AP_Baro_BMP280 *sensor = NEW_NOTHROW AP_Baro_BMP280(baro, std::move(dev)); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp index 6b48d9e7831676..8cf39a5f36b341 100644 --- a/libraries/AP_Baro/AP_Baro_BMP388.cpp +++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp @@ -66,7 +66,7 @@ AP_Baro_Backend *AP_Baro_BMP388::probe(AP_Baro &baro, return nullptr; } - AP_Baro_BMP388 *sensor = new AP_Baro_BMP388(baro, std::move(_dev)); + AP_Baro_BMP388 *sensor = NEW_NOTHROW AP_Baro_BMP388(baro, std::move(_dev)); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_DPS280.cpp b/libraries/AP_Baro/AP_Baro_DPS280.cpp index fe34ca0bd048f0..82cfec5319bddd 100644 --- a/libraries/AP_Baro/AP_Baro_DPS280.cpp +++ b/libraries/AP_Baro/AP_Baro_DPS280.cpp @@ -56,7 +56,7 @@ AP_Baro_Backend *AP_Baro_DPS280::probe(AP_Baro &baro, return nullptr; } - AP_Baro_DPS280 *sensor = new AP_Baro_DPS280(baro, std::move(_dev)); + AP_Baro_DPS280 *sensor = NEW_NOTHROW AP_Baro_DPS280(baro, std::move(_dev)); if (sensor) { sensor->is_dps310 = _is_dps310; } diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp index 6812480d7a0ef0..e171aab4a67e79 100644 --- a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp +++ b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp @@ -42,7 +42,7 @@ AP_Baro_Backend* AP_Baro_DroneCAN::probe(AP_Baro &baro) AP_Baro_DroneCAN* backend = nullptr; for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) { if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) { - backend = new AP_Baro_DroneCAN(baro); + backend = NEW_NOTHROW AP_Baro_DroneCAN(baro); if (backend == nullptr) { AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, diff --git a/libraries/AP_Baro/AP_Baro_Dummy.h b/libraries/AP_Baro/AP_Baro_Dummy.h index 7c76ebe414147a..f862c788a8ded1 100644 --- a/libraries/AP_Baro/AP_Baro_Dummy.h +++ b/libraries/AP_Baro/AP_Baro_Dummy.h @@ -14,7 +14,7 @@ class AP_Baro_Dummy : public AP_Baro_Backend AP_Baro_Dummy(AP_Baro &baro); void update(void) override; static AP_Baro_Backend *probe(AP_Baro &baro) { - return new AP_Baro_Dummy(baro); + return NEW_NOTHROW AP_Baro_Dummy(baro); } private: diff --git a/libraries/AP_Baro/AP_Baro_FBM320.cpp b/libraries/AP_Baro/AP_Baro_FBM320.cpp index 7ad9a7b0c89ae6..738b63ee1bb307 100644 --- a/libraries/AP_Baro/AP_Baro_FBM320.cpp +++ b/libraries/AP_Baro/AP_Baro_FBM320.cpp @@ -48,7 +48,7 @@ AP_Baro_Backend *AP_Baro_FBM320::probe(AP_Baro &baro, return nullptr; } - AP_Baro_FBM320 *sensor = new AP_Baro_FBM320(baro, std::move(_dev)); + AP_Baro_FBM320 *sensor = NEW_NOTHROW AP_Baro_FBM320(baro, std::move(_dev)); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_ICM20789.cpp b/libraries/AP_Baro/AP_Baro_ICM20789.cpp index cb978356b14cf5..b0918f3f35c881 100644 --- a/libraries/AP_Baro/AP_Baro_ICM20789.cpp +++ b/libraries/AP_Baro/AP_Baro_ICM20789.cpp @@ -80,7 +80,7 @@ AP_Baro_Backend *AP_Baro_ICM20789::probe(AP_Baro &baro, if (!dev || !dev_imu) { return nullptr; } - AP_Baro_ICM20789 *sensor = new AP_Baro_ICM20789(baro, std::move(dev), std::move(dev_imu)); + AP_Baro_ICM20789 *sensor = NEW_NOTHROW AP_Baro_ICM20789(baro, std::move(dev), std::move(dev_imu)); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_ICP101XX.cpp b/libraries/AP_Baro/AP_Baro_ICP101XX.cpp index f06df354d050a7..706196f3967af9 100644 --- a/libraries/AP_Baro/AP_Baro_ICP101XX.cpp +++ b/libraries/AP_Baro/AP_Baro_ICP101XX.cpp @@ -61,7 +61,7 @@ AP_Baro_Backend *AP_Baro_ICP101XX::probe(AP_Baro &baro, if (!dev) { return nullptr; } - AP_Baro_ICP101XX *sensor = new AP_Baro_ICP101XX(baro, std::move(dev)); + AP_Baro_ICP101XX *sensor = NEW_NOTHROW AP_Baro_ICP101XX(baro, std::move(dev)); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_ICP201XX.cpp b/libraries/AP_Baro/AP_Baro_ICP201XX.cpp index 6811e8c66b33a4..45b2277090b12b 100644 --- a/libraries/AP_Baro/AP_Baro_ICP201XX.cpp +++ b/libraries/AP_Baro/AP_Baro_ICP201XX.cpp @@ -87,7 +87,7 @@ AP_Baro_Backend *AP_Baro_ICP201XX::probe(AP_Baro &baro, if (!dev) { return nullptr; } - AP_Baro_ICP201XX *sensor = new AP_Baro_ICP201XX(baro, std::move(dev)); + AP_Baro_ICP201XX *sensor = NEW_NOTHROW AP_Baro_ICP201XX(baro, std::move(dev)); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_KellerLD.cpp b/libraries/AP_Baro/AP_Baro_KellerLD.cpp index 3532b484d0c904..4a2fd8160bd5c6 100644 --- a/libraries/AP_Baro/AP_Baro_KellerLD.cpp +++ b/libraries/AP_Baro/AP_Baro_KellerLD.cpp @@ -55,7 +55,7 @@ AP_Baro_Backend *AP_Baro_KellerLD::probe(AP_Baro &baro, AP_HAL::OwnPtr_init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp index 6db9acdc3d5447..f8294573b321cf 100644 --- a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp +++ b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp @@ -69,7 +69,7 @@ AP_Baro_Backend *AP_Baro_LPS2XH::probe(AP_Baro &baro, return nullptr; } - AP_Baro_LPS2XH *sensor = new AP_Baro_LPS2XH(baro, std::move(dev)); + AP_Baro_LPS2XH *sensor = NEW_NOTHROW AP_Baro_LPS2XH(baro, std::move(dev)); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; @@ -86,7 +86,7 @@ AP_Baro_Backend *AP_Baro_LPS2XH::probe_InvensenseIMU(AP_Baro &baro, return nullptr; } - AP_Baro_LPS2XH *sensor = new AP_Baro_LPS2XH(baro, std::move(dev)); + AP_Baro_LPS2XH *sensor = NEW_NOTHROW AP_Baro_LPS2XH(baro, std::move(dev)); if (sensor) { if (!sensor->_imu_i2c_init(imu_address)) { delete sensor; diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp index 295cd2e9e4c66f..46e3d8d2c39f0d 100644 --- a/libraries/AP_Baro/AP_Baro_MS5611.cpp +++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp @@ -71,7 +71,7 @@ AP_Baro_Backend *AP_Baro_MS56XX::probe(AP_Baro &baro, if (!dev) { return nullptr; } - AP_Baro_MS56XX *sensor = new AP_Baro_MS56XX(baro, std::move(dev), ms56xx_type); + AP_Baro_MS56XX *sensor = NEW_NOTHROW AP_Baro_MS56XX(baro, std::move(dev), ms56xx_type); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp index baca15dee2d20f..655e40ee4c95cc 100644 --- a/libraries/AP_Baro/AP_Baro_SPL06.cpp +++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp @@ -86,7 +86,7 @@ AP_Baro_Backend *AP_Baro_SPL06::probe(AP_Baro &baro, dev->set_read_flag(0x80); } - AP_Baro_SPL06 *sensor = new AP_Baro_SPL06(baro, std::move(dev)); + AP_Baro_SPL06 *sensor = NEW_NOTHROW AP_Baro_SPL06(baro, std::move(dev)); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; From 4879cc24e66d03b415f9cbf3a8c4e3fe13bd5e4d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 037/282] AP_BattMonitor: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_BattMonitor/AP_BattMonitor.cpp | 50 +++++++++---------- .../AP_BattMonitor_DroneCAN.cpp | 2 +- 2 files changed, 26 insertions(+), 26 deletions(-) diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp index 15f44291aa67bd..e0ca73f339c94c 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp @@ -484,123 +484,123 @@ AP_BattMonitor::init() #if AP_BATTERY_ANALOG_ENABLED case Type::ANALOG_VOLTAGE_ONLY: case Type::ANALOG_VOLTAGE_AND_CURRENT: - drivers[instance] = new AP_BattMonitor_Analog(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Analog(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SMBUS_SOLO_ENABLED case Type::SOLO: - drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_Solo(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SMBUS_GENERIC_ENABLED case Type::SMBus_Generic: - drivers[instance] = new AP_BattMonitor_SMBus_Generic(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_Generic(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SMBUS_SUI_ENABLED case Type::SUI3: - drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 3); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 3); break; case Type::SUI6: - drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 6); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 6); break; #endif #if AP_BATTERY_SMBUS_MAXELL_ENABLED case Type::MAXELL: - drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_Maxell(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SMBUS_ROTOYE_ENABLED case Type::Rotoye: - drivers[instance] = new AP_BattMonitor_SMBus_Rotoye(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_Rotoye(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SMBUS_NEODESIGN_ENABLED case Type::NeoDesign: - drivers[instance] = new AP_BattMonitor_SMBus_NeoDesign(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_SMBus_NeoDesign(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_BEBOP_ENABLED case Type::BEBOP: - drivers[instance] = new AP_BattMonitor_Bebop(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Bebop(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED case Type::UAVCAN_BatteryInfo: - drivers[instance] = new AP_BattMonitor_DroneCAN(*this, state[instance], AP_BattMonitor_DroneCAN::UAVCAN_BATTERY_INFO, _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_DroneCAN(*this, state[instance], AP_BattMonitor_DroneCAN::UAVCAN_BATTERY_INFO, _params[instance]); break; #endif #if AP_BATTERY_ESC_ENABLED case Type::BLHeliESC: - drivers[instance] = new AP_BattMonitor_ESC(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_ESC(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SUM_ENABLED case Type::Sum: - drivers[instance] = new AP_BattMonitor_Sum(*this, state[instance], _params[instance], instance); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Sum(*this, state[instance], _params[instance], instance); break; #endif #if AP_BATTERY_FUELFLOW_ENABLED case Type::FuelFlow: - drivers[instance] = new AP_BattMonitor_FuelFlow(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_FuelFlow(*this, state[instance], _params[instance]); break; #endif // AP_BATTERY_FUELFLOW_ENABLED #if AP_BATTERY_FUELLEVEL_PWM_ENABLED case Type::FuelLevel_PWM: - drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]); break; #endif // AP_BATTERY_FUELLEVEL_PWM_ENABLED #if AP_BATTERY_FUELLEVEL_ANALOG_ENABLED case Type::FuelLevel_Analog: - drivers[instance] = new AP_BattMonitor_FuelLevel_Analog(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_FuelLevel_Analog(*this, state[instance], _params[instance]); break; #endif // AP_BATTERY_FUELLEVEL_ANALOG_ENABLED #if HAL_GENERATOR_ENABLED case Type::GENERATOR_ELEC: - drivers[instance] = new AP_BattMonitor_Generator_Elec(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Generator_Elec(*this, state[instance], _params[instance]); break; case Type::GENERATOR_FUEL: - drivers[instance] = new AP_BattMonitor_Generator_FuelLevel(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Generator_FuelLevel(*this, state[instance], _params[instance]); break; #endif // HAL_GENERATOR_ENABLED #if AP_BATTERY_INA2XX_ENABLED case Type::INA2XX: - drivers[instance] = new AP_BattMonitor_INA2XX(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_INA2XX(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_LTC2946_ENABLED case Type::LTC2946: - drivers[instance] = new AP_BattMonitor_LTC2946(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_LTC2946(*this, state[instance], _params[instance]); break; #endif #if HAL_TORQEEDO_ENABLED case Type::Torqeedo: - drivers[instance] = new AP_BattMonitor_Torqeedo(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Torqeedo(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_SYNTHETIC_CURRENT_ENABLED case Type::Analog_Volt_Synthetic_Current: - drivers[instance] = new AP_BattMonitor_Synthetic_Current(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Synthetic_Current(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_INA239_ENABLED case Type::INA239_SPI: - drivers[instance] = new AP_BattMonitor_INA239(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_INA239(*this, state[instance], _params[instance]); break; #endif #if AP_BATTERY_EFI_ENABLED case Type::EFI: - drivers[instance] = new AP_BattMonitor_EFI(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_EFI(*this, state[instance], _params[instance]); break; #endif // AP_BATTERY_EFI_ENABLED #if AP_BATTERY_AD7091R5_ENABLED case Type::AD7091R5: - drivers[instance] = new AP_BattMonitor_AD7091R5(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_AD7091R5(*this, state[instance], _params[instance]); break; #endif// AP_BATTERY_AD7091R5_ENABLED #if AP_BATTERY_SCRIPTING_ENABLED case Type::Scripting: - drivers[instance] = new AP_BattMonitor_Scripting(*this, state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_BattMonitor_Scripting(*this, state[instance], _params[instance]); break; #endif // AP_BATTERY_SCRIPTING_ENABLED case Type::NONE: diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp index 0af65b951d0a27..e6adb47ecf580a 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp @@ -405,7 +405,7 @@ void AP_BattMonitor_DroneCAN::mppt_set_powered_state(bool power_on) request.disable = !request.enable; if (mppt_outputenable_client == nullptr) { - mppt_outputenable_client = new Canard::Client{_ap_dronecan->get_canard_iface(), mppt_outputenable_res_cb}; + mppt_outputenable_client = NEW_NOTHROW Canard::Client{_ap_dronecan->get_canard_iface(), mppt_outputenable_res_cb}; if (mppt_outputenable_client == nullptr) { return; } From bac6d6f6443e31fca144b630b7f564db317d7b11 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 038/282] AP_Beacon: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Beacon/AP_Beacon.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Beacon/AP_Beacon.cpp b/libraries/AP_Beacon/AP_Beacon.cpp index 0a2a04e71cb983..389fe58a9dbf24 100644 --- a/libraries/AP_Beacon/AP_Beacon.cpp +++ b/libraries/AP_Beacon/AP_Beacon.cpp @@ -98,15 +98,15 @@ void AP_Beacon::init(void) // create backend if (_type == AP_BeaconType_Pozyx) { - _driver = new AP_Beacon_Pozyx(*this); + _driver = NEW_NOTHROW AP_Beacon_Pozyx(*this); } else if (_type == AP_BeaconType_Marvelmind) { - _driver = new AP_Beacon_Marvelmind(*this); + _driver = NEW_NOTHROW AP_Beacon_Marvelmind(*this); } else if (_type == AP_BeaconType_Nooploop) { - _driver = new AP_Beacon_Nooploop(*this); + _driver = NEW_NOTHROW AP_Beacon_Nooploop(*this); } #if CONFIG_HAL_BOARD == HAL_BOARD_SITL if (_type == AP_BeaconType_SITL) { - _driver = new AP_Beacon_SITL(*this); + _driver = NEW_NOTHROW AP_Beacon_SITL(*this); } #endif } From a71585b9b83aefe980bf94b56a19c9447572e033 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 039/282] AP_Camera: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Camera/AP_Camera.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp index 4b2182388b0742..9a2deb8a186069 100644 --- a/libraries/AP_Camera/AP_Camera.cpp +++ b/libraries/AP_Camera/AP_Camera.cpp @@ -201,42 +201,42 @@ void AP_Camera::init() switch ((CameraType)_params[instance].type.get()) { #if AP_CAMERA_SERVO_ENABLED case CameraType::SERVO: - _backends[instance] = new AP_Camera_Servo(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_Servo(*this, _params[instance], instance); break; #endif #if AP_CAMERA_RELAY_ENABLED case CameraType::RELAY: - _backends[instance] = new AP_Camera_Relay(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_Relay(*this, _params[instance], instance); break; #endif #if AP_CAMERA_SOLOGIMBAL_ENABLED // check for GoPro in Solo camera case CameraType::SOLOGIMBAL: - _backends[instance] = new AP_Camera_SoloGimbal(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_SoloGimbal(*this, _params[instance], instance); break; #endif #if AP_CAMERA_MOUNT_ENABLED // check for Mount camera case CameraType::MOUNT: - _backends[instance] = new AP_Camera_Mount(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_Mount(*this, _params[instance], instance); break; #endif #if AP_CAMERA_MAVLINK_ENABLED // check for MAVLink enabled camera driver case CameraType::MAVLINK: - _backends[instance] = new AP_Camera_MAVLink(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_MAVLink(*this, _params[instance], instance); break; #endif #if AP_CAMERA_MAVLINKCAMV2_ENABLED // check for MAVLink Camv2 driver case CameraType::MAVLINK_CAMV2: - _backends[instance] = new AP_Camera_MAVLinkCamV2(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_MAVLinkCamV2(*this, _params[instance], instance); break; #endif #if AP_CAMERA_SCRIPTING_ENABLED // check for Scripting driver case CameraType::SCRIPTING: - _backends[instance] = new AP_Camera_Scripting(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Camera_Scripting(*this, _params[instance], instance); break; #endif case CameraType::NONE: From 02456875e719294c1f69a0b16d2acc431f3b15ee Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:09 +1000 Subject: [PATCH 040/282] AP_CANManager: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_CANManager/AP_CANManager.cpp | 18 +++++++++--------- libraries/AP_CANManager/AP_CANSensor.cpp | 4 ++-- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp index c89bc67e8daa91..56f6b59ece6fb7 100644 --- a/libraries/AP_CANManager/AP_CANManager.cpp +++ b/libraries/AP_CANManager/AP_CANManager.cpp @@ -129,7 +129,7 @@ void AP_CANManager::init() #endif // We only allocate log buffer only when under debug if (_loglevel != AP_CANManager::LOG_NONE) { - _log_buf = new char[LOG_BUFFER_SIZE]; + _log_buf = NEW_NOTHROW char[LOG_BUFFER_SIZE]; _log_pos = 0; } @@ -152,7 +152,7 @@ void AP_CANManager::init() if (hal_mutable.can[i] == nullptr) { // So if this interface is not allocated allocate it here, // also pass the index of the CANBus - hal_mutable.can[i] = new HAL_CANIface(i); + hal_mutable.can[i] = NEW_NOTHROW HAL_CANIface(i); } // Initialise the interface we just allocated @@ -201,7 +201,7 @@ void AP_CANManager::init() // Allocate the set type of Driver #if HAL_ENABLE_DRONECAN_DRIVERS if (drv_type[drv_num] == AP_CAN::Protocol::DroneCAN) { - _drivers[drv_num] = _drv_param[drv_num]._uavcan = new AP_DroneCAN(drv_num); + _drivers[drv_num] = _drv_param[drv_num]._uavcan = NEW_NOTHROW AP_DroneCAN(drv_num); if (_drivers[drv_num] == nullptr) { AP_BoardConfig::allocation_error("uavcan %d", i + 1); @@ -213,7 +213,7 @@ void AP_CANManager::init() #endif #if HAL_PICCOLO_CAN_ENABLE if (drv_type[drv_num] == AP_CAN::Protocol::PiccoloCAN) { - _drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN; + _drivers[drv_num] = _drv_param[drv_num]._piccolocan = NEW_NOTHROW AP_PiccoloCAN; if (_drivers[drv_num] == nullptr) { AP_BoardConfig::allocation_error("PiccoloCAN %d", drv_num + 1); @@ -266,7 +266,7 @@ void AP_CANManager::init() WITH_SEMAPHORE(_sem); for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) { if ((AP_CAN::Protocol) _drv_param[i]._driver_type.get() == AP_CAN::Protocol::DroneCAN) { - _drivers[i] = _drv_param[i]._uavcan = new AP_DroneCAN(i); + _drivers[i] = _drv_param[i]._uavcan = NEW_NOTHROW AP_DroneCAN(i); if (_drivers[i] == nullptr) { AP_BoardConfig::allocation_error("uavcan %d", i + 1); @@ -312,7 +312,7 @@ bool AP_CANManager::register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver if (hal_mutable.can[i] == nullptr) { // if this interface is not allocated allocate it here, // also pass the index of the CANBus - hal_mutable.can[i] = new HAL_CANIface(i); + hal_mutable.can[i] = NEW_NOTHROW HAL_CANIface(i); } // Initialise the interface we just allocated @@ -467,7 +467,7 @@ void AP_CANManager::handle_can_frame(const mavlink_message_t &msg) uint8_t buffer_size = 20; while (frame_buffer == nullptr && buffer_size > 0) { // we'd like 20 frames, but will live with less - frame_buffer = new ObjectBuffer(buffer_size); + frame_buffer = NEW_NOTHROW ObjectBuffer(buffer_size); if (frame_buffer != nullptr && frame_buffer->get_size() != 0) { // register a callback for when frames can't be sent immediately hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_CANManager::process_frame_buffer, void)); @@ -577,7 +577,7 @@ void AP_CANManager::handle_can_filter_modify(const mavlink_message_t &msg) // common case of replacing with identical list return; } - new_ids = new uint16_t[p.num_ids]; + new_ids = NEW_NOTHROW uint16_t[p.num_ids]; if (new_ids != nullptr) { num_new_ids = p.num_ids; memcpy((void*)new_ids, (const void *)p.ids, p.num_ids*sizeof(uint16_t)); @@ -590,7 +590,7 @@ void AP_CANManager::handle_can_filter_modify(const mavlink_message_t &msg) // nothing changing return; } - new_ids = new uint16_t[can_forward.num_filter_ids+p.num_ids]; + new_ids = NEW_NOTHROW uint16_t[can_forward.num_filter_ids+p.num_ids]; if (new_ids == nullptr) { return; } diff --git a/libraries/AP_CANManager/AP_CANSensor.cpp b/libraries/AP_CANManager/AP_CANSensor.cpp index 17b46d1d308709..e86ef319924753 100644 --- a/libraries/AP_CANManager/AP_CANSensor.cpp +++ b/libraries/AP_CANManager/AP_CANSensor.cpp @@ -197,7 +197,7 @@ MultiCAN::MultiCAN(ForwardCanFrame cf, AP_CAN::Protocol can_type, const char *dr CANSensor(driver_name) { if (callbacks == nullptr) { - callbacks = new MultiCANLinkedList(); + callbacks = NEW_NOTHROW MultiCANLinkedList(); } if (callbacks == nullptr) { AP_BoardConfig::allocation_error("Failed to create multican callback"); @@ -220,7 +220,7 @@ void MultiCAN::handle_frame(AP_HAL::CANFrame &frame) // register a callback for a CAN frame by adding it to the linked list void MultiCAN::MultiCANLinkedList::register_callback(ForwardCanFrame callback) { - CANSensor_Multi* newNode = new CANSensor_Multi(); + CANSensor_Multi* newNode = NEW_NOTHROW CANSensor_Multi(); if (newNode == nullptr) { AP_BoardConfig::allocation_error("Failed to create multican node"); } From 4bf2d87d70ede9e06a2f16531ae89fda84918021 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 041/282] AP_CheckFirmware: use NEW_NOTHROW for new(std::nothrow) --- .../AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp b/libraries/AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp index 0357c42e728d5e..8668e88c96b0e0 100644 --- a/libraries/AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp +++ b/libraries/AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp @@ -77,7 +77,7 @@ static bool empty_1k(const uint8_t *data) AP_CheckFirmware::bl_data *AP_CheckFirmware::read_bootloader(void) { #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS - struct bl_data *bld = new bl_data; + struct bl_data *bld = NEW_NOTHROW bl_data; if (bld == nullptr) { return nullptr; } @@ -95,7 +95,7 @@ AP_CheckFirmware::bl_data *AP_CheckFirmware::read_bootloader(void) } bld->length1 += block_size; } - bld->data1 = new uint8_t[bld->length1]; + bld->data1 = NEW_NOTHROW uint8_t[bld->length1]; if (bld->data1 == nullptr) { delete bld; return nullptr; @@ -118,7 +118,7 @@ AP_CheckFirmware::bl_data *AP_CheckFirmware::read_bootloader(void) if (num_blocks > 0) { // we have persistent data to save bld->length2 = num_blocks * block_size; - bld->data2 = new uint8_t[bld->length2]; + bld->data2 = NEW_NOTHROW uint8_t[bld->length2]; if (bld->data2 == nullptr) { delete bld; return nullptr; @@ -365,7 +365,7 @@ void AP_CheckFirmware::handle_secure_command(mavlink_channel_t chan, const mavli reply.result = MAV_RESULT_FAILED; goto send_reply; } - uint8_t *data = new uint8_t[num_keys*AP_PUBLIC_KEY_LEN]; + uint8_t *data = NEW_NOTHROW uint8_t[num_keys*AP_PUBLIC_KEY_LEN]; if (data == nullptr) { reply.result = MAV_RESULT_FAILED; goto send_reply; From 5620fee636270217079a3512b03d32ebc364d532 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 042/282] AP_Common: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Common/MultiHeap.cpp | 2 +- libraries/AP_Common/tests/test_cpp.cpp | 5 +++-- libraries/AP_Common/tests/test_expandingstring.cpp | 4 ++-- .../AP_Common/tests/test_expandingstring_failure.cpp | 8 ++++---- 4 files changed, 10 insertions(+), 9 deletions(-) diff --git a/libraries/AP_Common/MultiHeap.cpp b/libraries/AP_Common/MultiHeap.cpp index af0b86cf268646..7912e9d4008cac 100644 --- a/libraries/AP_Common/MultiHeap.cpp +++ b/libraries/AP_Common/MultiHeap.cpp @@ -40,7 +40,7 @@ bool MultiHeap::create(uint32_t total_size, uint8_t max_heaps) // don't allow double allocation return false; } - heaps = new void*[max_heaps]; + heaps = NEW_NOTHROW void*[max_heaps]; if (heaps == nullptr) { return false; } diff --git a/libraries/AP_Common/tests/test_cpp.cpp b/libraries/AP_Common/tests/test_cpp.cpp index 9ffe282bbd4c7f..5374814fe66e15 100644 --- a/libraries/AP_Common/tests/test_cpp.cpp +++ b/libraries/AP_Common/tests/test_cpp.cpp @@ -1,4 +1,5 @@ #include +#include int hal = 0; @@ -10,7 +11,7 @@ class DummyDummy { TEST(AP_Common, TEST_CPP) { - DummyDummy * test_new = new DummyDummy[1]; + DummyDummy * test_new = NEW_NOTHROW DummyDummy[1]; EXPECT_FALSE(test_new == nullptr); EXPECT_TRUE(sizeof(test_new) == 8); EXPECT_FLOAT_EQ(test_new->count, 1); @@ -22,7 +23,7 @@ TEST(AP_Common, TEST_CPP) EXPECT_EQ(test_d->count, 0); // constructor isn't called EXPECT_FLOAT_EQ(test_d->d, 0.0); - DummyDummy * test_d2 = new DummyDummy; + DummyDummy * test_d2 = NEW_NOTHROW DummyDummy; EXPECT_TRUE(sizeof(test_d2) == 8); EXPECT_EQ(test_d2->count, 1); EXPECT_FLOAT_EQ(test_d2->d, 42.0); diff --git a/libraries/AP_Common/tests/test_expandingstring.cpp b/libraries/AP_Common/tests/test_expandingstring.cpp index 99cd16e4e6cdea..6b8451305bd33b 100644 --- a/libraries/AP_Common/tests/test_expandingstring.cpp +++ b/libraries/AP_Common/tests/test_expandingstring.cpp @@ -6,7 +6,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL(); TEST(ExpandingString, Tests) { - ExpandingString *test_string = new ExpandingString(); + ExpandingString *test_string = NEW_NOTHROW ExpandingString(); test_string->printf("Test\n"); EXPECT_STREQ("Test\n", test_string->get_string()); EXPECT_STREQ("Test\n", test_string->get_writeable_string()); @@ -15,7 +15,7 @@ TEST(ExpandingString, Tests) EXPECT_TRUE(test_string->append("Test2\n", 6)); test_string->~ExpandingString(); EXPECT_STRNE("Test\n", test_string->get_string()); - test_string = new ExpandingString(); + test_string = NEW_NOTHROW ExpandingString(); char long_string[2048]; std::fill(std::begin(long_string),std::end(long_string),'a'); test_string->printf("%s", long_string); diff --git a/libraries/AP_Common/tests/test_expandingstring_failure.cpp b/libraries/AP_Common/tests/test_expandingstring_failure.cpp index 81b54f132cba29..0e1c440855a9ee 100644 --- a/libraries/AP_Common/tests/test_expandingstring_failure.cpp +++ b/libraries/AP_Common/tests/test_expandingstring_failure.cpp @@ -70,21 +70,21 @@ void print_vprintf(AP_HAL::BetterStream *s, const char *fmt, va_list ap) { TEST(ExpandingString, Tests) { // Test print_vprintf failure. - ExpandingString *test_string = new ExpandingString(); + ExpandingString *test_string = NEW_NOTHROW ExpandingString(); test_string->printf("Test\n"); EXPECT_STREQ("", test_string->get_string()); EXPECT_STREQ("", test_string->get_writeable_string()); EXPECT_EQ(0u, test_string->get_length()); EXPECT_FALSE(test_string->has_failed_allocation()); // test failure on second printf expand() - test_string = new ExpandingString(); + test_string = NEW_NOTHROW ExpandingString(); test_string->printf("Test\n"); EXPECT_STREQ("", test_string->get_string()); EXPECT_STREQ("", test_string->get_writeable_string()); EXPECT_EQ(0u, test_string->get_length()); EXPECT_TRUE(test_string->has_failed_allocation()); // Test realloc failure - test_string = new ExpandingString(); + test_string = NEW_NOTHROW ExpandingString(); test_string->printf("Test\n"); EXPECT_STREQ(nullptr, test_string->get_string()); EXPECT_STREQ(nullptr, test_string->get_writeable_string()); @@ -99,7 +99,7 @@ TEST(ExpandingString, Tests) EXPECT_EQ(0u, test_string->get_length()); EXPECT_TRUE(test_string->has_failed_allocation()); // test failure on append realloc - test_string = new ExpandingString(); + test_string = NEW_NOTHROW ExpandingString(); EXPECT_FALSE(test_string->append("Test2\n", 6)); EXPECT_TRUE(test_string->has_failed_allocation()); EXPECT_STREQ(nullptr, test_string->get_string()); From 0f08b4732297c596ae5cfc2ae0fe1878db95ca80 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 043/282] AP_Compass: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Compass/AP_Compass.cpp | 8 ++++---- libraries/AP_Compass/AP_Compass_AK09916.cpp | 12 ++++++------ libraries/AP_Compass/AP_Compass_AK8963.cpp | 8 ++++---- libraries/AP_Compass/AP_Compass_BMM150.cpp | 2 +- libraries/AP_Compass/AP_Compass_Calibration.cpp | 2 +- libraries/AP_Compass/AP_Compass_DroneCAN.cpp | 2 +- libraries/AP_Compass/AP_Compass_HMC5843.cpp | 8 ++++---- libraries/AP_Compass/AP_Compass_IST8308.cpp | 2 +- libraries/AP_Compass/AP_Compass_IST8310.cpp | 2 +- libraries/AP_Compass/AP_Compass_LIS3MDL.cpp | 2 +- libraries/AP_Compass/AP_Compass_LSM303D.cpp | 2 +- libraries/AP_Compass/AP_Compass_LSM9DS1.cpp | 2 +- libraries/AP_Compass/AP_Compass_MAG3110.cpp | 2 +- libraries/AP_Compass/AP_Compass_MMC3416.cpp | 2 +- libraries/AP_Compass/AP_Compass_MMC5xx3.cpp | 2 +- libraries/AP_Compass/AP_Compass_QMC5883L.cpp | 2 +- libraries/AP_Compass/AP_Compass_QMC5883P.cpp | 2 +- libraries/AP_Compass/AP_Compass_RM3100.cpp | 2 +- 18 files changed, 32 insertions(+), 32 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index 039ade2d5a70e2..a38b2ae934f954 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -1323,7 +1323,7 @@ void Compass::_detect_backends(void) #if AP_COMPASS_EXTERNALAHRS_ENABLED const int8_t serial_port = AP::externalAHRS().get_port(AP_ExternalAHRS::AvailableSensor::COMPASS); if (serial_port >= 0) { - ADD_BACKEND(DRIVER_EXTERNALAHRS, new AP_Compass_ExternalAHRS(serial_port)); + ADD_BACKEND(DRIVER_EXTERNALAHRS, NEW_NOTHROW AP_Compass_ExternalAHRS(serial_port)); } #endif @@ -1337,7 +1337,7 @@ void Compass::_detect_backends(void) #endif #if AP_COMPASS_SITL_ENABLED && !AP_TEST_DRONECAN_DRIVERS - ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL()); + ADD_BACKEND(DRIVER_SITL, NEW_NOTHROW AP_Compass_SITL()); #endif #if AP_COMPASS_DRONECAN_ENABLED @@ -1356,7 +1356,7 @@ void Compass::_detect_backends(void) #if AP_COMPASS_MSP_ENABLED for (uint8_t i=0; i<8; i++) { if (msp_instance_mask & (1U<update(); diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp index 8630da5e9747b2..6ac853dd67bb62 100644 --- a/libraries/AP_Compass/AP_Compass_AK09916.cpp +++ b/libraries/AP_Compass/AP_Compass_AK09916.cpp @@ -79,12 +79,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr if (!dev) { return nullptr; } - AP_AK09916_BusDriver *bus = new AP_AK09916_BusDriver_HALDevice(std::move(dev)); + AP_AK09916_BusDriver *bus = NEW_NOTHROW AP_AK09916_BusDriver_HALDevice(std::move(dev)); if (!bus) { return nullptr; } - AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(bus, force_external, rotation); + AP_Compass_AK09916 *sensor = NEW_NOTHROW AP_Compass_AK09916(bus, force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; @@ -179,12 +179,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_SPI(uint8_t inv2_instance AP_InertialSensor &ins = AP::ins(); AP_AK09916_BusDriver *bus = - new AP_AK09916_BusDriver_Auxiliary(ins, HAL_INS_INV2_SPI, inv2_instance, HAL_COMPASS_AK09916_I2C_ADDR); + NEW_NOTHROW AP_AK09916_BusDriver_Auxiliary(ins, HAL_INS_INV2_SPI, inv2_instance, HAL_COMPASS_AK09916_I2C_ADDR); if (!bus) { return nullptr; } - AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(bus, false, rotation); + AP_Compass_AK09916 *sensor = NEW_NOTHROW AP_Compass_AK09916(bus, false, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; @@ -202,12 +202,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_I2C(uint8_t inv2_instance AP_InertialSensor &ins = AP::ins(); AP_AK09916_BusDriver *bus = - new AP_AK09916_BusDriver_Auxiliary(ins, HAL_INS_INV2_I2C, inv2_instance, HAL_COMPASS_AK09916_I2C_ADDR); + NEW_NOTHROW AP_AK09916_BusDriver_Auxiliary(ins, HAL_INS_INV2_I2C, inv2_instance, HAL_COMPASS_AK09916_I2C_ADDR); if (!bus) { return nullptr; } - AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(bus, false, rotation); + AP_Compass_AK09916 *sensor = NEW_NOTHROW AP_Compass_AK09916(bus, false, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp index ad6a8c6d234efd..c4dc7e66f88c3d 100644 --- a/libraries/AP_Compass/AP_Compass_AK8963.cpp +++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp @@ -69,12 +69,12 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr d if (!dev) { return nullptr; } - AP_AK8963_BusDriver *bus = new AP_AK8963_BusDriver_HALDevice(std::move(dev)); + AP_AK8963_BusDriver *bus = NEW_NOTHROW AP_AK8963_BusDriver_HALDevice(std::move(dev)); if (!bus) { return nullptr; } - AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation); + AP_Compass_AK8963 *sensor = NEW_NOTHROW AP_Compass_AK8963(bus, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; @@ -106,12 +106,12 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance, AP_InertialSensor &ins = *AP_InertialSensor::get_singleton(); AP_AK8963_BusDriver *bus = - new AP_AK8963_BusDriver_Auxiliary(ins, HAL_INS_MPU9250_SPI, mpu9250_instance, AK8963_I2C_ADDR); + NEW_NOTHROW AP_AK8963_BusDriver_Auxiliary(ins, HAL_INS_MPU9250_SPI, mpu9250_instance, AK8963_I2C_ADDR); if (!bus) { return nullptr; } - AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation); + AP_Compass_AK8963 *sensor = NEW_NOTHROW AP_Compass_AK8963(bus, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_BMM150.cpp b/libraries/AP_Compass/AP_Compass_BMM150.cpp index 7be066c66fc52a..eb4dcd0b36de6c 100644 --- a/libraries/AP_Compass/AP_Compass_BMM150.cpp +++ b/libraries/AP_Compass/AP_Compass_BMM150.cpp @@ -70,7 +70,7 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr d if (!dev) { return nullptr; } - AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), force_external, rotation); + AP_Compass_BMM150 *sensor = NEW_NOTHROW AP_Compass_BMM150(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp index 809ca03c0e931d..db5e55d6717b61 100644 --- a/libraries/AP_Compass/AP_Compass_Calibration.cpp +++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp @@ -63,7 +63,7 @@ bool Compass::_start_calibration(uint8_t i, bool retry, float delay) #endif if (_calibrator[prio] == nullptr) { - _calibrator[prio] = new CompassCalibrator(); + _calibrator[prio] = NEW_NOTHROW CompassCalibrator(); if (_calibrator[prio] == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Compass cal object not initialised"); return false; diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp index 3f29ec5706b04b..0a59abc4cc6114 100644 --- a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp +++ b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp @@ -63,7 +63,7 @@ AP_Compass_Backend* AP_Compass_DroneCAN::probe(uint8_t index) if (!_detected_modules[index].driver && _detected_modules[index].ap_dronecan) { WITH_SEMAPHORE(_sem_registry); // Register new Compass mode to a backend - driver = new AP_Compass_DroneCAN(_detected_modules[index].ap_dronecan, _detected_modules[index].devid); + driver = NEW_NOTHROW AP_Compass_DroneCAN(_detected_modules[index].ap_dronecan, _detected_modules[index].devid); if (driver) { if (!driver->init()) { delete driver; diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp index 6c8f91764598bc..00ec9573f5a521 100644 --- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp +++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp @@ -112,12 +112,12 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(AP_HAL::OwnPtr dev if (!dev) { return nullptr; } - AP_HMC5843_BusDriver *bus = new AP_HMC5843_BusDriver_HALDevice(std::move(dev)); + AP_HMC5843_BusDriver *bus = NEW_NOTHROW AP_HMC5843_BusDriver_HALDevice(std::move(dev)); if (!bus) { return nullptr; } - AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(bus, force_external, rotation); + AP_Compass_HMC5843 *sensor = NEW_NOTHROW AP_Compass_HMC5843(bus, force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; @@ -132,13 +132,13 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(enum Rotation rotation) AP_InertialSensor &ins = *AP_InertialSensor::get_singleton(); AP_HMC5843_BusDriver *bus = - new AP_HMC5843_BusDriver_Auxiliary(ins, HAL_INS_MPU60XX_SPI, + NEW_NOTHROW AP_HMC5843_BusDriver_Auxiliary(ins, HAL_INS_MPU60XX_SPI, HAL_COMPASS_HMC5843_I2C_ADDR); if (!bus) { return nullptr; } - AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(bus, false, rotation); + AP_Compass_HMC5843 *sensor = NEW_NOTHROW AP_Compass_HMC5843(bus, false, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_IST8308.cpp b/libraries/AP_Compass/AP_Compass_IST8308.cpp index 49adf9de7b1c99..e1031a1960b1b7 100644 --- a/libraries/AP_Compass/AP_Compass_IST8308.cpp +++ b/libraries/AP_Compass/AP_Compass_IST8308.cpp @@ -89,7 +89,7 @@ AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr return nullptr; } - AP_Compass_IST8308 *sensor = new AP_Compass_IST8308(std::move(dev), force_external, rotation); + AP_Compass_IST8308 *sensor = NEW_NOTHROW AP_Compass_IST8308(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_IST8310.cpp b/libraries/AP_Compass/AP_Compass_IST8310.cpp index c2f368ce58a1e3..c391ed5083896e 100644 --- a/libraries/AP_Compass/AP_Compass_IST8310.cpp +++ b/libraries/AP_Compass/AP_Compass_IST8310.cpp @@ -86,7 +86,7 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(AP_HAL::OwnPtr return nullptr; } - AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(std::move(dev), force_external, rotation); + AP_Compass_IST8310 *sensor = NEW_NOTHROW AP_Compass_IST8310(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp b/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp index 713ff00befe2f0..7c6efbb6b3539f 100644 --- a/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp +++ b/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp @@ -57,7 +57,7 @@ AP_Compass_Backend *AP_Compass_LIS3MDL::probe(AP_HAL::OwnPtr dev if (!dev) { return nullptr; } - AP_Compass_LIS3MDL *sensor = new AP_Compass_LIS3MDL(std::move(dev), force_external, rotation); + AP_Compass_LIS3MDL *sensor = NEW_NOTHROW AP_Compass_LIS3MDL(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_LSM303D.cpp b/libraries/AP_Compass/AP_Compass_LSM303D.cpp index c3a2e682179e56..7d0437d169d24c 100644 --- a/libraries/AP_Compass/AP_Compass_LSM303D.cpp +++ b/libraries/AP_Compass/AP_Compass_LSM303D.cpp @@ -164,7 +164,7 @@ AP_Compass_Backend *AP_Compass_LSM303D::probe(AP_HAL::OwnPtr dev if (!dev) { return nullptr; } - AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(std::move(dev)); + AP_Compass_LSM303D *sensor = NEW_NOTHROW AP_Compass_LSM303D(std::move(dev)); if (!sensor || !sensor->init(rotation)) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp b/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp index 60db0f54de6226..d423254347e301 100644 --- a/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp +++ b/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp @@ -62,7 +62,7 @@ AP_Compass_Backend *AP_Compass_LSM9DS1::probe(AP_HAL::OwnPtr dev if (!dev) { return nullptr; } - AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(std::move(dev), rotation); + AP_Compass_LSM9DS1 *sensor = NEW_NOTHROW AP_Compass_LSM9DS1(std::move(dev), rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_MAG3110.cpp b/libraries/AP_Compass/AP_Compass_MAG3110.cpp index 69ae611c82d6c9..c486a0fac10c6e 100644 --- a/libraries/AP_Compass/AP_Compass_MAG3110.cpp +++ b/libraries/AP_Compass/AP_Compass_MAG3110.cpp @@ -93,7 +93,7 @@ AP_Compass_Backend *AP_Compass_MAG3110::probe(AP_HAL::OwnPtr dev if (!dev) { return nullptr; } - AP_Compass_MAG3110 *sensor = new AP_Compass_MAG3110(std::move(dev)); + AP_Compass_MAG3110 *sensor = NEW_NOTHROW AP_Compass_MAG3110(std::move(dev)); if (!sensor || !sensor->init(rotation)) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_MMC3416.cpp b/libraries/AP_Compass/AP_Compass_MMC3416.cpp index b8003869c599d0..aab22e046a7399 100644 --- a/libraries/AP_Compass/AP_Compass_MMC3416.cpp +++ b/libraries/AP_Compass/AP_Compass_MMC3416.cpp @@ -50,7 +50,7 @@ AP_Compass_Backend *AP_Compass_MMC3416::probe(AP_HAL::OwnPtr if (!dev) { return nullptr; } - AP_Compass_MMC3416 *sensor = new AP_Compass_MMC3416(std::move(dev), force_external, rotation); + AP_Compass_MMC3416 *sensor = NEW_NOTHROW AP_Compass_MMC3416(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp b/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp index d671f3deb5b796..fdde08bfca55ec 100644 --- a/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp +++ b/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp @@ -49,7 +49,7 @@ AP_Compass_Backend *AP_Compass_MMC5XX3::probe(AP_HAL::OwnPtr dev if (!dev) { return nullptr; } - AP_Compass_MMC5XX3 *sensor = new AP_Compass_MMC5XX3(std::move(dev), force_external, rotation); + AP_Compass_MMC5XX3 *sensor = NEW_NOTHROW AP_Compass_MMC5XX3(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_QMC5883L.cpp b/libraries/AP_Compass/AP_Compass_QMC5883L.cpp index ad1bea49892a36..aabed388dcce84 100644 --- a/libraries/AP_Compass/AP_Compass_QMC5883L.cpp +++ b/libraries/AP_Compass/AP_Compass_QMC5883L.cpp @@ -67,7 +67,7 @@ AP_Compass_Backend *AP_Compass_QMC5883L::probe(AP_HAL::OwnPtr return nullptr; } - AP_Compass_QMC5883L *sensor = new AP_Compass_QMC5883L(std::move(dev),force_external,rotation); + AP_Compass_QMC5883L *sensor = NEW_NOTHROW AP_Compass_QMC5883L(std::move(dev),force_external,rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_QMC5883P.cpp b/libraries/AP_Compass/AP_Compass_QMC5883P.cpp index 80d6e46f1c6997..af8e6861ae1ace 100644 --- a/libraries/AP_Compass/AP_Compass_QMC5883P.cpp +++ b/libraries/AP_Compass/AP_Compass_QMC5883P.cpp @@ -82,7 +82,7 @@ AP_Compass_Backend *AP_Compass_QMC5883P::probe(AP_HAL::OwnPtr if (!dev) { return nullptr; } - AP_Compass_QMC5883P *sensor = new AP_Compass_QMC5883P(std::move(dev),force_external,rotation); + AP_Compass_QMC5883P *sensor = NEW_NOTHROW AP_Compass_QMC5883P(std::move(dev),force_external,rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; diff --git a/libraries/AP_Compass/AP_Compass_RM3100.cpp b/libraries/AP_Compass/AP_Compass_RM3100.cpp index 7e4fd7970b5819..6a64bd0d0b1171 100644 --- a/libraries/AP_Compass/AP_Compass_RM3100.cpp +++ b/libraries/AP_Compass/AP_Compass_RM3100.cpp @@ -74,7 +74,7 @@ AP_Compass_Backend *AP_Compass_RM3100::probe(AP_HAL::OwnPtr dev, if (!dev) { return nullptr; } - AP_Compass_RM3100 *sensor = new AP_Compass_RM3100(std::move(dev), force_external, rotation); + AP_Compass_RM3100 *sensor = NEW_NOTHROW AP_Compass_RM3100(std::move(dev), force_external, rotation); if (!sensor || !sensor->init()) { delete sensor; return nullptr; From 98caad29f5fe6a35492eba14e79cc87342fae9e0 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 044/282] AP_CustomRotations: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_CustomRotations/AP_CustomRotations.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_CustomRotations/AP_CustomRotations.cpp b/libraries/AP_CustomRotations/AP_CustomRotations.cpp index ad938c1b109577..86345121a835cb 100644 --- a/libraries/AP_CustomRotations/AP_CustomRotations.cpp +++ b/libraries/AP_CustomRotations/AP_CustomRotations.cpp @@ -139,7 +139,7 @@ AP_CustomRotation* AP_CustomRotations::get_rotation(Rotation r) } const uint8_t index = r - ROTATION_CUSTOM_1; if (rotations[index] == nullptr) { - rotations[index] = new AP_CustomRotation(params[index]); + rotations[index] = NEW_NOTHROW AP_CustomRotation(params[index]); // make sure param is enabled if custom rotation is used enable.set_and_save_ifchanged(1); } From 50253834ef6321b7652ae855a313d23d892c90f4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 045/282] AP_DAL: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_DAL/AP_DAL.cpp | 8 ++++---- libraries/AP_DAL/AP_DAL.h | 16 ++++++++-------- libraries/AP_DAL/AP_DAL_RangeFinder.cpp | 12 ++++++------ 3 files changed, 18 insertions(+), 18 deletions(-) diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp index 6c8824a5a45222..25967843eb194f 100644 --- a/libraries/AP_DAL/AP_DAL.cpp +++ b/libraries/AP_DAL/AP_DAL.cpp @@ -136,27 +136,27 @@ void AP_DAL::init_sensors(void) auto *rng = AP::rangefinder(); if (rng && rng->num_sensors() > 0) { - alloc_failed |= (_rangefinder = new AP_DAL_RangeFinder) == nullptr; + alloc_failed |= (_rangefinder = NEW_NOTHROW AP_DAL_RangeFinder) == nullptr; } #if AP_AIRSPEED_ENABLED auto *aspeed = AP::airspeed(); if (aspeed != nullptr && aspeed->get_num_sensors() > 0) { - alloc_failed |= (_airspeed = new AP_DAL_Airspeed) == nullptr; + alloc_failed |= (_airspeed = NEW_NOTHROW AP_DAL_Airspeed) == nullptr; } #endif #if AP_BEACON_ENABLED auto *bcn = AP::beacon(); if (bcn != nullptr && bcn->enabled()) { - alloc_failed |= (_beacon = new AP_DAL_Beacon) == nullptr; + alloc_failed |= (_beacon = NEW_NOTHROW AP_DAL_Beacon) == nullptr; } #endif #if HAL_VISUALODOM_ENABLED auto *vodom = AP::visualodom(); if (vodom != nullptr && vodom->enabled()) { - alloc_failed |= (_visualodom = new AP_DAL_VisualOdom) == nullptr; + alloc_failed |= (_visualodom = NEW_NOTHROW AP_DAL_VisualOdom) == nullptr; } #endif diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h index d8c92e01b53912..099f644e568825 100644 --- a/libraries/AP_DAL/AP_DAL.h +++ b/libraries/AP_DAL/AP_DAL.h @@ -65,7 +65,7 @@ class AP_DAL { static AP_DAL *get_singleton() { if (!_singleton) { - _singleton = new AP_DAL(); + _singleton = NEW_NOTHROW AP_DAL(); } return _singleton; } @@ -242,13 +242,13 @@ class AP_DAL { void handle_message(const log_RASH &msg) { if (_airspeed == nullptr) { - _airspeed = new AP_DAL_Airspeed; + _airspeed = NEW_NOTHROW AP_DAL_Airspeed; } _airspeed->handle_message(msg); } void handle_message(const log_RASI &msg) { if (_airspeed == nullptr) { - _airspeed = new AP_DAL_Airspeed; + _airspeed = NEW_NOTHROW AP_DAL_Airspeed; } _airspeed->handle_message(msg); } @@ -262,13 +262,13 @@ class AP_DAL { void handle_message(const log_RRNH &msg) { if (_rangefinder == nullptr) { - _rangefinder = new AP_DAL_RangeFinder; + _rangefinder = NEW_NOTHROW AP_DAL_RangeFinder; } _rangefinder->handle_message(msg); } void handle_message(const log_RRNI &msg) { if (_rangefinder == nullptr) { - _rangefinder = new AP_DAL_RangeFinder; + _rangefinder = NEW_NOTHROW AP_DAL_RangeFinder; } _rangefinder->handle_message(msg); } @@ -293,7 +293,7 @@ class AP_DAL { void handle_message(const log_RBCH &msg) { #if AP_BEACON_ENABLED if (_beacon == nullptr) { - _beacon = new AP_DAL_Beacon; + _beacon = NEW_NOTHROW AP_DAL_Beacon; } _beacon->handle_message(msg); #endif @@ -301,7 +301,7 @@ class AP_DAL { void handle_message(const log_RBCI &msg) { #if AP_BEACON_ENABLED if (_beacon == nullptr) { - _beacon = new AP_DAL_Beacon; + _beacon = NEW_NOTHROW AP_DAL_Beacon; } _beacon->handle_message(msg); #endif @@ -309,7 +309,7 @@ class AP_DAL { void handle_message(const log_RVOH &msg) { #if HAL_VISUALODOM_ENABLED if (_visualodom == nullptr) { - _visualodom = new AP_DAL_VisualOdom; + _visualodom = NEW_NOTHROW AP_DAL_VisualOdom; } _visualodom->handle_message(msg); #endif diff --git a/libraries/AP_DAL/AP_DAL_RangeFinder.cpp b/libraries/AP_DAL/AP_DAL_RangeFinder.cpp index d7cee48bfa70dc..803c8b629bf8da 100644 --- a/libraries/AP_DAL/AP_DAL_RangeFinder.cpp +++ b/libraries/AP_DAL/AP_DAL_RangeFinder.cpp @@ -12,8 +12,8 @@ AP_DAL_RangeFinder::AP_DAL_RangeFinder() { #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay) _RRNH.num_sensors = AP::rangefinder()->num_sensors(); - _RRNI = new log_RRNI[_RRNH.num_sensors]; - _backend = new AP_DAL_RangeFinder_Backend *[_RRNH.num_sensors]; + _RRNI = NEW_NOTHROW log_RRNI[_RRNH.num_sensors]; + _backend = NEW_NOTHROW AP_DAL_RangeFinder_Backend *[_RRNH.num_sensors]; if (!_RRNI || !_backend) { goto failed; } @@ -22,7 +22,7 @@ AP_DAL_RangeFinder::AP_DAL_RangeFinder() } for (uint8_t i=0; i<_RRNH.num_sensors; i++) { // this avoids having to discard a const.... - _backend[i] = new AP_DAL_RangeFinder_Backend(_RRNI[i]); + _backend[i] = NEW_NOTHROW AP_DAL_RangeFinder_Backend(_RRNI[i]); if (!_backend[i]) { goto failed; } @@ -132,8 +132,8 @@ void AP_DAL_RangeFinder::handle_message(const log_RRNH &msg) { _RRNH = msg; if (_RRNH.num_sensors > 0 && _RRNI == nullptr) { - _RRNI = new log_RRNI[_RRNH.num_sensors]; - _backend = new AP_DAL_RangeFinder_Backend *[_RRNH.num_sensors]; + _RRNI = NEW_NOTHROW log_RRNI[_RRNH.num_sensors]; + _backend = NEW_NOTHROW AP_DAL_RangeFinder_Backend *[_RRNH.num_sensors]; } } @@ -142,7 +142,7 @@ void AP_DAL_RangeFinder::handle_message(const log_RRNI &msg) if (_RRNI != nullptr && msg.instance < _RRNH.num_sensors) { _RRNI[msg.instance] = msg; if (_backend != nullptr && _backend[msg.instance] == nullptr) { - _backend[msg.instance] = new AP_DAL_RangeFinder_Backend(_RRNI[msg.instance]); + _backend[msg.instance] = NEW_NOTHROW AP_DAL_RangeFinder_Backend(_RRNI[msg.instance]); } } } From d5a90af9ba99fca1f1d30b9ad05d4a10d4287617 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 046/282] AP_DDS: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_DDS/AP_DDS_Client.cpp | 4 ++-- libraries/AP_DDS/AP_DDS_UDP.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 2e9a69165031de..b3d58306ba3c49 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -791,8 +791,8 @@ bool AP_DDS_Client::init_session() } // setup reliable stream buffers - input_reliable_stream = new uint8_t[DDS_BUFFER_SIZE]; - output_reliable_stream = new uint8_t[DDS_BUFFER_SIZE]; + input_reliable_stream = NEW_NOTHROW uint8_t[DDS_BUFFER_SIZE]; + output_reliable_stream = NEW_NOTHROW uint8_t[DDS_BUFFER_SIZE]; if (input_reliable_stream == nullptr || output_reliable_stream == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Allocation failed", msg_prefix); return false; diff --git a/libraries/AP_DDS/AP_DDS_UDP.cpp b/libraries/AP_DDS/AP_DDS_UDP.cpp index 6593100618bb50..6496e7ebb076c2 100644 --- a/libraries/AP_DDS/AP_DDS_UDP.cpp +++ b/libraries/AP_DDS/AP_DDS_UDP.cpp @@ -10,7 +10,7 @@ bool AP_DDS_Client::udp_transport_open(uxrCustomTransport *t) { AP_DDS_Client *dds = (AP_DDS_Client *)t->args; - auto *sock = new SocketAPM(true); + auto *sock = NEW_NOTHROW SocketAPM(true); if (sock == nullptr) { return false; } From ed8926361ff0c9ab29595e3dad5518f9d9cc5f2b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 047/282] AP_DroneCAN: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_DroneCAN/AP_Canard_iface.cpp | 2 +- libraries/AP_DroneCAN/AP_DroneCAN.cpp | 2 +- libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp | 6 +++--- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp index ebece8962676ac..8be4b0a4c24c62 100644 --- a/libraries/AP_DroneCAN/AP_Canard_iface.cpp +++ b/libraries/AP_DroneCAN/AP_Canard_iface.cpp @@ -30,7 +30,7 @@ HAL_Semaphore test_iface_sem; void canard_allocate_sem_take(CanardPoolAllocator *allocator) { if (allocator->semaphore == nullptr) { - allocator->semaphore = new HAL_Semaphore; + allocator->semaphore = NEW_NOTHROW HAL_Semaphore; if (allocator->semaphore == nullptr) { // out of memory CANARD_ASSERT(0); diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp index 67c629b2416168..986f0f7600c1e8 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp +++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp @@ -343,7 +343,7 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters) uint8_t uid_len = sizeof(uavcan_protocol_HardwareVersion::unique_id); uint8_t unique_id[sizeof(uavcan_protocol_HardwareVersion::unique_id)]; - mem_pool = new uint32_t[_pool_size/sizeof(uint32_t)]; + mem_pool = NEW_NOTHROW uint32_t[_pool_size/sizeof(uint32_t)]; if (mem_pool == nullptr) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to allocate memory pool\n\r"); return; diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp index 4eb488117d6ac7..56102a4d305dba 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp +++ b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp @@ -52,7 +52,7 @@ void AP_DroneCAN_Serial::init(AP_DroneCAN *_dronecan) if (Canard::allocate_sub_arg_callback(dronecan, &handle_tunnel_targetted, dronecan->get_driver_index()) == nullptr) { AP_BoardConfig::allocation_error("serial_tunnel_sub"); } - targetted = new Canard::Publisher(dronecan->get_canard_iface()); + targetted = NEW_NOTHROW Canard::Publisher(dronecan->get_canard_iface()); if (targetted == nullptr) { AP_BoardConfig::allocation_error("serial_tunnel_pub"); } @@ -194,12 +194,12 @@ bool AP_DroneCAN_Serial::Port::init_buffers(const uint32_t size_rx, const uint32 } WITH_SEMAPHORE(sem); if (readbuffer == nullptr) { - readbuffer = new ByteBuffer(size_rx); + readbuffer = NEW_NOTHROW ByteBuffer(size_rx); } else { readbuffer->set_size_best(size_rx); } if (writebuffer == nullptr) { - writebuffer = new ByteBuffer(size_tx); + writebuffer = NEW_NOTHROW ByteBuffer(size_tx); } else { writebuffer->set_size_best(size_tx); } From b07e0bf06ba00e705b103d663596e2c946a84dc4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 048/282] AP_EFI: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_EFI/AP_EFI.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_EFI/AP_EFI.cpp b/libraries/AP_EFI/AP_EFI.cpp index 09f737e27d5813..b2a0940602127e 100644 --- a/libraries/AP_EFI/AP_EFI.cpp +++ b/libraries/AP_EFI/AP_EFI.cpp @@ -98,42 +98,42 @@ void AP_EFI::init(void) break; #if AP_EFI_SERIAL_MS_ENABLED case Type::MegaSquirt: - backend = new AP_EFI_Serial_MS(*this); + backend = NEW_NOTHROW AP_EFI_Serial_MS(*this); break; #endif #if AP_EFI_SERIAL_LUTAN_ENABLED case Type::Lutan: - backend = new AP_EFI_Serial_Lutan(*this); + backend = NEW_NOTHROW AP_EFI_Serial_Lutan(*this); break; #endif #if AP_EFI_NWPWU_ENABLED case Type::NWPMU: - backend = new AP_EFI_NWPMU(*this); + backend = NEW_NOTHROW AP_EFI_NWPMU(*this); break; #endif #if AP_EFI_DRONECAN_ENABLED case Type::DroneCAN: - backend = new AP_EFI_DroneCAN(*this); + backend = NEW_NOTHROW AP_EFI_DroneCAN(*this); break; #endif #if AP_EFI_CURRAWONG_ECU_ENABLED case Type::CurrawongECU: - backend = new AP_EFI_Currawong_ECU(*this); + backend = NEW_NOTHROW AP_EFI_Currawong_ECU(*this); break; #endif #if AP_EFI_SCRIPTING_ENABLED case Type::SCRIPTING: - backend = new AP_EFI_Scripting(*this); + backend = NEW_NOTHROW AP_EFI_Scripting(*this); break; #endif #if AP_EFI_SERIAL_HIRTH_ENABLED case Type::Hirth: - backend = new AP_EFI_Serial_Hirth(*this); + backend = NEW_NOTHROW AP_EFI_Serial_Hirth(*this); break; #endif #if AP_EFI_MAV_ENABLED case Type::MAV: - backend = new AP_EFI_MAV(*this); + backend = NEW_NOTHROW AP_EFI_MAV(*this); break; #endif default: From 5756b9a3dedb14145029238c3765b9e2f767428d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 049/282] AP_ExternalAHRS: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 8 ++++---- libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp index 7900bab8256e95..e113eba81d0869 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp @@ -108,25 +108,25 @@ void AP_ExternalAHRS::init(void) #if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED case DevType::VecNav: - backend = new AP_ExternalAHRS_VectorNav(this, state); + backend = NEW_NOTHROW AP_ExternalAHRS_VectorNav(this, state); return; #endif #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED case DevType::MicroStrain5: - backend = new AP_ExternalAHRS_MicroStrain5(this, state); + backend = NEW_NOTHROW AP_ExternalAHRS_MicroStrain5(this, state); return; #endif #if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED case DevType::MicroStrain7: - backend = new AP_ExternalAHRS_MicroStrain7(this, state); + backend = NEW_NOTHROW AP_ExternalAHRS_MicroStrain7(this, state); return; #endif #if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED case DevType::InertialLabs: - backend = new AP_ExternalAHRS_InertialLabs(this, state); + backend = NEW_NOTHROW AP_ExternalAHRS_InertialLabs(this, state); return; #endif diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp index 179f05fd9f1e2c..af207f54c6a5ba 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp @@ -183,9 +183,9 @@ AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend, port_num = sm.find_portnum(AP_SerialManager::SerialProtocol_AHRS, 0); bufsize = MAX(MAX(VN_PKT1_LENGTH, VN_PKT2_LENGTH), VN_100_PKT1_LENGTH); - pktbuf = new uint8_t[bufsize]; - last_pkt1 = new VN_packet1; - last_pkt2 = new VN_packet2; + pktbuf = NEW_NOTHROW uint8_t[bufsize]; + last_pkt1 = NEW_NOTHROW VN_packet1; + last_pkt2 = NEW_NOTHROW VN_packet2; if (!pktbuf || !last_pkt1 || !last_pkt2) { AP_BoardConfig::allocation_error("VectorNav ExternalAHRS"); From 4da9c245d135ebc6b8b1fe7fdb5399e79f2323bc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:10 +1000 Subject: [PATCH 050/282] AP_FETtecOneWire: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp b/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp index af59ca8110a180..9bbc3e2e7d5f38 100644 --- a/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp +++ b/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp @@ -134,7 +134,7 @@ void AP_FETtecOneWire::init() } // we have a uart and the desired ESC combination id valid, allocate some memory: - _escs = new ESC[_esc_count]; + _escs = NEW_NOTHROW ESC[_esc_count]; if (_escs == nullptr) { return; } From a241b13f4558f6e4bc1e14e2f17657df6279c77b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 051/282] AP_Filesystem: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Filesystem/AP_Filesystem.cpp | 2 +- libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp | 2 +- libraries/AP_Filesystem/AP_Filesystem_Mission.cpp | 4 ++-- libraries/AP_Filesystem/AP_Filesystem_Param.cpp | 4 ++-- libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp | 2 +- libraries/AP_Filesystem/AP_Filesystem_Sys.cpp | 4 ++-- libraries/AP_Filesystem/AP_Filesystem_backend.cpp | 2 +- libraries/AP_Filesystem/posix_compat.cpp | 2 +- 8 files changed, 11 insertions(+), 11 deletions(-) diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp index 63f575bb5be2df..c780c5a9b1663e 100644 --- a/libraries/AP_Filesystem/AP_Filesystem.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem.cpp @@ -208,7 +208,7 @@ AP_Filesystem::DirHandle *AP_Filesystem::opendir(const char *pathname) } const Backend &backend = backend_by_path(pathname); - DirHandle *h = new DirHandle; + DirHandle *h = NEW_NOTHROW DirHandle; if (!h) { return nullptr; } diff --git a/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp b/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp index ba47b60c742b9c..c234779d050165 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp @@ -706,7 +706,7 @@ void *AP_Filesystem_FATFS::opendir(const char *pathdir) CHECK_REMOUNT_NULL(); debug("Opendir %s", pathdir); - struct DIR_Wrapper *ret = new DIR_Wrapper; + struct DIR_Wrapper *ret = NEW_NOTHROW DIR_Wrapper; if (!ret) { return nullptr; } diff --git a/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp b/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp index cba03addcdf75b..28c1ea1b0eb2a2 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp @@ -70,7 +70,7 @@ int AP_Filesystem_Mission::open(const char *fname, int flags, bool allow_absolut r.num_items = get_num_items(r.mtype); if (!readonly) { // setup for upload - r.writebuf = new ExpandingString(); + r.writebuf = NEW_NOTHROW ExpandingString(); } else { r.writebuf = nullptr; } @@ -464,7 +464,7 @@ bool AP_Filesystem_Mission::finish_upload_fence(const struct header &hdr, const // passing nullptr and 0 items through to Polyfence loader is // absolutely OK: if (hdr.num_items != 0) { - new_items = new AC_PolyFenceItem[hdr.num_items]; + new_items = NEW_NOTHROW AC_PolyFenceItem[hdr.num_items]; if (new_items == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Out of memory for upload"); goto OUT; diff --git a/libraries/AP_Filesystem/AP_Filesystem_Param.cpp b/libraries/AP_Filesystem/AP_Filesystem_Param.cpp index d29efe8f9df055..31a53acc0d3014 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_Param.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_Param.cpp @@ -50,7 +50,7 @@ int AP_Filesystem_Param::open(const char *fname, int flags, bool allow_absolute_ } struct rfile &r = file[idx]; if (read_only) { - r.cursors = new cursor[num_cursors]; + r.cursors = NEW_NOTHROW cursor[num_cursors]; if (r.cursors == nullptr) { errno = ENOMEM; return -1; @@ -66,7 +66,7 @@ int AP_Filesystem_Param::open(const char *fname, int flags, bool allow_absolute_ r.writebuf = nullptr; if (!read_only) { // setup for upload - r.writebuf = new ExpandingString(); + r.writebuf = NEW_NOTHROW ExpandingString(); if (r.writebuf == nullptr) { close(idx); errno = ENOMEM; diff --git a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp index f1aa5d69d98840..eb562694a8de7b 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp @@ -245,7 +245,7 @@ bool AP_Filesystem_ROMFS::set_mtime(const char *filename, const uint32_t mtime_s */ FileData *AP_Filesystem_ROMFS::load_file(const char *filename) { - FileData *fd = new FileData(this); + FileData *fd = NEW_NOTHROW FileData(this); if (!fd) { return nullptr; } diff --git a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp index 9eadd7f607b407..7efa34db0bb19e 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp @@ -83,7 +83,7 @@ int AP_Filesystem_Sys::open(const char *fname, int flags, bool allow_absolute_pa return -1; } struct rfile &r = file[idx]; - r.str = new ExpandingString; + r.str = NEW_NOTHROW ExpandingString; if (r.str == nullptr) { errno = ENOMEM; return -1; @@ -229,7 +229,7 @@ void *AP_Filesystem_Sys::opendir(const char *pathname) errno = ENOENT; return nullptr; } - DirReadTracker *dtracker = new DirReadTracker; + DirReadTracker *dtracker = NEW_NOTHROW DirReadTracker; if (dtracker == nullptr) { errno = ENOMEM; return nullptr; diff --git a/libraries/AP_Filesystem/AP_Filesystem_backend.cpp b/libraries/AP_Filesystem/AP_Filesystem_backend.cpp index 342eac4dbdc0b7..db1eb970756e0e 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_backend.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_backend.cpp @@ -29,7 +29,7 @@ FileData *AP_Filesystem_Backend::load_file(const char *filename) if (stat(filename, &st) != 0) { return nullptr; } - FileData *fd = new FileData(this); + FileData *fd = NEW_NOTHROW FileData(this); if (fd == nullptr) { return nullptr; } diff --git a/libraries/AP_Filesystem/posix_compat.cpp b/libraries/AP_Filesystem/posix_compat.cpp index 6dee4f1653431f..f29e70fe803b66 100644 --- a/libraries/AP_Filesystem/posix_compat.cpp +++ b/libraries/AP_Filesystem/posix_compat.cpp @@ -70,7 +70,7 @@ static int posix_fopen_modes_to_open(const char *mode) APFS_FILE *apfs_fopen(const char *pathname, const char *mode) { - APFS_FILE *f = new APFS_FILE; + APFS_FILE *f = NEW_NOTHROW APFS_FILE; if (!f) { return nullptr; } From ab408bf3af05a2d661ead4219035c8b2dc9dc665 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 052/282] AP_Frsky_Telem: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp index aba8772465226e..450591a381bd37 100644 --- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp +++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp @@ -66,15 +66,15 @@ bool AP_Frsky_Telem::init(bool use_external_data) AP_HAL::UARTDriver *port; if ((port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) { #if AP_FRSKY_D_TELEM_ENABLED - _backend = new AP_Frsky_D(port); + _backend = NEW_NOTHROW AP_Frsky_D(port); #endif } else if ((port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) { #if AP_FRSKY_SPORT_TELEM_ENABLED - _backend = new AP_Frsky_SPort(port); + _backend = NEW_NOTHROW AP_Frsky_SPort(port); #endif } else if (use_external_data || (port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) { #if AP_FRSKY_SPORT_PASSTHROUGH_ENABLED - _backend = new AP_Frsky_SPort_Passthrough(port, use_external_data, _frsky_parameters); + _backend = NEW_NOTHROW AP_Frsky_SPort_Passthrough(port, use_external_data, _frsky_parameters); #endif } @@ -116,7 +116,7 @@ void AP_Frsky_Telem::try_create_singleton_for_external_data() { // try to allocate an AP_Frsky_Telem object only if we are disarmed if (!singleton && !hal.util->get_soft_armed()) { - new AP_Frsky_Telem(); + NEW_NOTHROW AP_Frsky_Telem(); // initialize the passthrough scheduler if (singleton) { singleton->init(true); From c70c8657bcd2a2281a23145c2046de9bf326ecbd Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 053/282] AP_Generator: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Generator/AP_Generator.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Generator/AP_Generator.cpp b/libraries/AP_Generator/AP_Generator.cpp index d5cfca045d2d79..f1906bdc8fb503 100644 --- a/libraries/AP_Generator/AP_Generator.cpp +++ b/libraries/AP_Generator/AP_Generator.cpp @@ -67,19 +67,19 @@ void AP_Generator::init() #if AP_GENERATOR_IE_650_800_ENABLED case Type::IE_650_800: - _driver_ptr = new AP_Generator_IE_650_800(*this); + _driver_ptr = NEW_NOTHROW AP_Generator_IE_650_800(*this); break; #endif #if AP_GENERATOR_IE_2400_ENABLED case Type::IE_2400: - _driver_ptr = new AP_Generator_IE_2400(*this); + _driver_ptr = NEW_NOTHROW AP_Generator_IE_2400(*this); break; #endif #if AP_GENERATOR_RICHENPOWER_ENABLED case Type::RICHENPOWER: - _driver_ptr = new AP_Generator_RichenPower(*this); + _driver_ptr = NEW_NOTHROW AP_Generator_RichenPower(*this); break; #endif } From 1e075aeb80c359962bb93a38e33c90618c14de28 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 054/282] AP_GPS: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_GPS/AP_GPS.cpp | 30 ++++++++++++++-------------- libraries/AP_GPS/AP_GPS_DroneCAN.cpp | 10 +++++----- libraries/AP_GPS/AP_GPS_UBLOX.cpp | 2 +- 3 files changed, 21 insertions(+), 21 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index 73829001c8771d..43d6f71e945ab0 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/libraries/AP_GPS/AP_GPS.cpp @@ -633,7 +633,7 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance) case GPS_TYPE_MAV: #if AP_GPS_MAV_ENABLED dstate->auto_detected_baud = false; // specified, not detected - return new AP_GPS_MAV(*this, params[instance], state[instance], nullptr); + return NEW_NOTHROW AP_GPS_MAV(*this, params[instance], state[instance], nullptr); #endif //AP_GPS_MAV_ENABLED // user has to explicitly set the UAVCAN type, do not use AUTO @@ -648,17 +648,17 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance) #if HAL_MSP_GPS_ENABLED case GPS_TYPE_MSP: dstate->auto_detected_baud = false; // specified, not detected - return new AP_GPS_MSP(*this, params[instance], state[instance], nullptr); + return NEW_NOTHROW AP_GPS_MSP(*this, params[instance], state[instance], nullptr); #endif #if HAL_EXTERNAL_AHRS_ENABLED case GPS_TYPE_EXTERNAL_AHRS: dstate->auto_detected_baud = false; // specified, not detected - return new AP_GPS_ExternalAHRS(*this, params[instance], state[instance], nullptr); + return NEW_NOTHROW AP_GPS_ExternalAHRS(*this, params[instance], state[instance], nullptr); #endif #if AP_GPS_GSOF_ENABLED case GPS_TYPE_GSOF: dstate->auto_detected_baud = false; // specified, not detected - return new AP_GPS_GSOF(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_GSOF(*this, params[instance], state[instance], _port[instance]); #endif //AP_GPS_GSOF_ENABLED default: break; @@ -712,16 +712,16 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance) // by default the sbf/trimble gps outputs no data on its port, until configured. case GPS_TYPE_SBF: case GPS_TYPE_SBF_DUAL_ANTENNA: - return new AP_GPS_SBF(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_SBF(*this, params[instance], state[instance], _port[instance]); #endif //AP_GPS_SBF_ENABLED #if AP_GPS_NOVA_ENABLED case GPS_TYPE_NOVA: - return new AP_GPS_NOVA(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_NOVA(*this, params[instance], state[instance], _port[instance]); #endif //AP_GPS_NOVA_ENABLED #if HAL_SIM_GPS_ENABLED case GPS_TYPE_SITL: - return new AP_GPS_SITL(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_SITL(*this, params[instance], state[instance], _port[instance]); #endif // HAL_SIM_GPS_ENABLED default: @@ -746,7 +746,7 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance) (_baudrates[dstate->current_baud] >= 115200 && option_set(DriverOptions::UBX_Use115200)) || _baudrates[dstate->current_baud] == 230400) && AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) { - return new AP_GPS_UBLOX(*this, params[instance], state[instance], _port[instance], GPS_ROLE_NORMAL); + return NEW_NOTHROW AP_GPS_UBLOX(*this, params[instance], state[instance], _port[instance], GPS_ROLE_NORMAL); } const uint32_t ublox_mb_required_baud = option_set(DriverOptions::UBX_MBUseUart2)?230400:460800; @@ -760,31 +760,31 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance) } else { role = GPS_ROLE_MB_ROVER; } - return new AP_GPS_UBLOX(*this, params[instance], state[instance], _port[instance], role); + return NEW_NOTHROW AP_GPS_UBLOX(*this, params[instance], state[instance], _port[instance], role); } #endif // AP_GPS_UBLOX_ENABLED #if AP_GPS_SBP2_ENABLED if ((type == GPS_TYPE_AUTO || type == GPS_TYPE_SBP) && AP_GPS_SBP2::_detect(dstate->sbp2_detect_state, data)) { - return new AP_GPS_SBP2(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_SBP2(*this, params[instance], state[instance], _port[instance]); } #endif //AP_GPS_SBP2_ENABLED #if AP_GPS_SBP_ENABLED if ((type == GPS_TYPE_AUTO || type == GPS_TYPE_SBP) && AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) { - return new AP_GPS_SBP(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_SBP(*this, params[instance], state[instance], _port[instance]); } #endif //AP_GPS_SBP_ENABLED #if AP_GPS_SIRF_ENABLED if ((type == GPS_TYPE_AUTO || type == GPS_TYPE_SIRF) && AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) { - return new AP_GPS_SIRF(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_SIRF(*this, params[instance], state[instance], _port[instance]); } #endif #if AP_GPS_ERB_ENABLED if ((type == GPS_TYPE_AUTO || type == GPS_TYPE_ERB) && AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) { - return new AP_GPS_ERB(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_ERB(*this, params[instance], state[instance], _port[instance]); } #endif // AP_GPS_ERB_ENABLED #if AP_GPS_NMEA_ENABLED @@ -796,7 +796,7 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance) #endif type == GPS_TYPE_ALLYSTAR) && AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) { - return new AP_GPS_NMEA(*this, params[instance], state[instance], _port[instance]); + return NEW_NOTHROW AP_GPS_NMEA(*this, params[instance], state[instance], _port[instance]); } #endif //AP_GPS_NMEA_ENABLED } @@ -1618,7 +1618,7 @@ bool AP_GPS::parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm return false; } if (rtcm.parsers[chan] == nullptr) { - rtcm.parsers[chan] = new RTCM3_Parser(); + rtcm.parsers[chan] = NEW_NOTHROW RTCM3_Parser(); if (rtcm.parsers[chan] == nullptr) { return false; } diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp index 927090a36fb946..a2130fdbdc2995 100644 --- a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp +++ b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp @@ -170,14 +170,14 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state) // initialise the backend based on the UAVCAN Moving baseline selection switch (_gps.get_type(_state.instance)) { case AP_GPS::GPS_TYPE_UAVCAN: - backend = new AP_GPS_DroneCAN(_gps, _gps.params[_state.instance], _state, AP_GPS::GPS_ROLE_NORMAL); + backend = NEW_NOTHROW AP_GPS_DroneCAN(_gps, _gps.params[_state.instance], _state, AP_GPS::GPS_ROLE_NORMAL); break; #if GPS_MOVING_BASELINE case AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE: - backend = new AP_GPS_DroneCAN(_gps, _gps.params[_state.instance], _state, AP_GPS::GPS_ROLE_MB_BASE); + backend = NEW_NOTHROW AP_GPS_DroneCAN(_gps, _gps.params[_state.instance], _state, AP_GPS::GPS_ROLE_MB_BASE); break; case AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER: - backend = new AP_GPS_DroneCAN(_gps, _gps.params[_state.instance], _state, AP_GPS::GPS_ROLE_MB_ROVER); + backend = NEW_NOTHROW AP_GPS_DroneCAN(_gps, _gps.params[_state.instance], _state, AP_GPS::GPS_ROLE_MB_ROVER); break; #endif default: @@ -214,7 +214,7 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state) } #if GPS_MOVING_BASELINE if (backend->role == AP_GPS::GPS_ROLE_MB_BASE) { - backend->rtcm3_parser = new RTCM3_Parser; + backend->rtcm3_parser = NEW_NOTHROW RTCM3_Parser; if (backend->rtcm3_parser == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DroneCAN%u-%u: failed RTCMv3 parser allocation", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id); } @@ -822,7 +822,7 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len) if (_rtcm_stream.buf == nullptr) { // give enough space for a full round from a NTRIP server with all // constellations - _rtcm_stream.buf = new ByteBuffer(2400); + _rtcm_stream.buf = NEW_NOTHROW ByteBuffer(2400); if (_rtcm_stream.buf == nullptr) { return; } diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index 179c5d34d482e7..6f98b115b9acb2 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -120,7 +120,7 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, #if GPS_MOVING_BASELINE if (role == AP_GPS::GPS_ROLE_MB_BASE && !mb_use_uart2()) { - rtcm3_parser = new RTCM3_Parser; + rtcm3_parser = NEW_NOTHROW RTCM3_Parser; if (rtcm3_parser == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "u-blox %d: failed RTCMv3 parser allocation", state.instance + 1); } From 62e3c6e5a43aa32510f40bd090a7d901fe3a2433 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 055/282] AP_Gripper: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Gripper/AP_Gripper.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp index 1fbd9e197ae83a..6c069e603ec0a5 100644 --- a/libraries/AP_Gripper/AP_Gripper.cpp +++ b/libraries/AP_Gripper/AP_Gripper.cpp @@ -113,12 +113,12 @@ void AP_Gripper::init() break; #if AP_GRIPPER_SERVO_ENABLED case 1: - backend = new AP_Gripper_Servo(config); + backend = NEW_NOTHROW AP_Gripper_Servo(config); break; #endif #if AP_GRIPPER_EPM_ENABLED case 2: - backend = new AP_Gripper_EPM(config); + backend = NEW_NOTHROW AP_Gripper_EPM(config); break; #endif default: From 375eab8560e6cfa2ca30f6e19234bb1356214634 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 056/282] AP_GyroFFT: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_GyroFFT/AP_GyroFFT.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_GyroFFT/AP_GyroFFT.cpp b/libraries/AP_GyroFFT/AP_GyroFFT.cpp index 308c9e598ab188..54c47dc6caa1f3 100644 --- a/libraries/AP_GyroFFT/AP_GyroFFT.cpp +++ b/libraries/AP_GyroFFT/AP_GyroFFT.cpp @@ -259,7 +259,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz) } _current_sample_mode = _sample_mode; - _ref_energy = new Vector3f[_window_size]; + _ref_energy = NEW_NOTHROW Vector3f[_window_size]; if (_ref_energy == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to allocate window for AP_GyroFFT"); return; From 8dbad82c8a6b8b8d2abf1ddf2d19d5080732b883 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 057/282] AP_HAL_ChibiOS: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL_ChibiOS/AnalogIn.cpp | 2 +- libraries/AP_HAL_ChibiOS/CanIface.cpp | 2 +- libraries/AP_HAL_ChibiOS/DSP.cpp | 2 +- libraries/AP_HAL_ChibiOS/Device.cpp | 2 +- libraries/AP_HAL_ChibiOS/GPIO.cpp | 4 ++-- libraries/AP_HAL_ChibiOS/I2CDevice.cpp | 4 ++-- libraries/AP_HAL_ChibiOS/RCOutput.cpp | 4 ++-- libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp | 4 ++-- libraries/AP_HAL_ChibiOS/SPIDevice.cpp | 6 +++--- libraries/AP_HAL_ChibiOS/UARTDriver.cpp | 2 +- libraries/AP_HAL_ChibiOS/WSPIDevice.cpp | 4 ++-- libraries/AP_HAL_ChibiOS/shared_dma.cpp | 2 +- 12 files changed, 19 insertions(+), 19 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp index 0621162132eef5..13a06048b129c8 100644 --- a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp +++ b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp @@ -770,7 +770,7 @@ AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin) WITH_SEMAPHORE(_semaphore); for (uint8_t j=0; j_hanning_window == nullptr || fft->_rfft_data == nullptr || fft->_freq_bins == nullptr || fft->_derivative_freq_bins == nullptr) { delete fft; return nullptr; diff --git a/libraries/AP_HAL_ChibiOS/Device.cpp b/libraries/AP_HAL_ChibiOS/Device.cpp index 619804a4b98e5a..42788f36d85e38 100644 --- a/libraries/AP_HAL_ChibiOS/Device.cpp +++ b/libraries/AP_HAL_ChibiOS/Device.cpp @@ -134,7 +134,7 @@ AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t pe AP_HAL::panic("Failed to create bus thread %s", name); } } - DeviceBus::callback_info *callback = new DeviceBus::callback_info; + DeviceBus::callback_info *callback = NEW_NOTHROW DeviceBus::callback_info; if (callback == nullptr) { return nullptr; } diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp index f62bd73c27bfd2..15812c9b33fbdb 100644 --- a/libraries/AP_HAL_ChibiOS/GPIO.cpp +++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp @@ -285,14 +285,14 @@ AP_HAL::DigitalSource* GPIO::channel(uint16_t pin) { #if HAL_WITH_IO_MCU if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) { - return new IOMCU_DigitalSource(pin); + return NEW_NOTHROW IOMCU_DigitalSource(pin); } #endif struct gpio_entry *g = gpio_by_pin_num(pin); if (!g) { return nullptr; } - return new DigitalSource(g->pal_line); + return NEW_NOTHROW DigitalSource(g->pal_line); } extern const AP_HAL::HAL& hal; diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp index f046fdd4979f7b..6a9514df9fc0ac 100644 --- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp +++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp @@ -102,7 +102,7 @@ I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(I2CD)]; void I2CBus::dma_init(void) { chMtxObjectInit(&dma_lock); - dma_handle = new Shared_DMA(I2CD[busnum].dma_channel_tx, I2CD[busnum].dma_channel_rx, + dma_handle = NEW_NOTHROW Shared_DMA(I2CD[busnum].dma_channel_tx, I2CD[busnum].dma_channel_rx, FUNCTOR_BIND_MEMBER(&I2CBus::dma_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&I2CBus::dma_deallocate, void, Shared_DMA *)); } @@ -459,7 +459,7 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address, if (bus >= ARRAY_SIZE(I2CD)) { return AP_HAL::OwnPtr(nullptr); } - auto dev = AP_HAL::OwnPtr(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms)); + auto dev = AP_HAL::OwnPtr(NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms)); return dev; } diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp index 015b0c378feedb..0fcc96e04c4c05 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp @@ -945,7 +945,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_ } #else if (!group.dma_handle) { - group.dma_handle = new Shared_DMA(group.dma_up_stream_id, SHARED_DMA_NONE, + group.dma_handle = NEW_NOTHROW Shared_DMA(group.dma_up_stream_id, SHARED_DMA_NONE, FUNCTOR_BIND_MEMBER(&RCOutput::dma_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&RCOutput::dma_deallocate, void, Shared_DMA *)); if (!group.dma_handle) { @@ -2565,7 +2565,7 @@ bool RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t for (uint8_t j = 0; j < 4; j++) { delete[] grp->serial_led_data[j]; grp->serial_led_data[j] = nullptr; - grp->serial_led_data[j] = new SerialLed[grp->serial_nleds]; + grp->serial_led_data[j] = NEW_NOTHROW SerialLed[grp->serial_nleds]; if (grp->serial_led_data[j] == nullptr) { // if allocation failed clear all memory for (uint8_t k = 0; k < 4; k++) { diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp index 1138f42b7137e3..801512a687d7d9 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp @@ -101,7 +101,7 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group) if (group.dma_ch[i].stream_id == group.dma_up_stream_id) { group.bdshot.ic_dma_handle[i] = group.dma_handle; } else { - group.bdshot.ic_dma_handle[i] = new Shared_DMA(group.dma_ch[i].stream_id, SHARED_DMA_NONE, + group.bdshot.ic_dma_handle[i] = NEW_NOTHROW Shared_DMA(group.dma_ch[i].stream_id, SHARED_DMA_NONE, FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_deallocate, void, Shared_DMA *)); } @@ -165,7 +165,7 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group) group.bdshot.ic_dma_handle[i] = group.dma_handle; } else { // we can use the next channel - group.bdshot.ic_dma_handle[i] = new Shared_DMA(group.dma_ch[curr_chan].stream_id, SHARED_DMA_NONE, + group.bdshot.ic_dma_handle[i] = NEW_NOTHROW Shared_DMA(group.dma_ch[curr_chan].stream_id, SHARED_DMA_NONE, FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_deallocate, void, Shared_DMA *)); } diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp index 48fd7fcff56e10..8709f86a823c9a 100644 --- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp +++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp @@ -82,7 +82,7 @@ SPIBus::SPIBus(uint8_t _bus) : chMtxObjectInit(&dma_lock); // allow for sharing of DMA channels with other peripherals - dma_handle = new Shared_DMA(spi_devices[bus].dma_channel_rx, + dma_handle = NEW_NOTHROW Shared_DMA(spi_devices[bus].dma_channel_rx, spi_devices[bus].dma_channel_tx, FUNCTOR_BIND_MEMBER(&SPIBus::dma_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&SPIBus::dma_deallocate, void, Shared_DMA *)); @@ -470,7 +470,7 @@ SPIDeviceManager::get_device(const char *name) } if (busp == nullptr) { // create a new one - busp = new SPIBus(desc.bus); + busp = NEW_NOTHROW SPIBus(desc.bus); if (busp == nullptr) { return nullptr; } @@ -480,7 +480,7 @@ SPIDeviceManager::get_device(const char *name) buses = busp; } - return AP_HAL::OwnPtr(new SPIDevice(*busp, desc)); + return AP_HAL::OwnPtr(NEW_NOTHROW SPIDevice(*busp, desc)); } void SPIDeviceManager::set_register_rw_callback(const char* name, AP_HAL::Device::RegisterRWCb cb) diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp index fd52ea79065b80..70ee7f2875c411 100644 --- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp +++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp @@ -414,7 +414,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS) // we only allow for sharing of the TX DMA channel, not the RX // DMA channel, as the RX side is active all the time, so // cannot be shared - dma_handle = new Shared_DMA(sdef.dma_tx_stream_id, + dma_handle = NEW_NOTHROW Shared_DMA(sdef.dma_tx_stream_id, SHARED_DMA_NONE, FUNCTOR_BIND_MEMBER(&UARTDriver::dma_tx_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&UARTDriver::dma_tx_deallocate, void, Shared_DMA *)); diff --git a/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp b/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp index ac654919810a4e..49857a09a7e6e4 100644 --- a/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp +++ b/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp @@ -212,7 +212,7 @@ WSPIDeviceManager::get_device(const char *name) } if (busp == nullptr) { // create a new one - busp = new WSPIBus(desc.bus); + busp = NEW_NOTHROW WSPIBus(desc.bus); if (busp == nullptr) { return nullptr; } @@ -222,7 +222,7 @@ WSPIDeviceManager::get_device(const char *name) buses = busp; } - return AP_HAL::OwnPtr(new WSPIDevice(*busp, desc)); + return AP_HAL::OwnPtr(NEW_NOTHROW WSPIDevice(*busp, desc)); } #endif // #if HAL_USE_WSPI == TRUE && defined(HAL_QPI_DEVICE_LIST) diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.cpp b/libraries/AP_HAL_ChibiOS/shared_dma.cpp index 68b86d4b27f64d..7d72700cf61ba2 100644 --- a/libraries/AP_HAL_ChibiOS/shared_dma.cpp +++ b/libraries/AP_HAL_ChibiOS/shared_dma.cpp @@ -249,7 +249,7 @@ void Shared_DMA::dma_info(ExpandingString &str) { // no buffer allocated, start counting if (_contention_stats == nullptr) { - _contention_stats = new dma_stats[SHARED_DMA_MAX_STREAM_ID+1]; + _contention_stats = NEW_NOTHROW dma_stats[SHARED_DMA_MAX_STREAM_ID+1]; // return zeros on first fetch } From d3133b8fa104edf663d4dae1ad5aabc2f09b08c1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 058/282] AP_HAL_Empty: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL_Empty/AnalogIn.cpp | 2 +- libraries/AP_HAL_Empty/GPIO.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_Empty/AnalogIn.cpp b/libraries/AP_HAL_Empty/AnalogIn.cpp index 2ce5b286a552d8..9430aec6d329ec 100644 --- a/libraries/AP_HAL_Empty/AnalogIn.cpp +++ b/libraries/AP_HAL_Empty/AnalogIn.cpp @@ -33,7 +33,7 @@ void AnalogIn::init() {} AP_HAL::AnalogSource* AnalogIn::channel(int16_t n) { - return new AnalogSource(1.11); + return NEW_NOTHROW AnalogSource(1.11); } float AnalogIn::board_voltage(void) diff --git a/libraries/AP_HAL_Empty/GPIO.cpp b/libraries/AP_HAL_Empty/GPIO.cpp index 694f69e563e838..19f8245ee229bd 100644 --- a/libraries/AP_HAL_Empty/GPIO.cpp +++ b/libraries/AP_HAL_Empty/GPIO.cpp @@ -24,7 +24,7 @@ void GPIO::toggle(uint8_t pin) /* Alternative interface: */ AP_HAL::DigitalSource* GPIO::channel(uint16_t n) { - return new DigitalSource(0); + return NEW_NOTHROW DigitalSource(0); } bool GPIO::usb_connected(void) From 9caf942c7efd05c6c5bd726b519a4276633ae775 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 059/282] AP_HAL_ESP32: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL_ESP32/AnalogIn.cpp | 2 +- libraries/AP_HAL_ESP32/DeviceBus.cpp | 2 +- libraries/AP_HAL_ESP32/I2CDevice.cpp | 2 +- libraries/AP_HAL_ESP32/SPIDevice.cpp | 4 ++-- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_HAL_ESP32/AnalogIn.cpp b/libraries/AP_HAL_ESP32/AnalogIn.cpp index 6ae04bc489591e..6eec1cc08e73ed 100644 --- a/libraries/AP_HAL_ESP32/AnalogIn.cpp +++ b/libraries/AP_HAL_ESP32/AnalogIn.cpp @@ -348,7 +348,7 @@ AP_HAL::AnalogSource *AnalogIn::channel(int16_t ardupin) for (uint8_t j = 0; j < ANALOG_MAX_CHANNELS; j++) { if (_channels[j] == nullptr) { - _channels[j] = new AnalogSource(ardupin,gpioAdcPin, scaler,0.0f,1); + _channels[j] = NEW_NOTHROW AnalogSource(ardupin,gpioAdcPin, scaler,0.0f,1); if (ardupin != ANALOG_INPUT_NONE) { DEV_PRINTF("AnalogIn: channel:%d attached to ardupin:%d at adc1_offset:%d on gpio:%d\n",\ diff --git a/libraries/AP_HAL_ESP32/DeviceBus.cpp b/libraries/AP_HAL_ESP32/DeviceBus.cpp index 5e99e4ac95f2c0..092ee9b00be6c4 100644 --- a/libraries/AP_HAL_ESP32/DeviceBus.cpp +++ b/libraries/AP_HAL_ESP32/DeviceBus.cpp @@ -124,7 +124,7 @@ AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t pe xTaskCreate(DeviceBus::bus_thread, name, Scheduler::DEVICE_SS, this, thread_priority, &bus_thread_handle); } - DeviceBus::callback_info *callback = new DeviceBus::callback_info; + DeviceBus::callback_info *callback = NEW_NOTHROW DeviceBus::callback_info; if (callback == nullptr) { return nullptr; } diff --git a/libraries/AP_HAL_ESP32/I2CDevice.cpp b/libraries/AP_HAL_ESP32/I2CDevice.cpp index 07301a19624402..149d60eb054116 100644 --- a/libraries/AP_HAL_ESP32/I2CDevice.cpp +++ b/libraries/AP_HAL_ESP32/I2CDevice.cpp @@ -159,7 +159,7 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address, if (bus >= ARRAY_SIZE(i2c_bus_desc)) { return AP_HAL::OwnPtr(nullptr); } - auto dev = AP_HAL::OwnPtr(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms)); + auto dev = AP_HAL::OwnPtr(NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms)); return dev; } diff --git a/libraries/AP_HAL_ESP32/SPIDevice.cpp b/libraries/AP_HAL_ESP32/SPIDevice.cpp index 2fa7bd463a5af2..35006a48bea88d 100644 --- a/libraries/AP_HAL_ESP32/SPIDevice.cpp +++ b/libraries/AP_HAL_ESP32/SPIDevice.cpp @@ -220,7 +220,7 @@ SPIDeviceManager::get_device(const char *name) #endif if (busp == nullptr) { // create a new one - busp = new SPIBus(desc.bus); + busp = NEW_NOTHROW SPIBus(desc.bus); if (busp == nullptr) { return nullptr; } @@ -233,6 +233,6 @@ SPIDeviceManager::get_device(const char *name) printf("%s:%d 444\n", __PRETTY_FUNCTION__, __LINE__); #endif - return AP_HAL::OwnPtr(new SPIDevice(*busp, desc)); + return AP_HAL::OwnPtr(NEW_NOTHROW SPIDevice(*busp, desc)); } From 20959524b8be88c7e1707b7d23241a8fab4cf1be Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:11 +1000 Subject: [PATCH 060/282] AP_HAL: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL/Device.cpp | 3 ++- libraries/AP_HAL/utility/RingBuffer.h | 6 +++--- libraries/AP_HAL/utility/Socket.cpp | 4 ++-- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL/Device.cpp b/libraries/AP_HAL/Device.cpp index 8f80bf4bff9fa8..b75c94a84c1357 100644 --- a/libraries/AP_HAL/Device.cpp +++ b/libraries/AP_HAL/Device.cpp @@ -16,6 +16,7 @@ #include "Device.h" #include +#include /* using checked registers allows a device check that a set of critical @@ -44,7 +45,7 @@ bool AP_HAL::Device::setup_checked_registers(uint8_t nregs, uint8_t frequency) _checked.n_set = 0; _checked.next = 0; } - _checked.regs = new struct checkreg[nregs]; + _checked.regs = NEW_NOTHROW struct checkreg[nregs]; if (_checked.regs == nullptr) { return false; } diff --git a/libraries/AP_HAL/utility/RingBuffer.h b/libraries/AP_HAL/utility/RingBuffer.h index bddfc54283fb9a..e28f7084b124cc 100644 --- a/libraries/AP_HAL/utility/RingBuffer.h +++ b/libraries/AP_HAL/utility/RingBuffer.h @@ -116,7 +116,7 @@ class ObjectBuffer { // gives one less byte than requested. We round up to a full // multiple of the object size so that we always get aligned // elements, which makes the readptr() method possible - buffer = new ByteBuffer(((_size+1) * sizeof(T))); + buffer = NEW_NOTHROW ByteBuffer(((_size+1) * sizeof(T))); external_buf = false; } @@ -288,7 +288,7 @@ class ObjectBuffer_TS { // gives one less byte than requested. We round up to a full // multiple of the object size so that we always get aligned // elements, which makes the readptr() method possible - buffer = new ByteBuffer(((_size+1) * sizeof(T))); + buffer = NEW_NOTHROW ByteBuffer(((_size+1) * sizeof(T))); } ~ObjectBuffer_TS(void) { delete buffer; @@ -472,7 +472,7 @@ class ObjectArray { ObjectArray(uint16_t size_) { _size = size_; _head = _count = 0; - _buffer = new T[_size]; + _buffer = NEW_NOTHROW T[_size]; } ~ObjectArray(void) { delete[] _buffer; diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp index 841c0c3c928c21..1f4114ef7f529c 100644 --- a/libraries/AP_HAL/utility/Socket.cpp +++ b/libraries/AP_HAL/utility/Socket.cpp @@ -467,7 +467,7 @@ SOCKET_CLASS_NAME *SOCKET_CLASS_NAME::accept(uint32_t timeout_ms) if (newfd == -1) { return nullptr; } - auto *ret = new SOCKET_CLASS_NAME(false, newfd); + auto *ret = NEW_NOTHROW SOCKET_CLASS_NAME(false, newfd); if (ret != nullptr) { ret->connected = true; ret->reuseaddress(); @@ -504,7 +504,7 @@ void SOCKET_CLASS_NAME::close(void) */ SOCKET_CLASS_NAME *SOCKET_CLASS_NAME::duplicate(void) { - auto *ret = new SOCKET_CLASS_NAME(datagram, fd); + auto *ret = NEW_NOTHROW SOCKET_CLASS_NAME(datagram, fd); if (ret == nullptr) { return nullptr; } From f1c6538f346af094cdae5134b2dc1a91ffe16326 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 061/282] AP_HAL_Linux: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp | 4 ++-- libraries/AP_HAL_Linux/AnalogIn_IIO.cpp | 2 +- libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp | 2 +- libraries/AP_HAL_Linux/GPIO_BBB.cpp | 2 +- libraries/AP_HAL_Linux/GPIO_RPI.cpp | 6 +++--- libraries/AP_HAL_Linux/GPIO_RPI_BCM.cpp | 2 +- libraries/AP_HAL_Linux/GPIO_Sysfs.cpp | 2 +- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 4 ++-- libraries/AP_HAL_Linux/Heat_Pwm.cpp | 4 ++-- libraries/AP_HAL_Linux/I2CDevice.cpp | 2 +- libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp | 10 +++++----- libraries/AP_HAL_Linux/PollerThread.cpp | 2 +- libraries/AP_HAL_Linux/RCInput_Multi.cpp | 2 +- libraries/AP_HAL_Linux/RCInput_RPI.cpp | 4 ++-- libraries/AP_HAL_Linux/RCOutput_AeroIO.cpp | 4 ++-- libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp | 2 +- libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp | 10 +++++----- libraries/AP_HAL_Linux/SPIDevice.cpp | 2 +- libraries/AP_HAL_Linux/SPIUARTDriver.cpp | 2 +- libraries/AP_HAL_Linux/Scheduler.cpp | 2 +- libraries/AP_HAL_Linux/UARTDriver.cpp | 12 ++++++------ libraries/AP_HAL_Linux/Util.cpp | 4 ++-- 22 files changed, 43 insertions(+), 43 deletions(-) diff --git a/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp b/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp index 24adaab39a7fa6..9e1a3f04ab25c8 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp +++ b/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp @@ -44,7 +44,7 @@ extern const AP_HAL::HAL &hal; AnalogIn_ADS1115::AnalogIn_ADS1115() { - _adc = new AP_ADC_ADS1115(); + _adc = NEW_NOTHROW AP_ADC_ADS1115(); _channels_number = _adc->get_channels_number(); } @@ -53,7 +53,7 @@ AP_HAL::AnalogSource* AnalogIn_ADS1115::channel(int16_t pin) WITH_SEMAPHORE(_semaphore); for (uint8_t j = 0; j < _channels_number; j++) { if (_channels[j] == nullptr) { - _channels[j] = new AnalogSource_ADS1115(pin); + _channels[j] = NEW_NOTHROW AnalogSource_ADS1115(pin); return _channels[j]; } } diff --git a/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp b/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp index 97f335defaabfa..b011c902b23175 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp +++ b/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp @@ -129,5 +129,5 @@ void AnalogIn_IIO::init() AP_HAL::AnalogSource* AnalogIn_IIO::channel(int16_t pin) { - return new AnalogSource_IIO(pin, 0.0f, IIO_VOLTAGE_SCALING); + return NEW_NOTHROW AnalogSource_IIO(pin, 0.0f, IIO_VOLTAGE_SCALING); } diff --git a/libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp b/libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp index 0d05ad641ef382..faf450ee98701c 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp +++ b/libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp @@ -111,7 +111,7 @@ AP_HAL::AnalogSource *AnalogIn_Navio2::channel(int16_t pin) WITH_SEMAPHORE(_semaphore); for (uint8_t j = 0; j < _channels_number; j++) { if (_channels[j] == nullptr) { - _channels[j] = new AnalogSource_Navio2(pin); + _channels[j] = NEW_NOTHROW AnalogSource_Navio2(pin); return _channels[j]; } } diff --git a/libraries/AP_HAL_Linux/GPIO_BBB.cpp b/libraries/AP_HAL_Linux/GPIO_BBB.cpp index 69c2c222eef292..6aebf133bdc49d 100644 --- a/libraries/AP_HAL_Linux/GPIO_BBB.cpp +++ b/libraries/AP_HAL_Linux/GPIO_BBB.cpp @@ -114,7 +114,7 @@ void GPIO_BBB::toggle(uint8_t pin) /* Alternative interface: */ AP_HAL::DigitalSource* GPIO_BBB::channel(uint16_t n) { - return new DigitalSource(n); + return NEW_NOTHROW DigitalSource(n); } bool GPIO_BBB::usb_connected(void) diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp index 74d300185e0f80..68d0bc9ea0a4d8 100644 --- a/libraries/AP_HAL_Linux/GPIO_RPI.cpp +++ b/libraries/AP_HAL_Linux/GPIO_RPI.cpp @@ -30,11 +30,11 @@ void GPIO_RPI::init() case LINUX_BOARD_TYPE::RPI_ZERO_1: case LINUX_BOARD_TYPE::RPI_2_3_ZERO2: case LINUX_BOARD_TYPE::RPI_4: - gpioDriver = new GPIO_RPI_BCM(); + gpioDriver = NEW_NOTHROW GPIO_RPI_BCM(); gpioDriver->init(); break; case LINUX_BOARD_TYPE::RPI_5: - gpioDriver = new GPIO_RPI_RP1(); + gpioDriver = NEW_NOTHROW GPIO_RPI_RP1(); gpioDriver->init(); break; default: @@ -71,7 +71,7 @@ void GPIO_RPI::toggle(uint8_t pin) /* Alternative interface: */ AP_HAL::DigitalSource* GPIO_RPI::channel(uint16_t n) { - return new DigitalSource(n); + return NEW_NOTHROW DigitalSource(n); } bool GPIO_RPI::usb_connected(void) diff --git a/libraries/AP_HAL_Linux/GPIO_RPI_BCM.cpp b/libraries/AP_HAL_Linux/GPIO_RPI_BCM.cpp index 38f20237ff55e7..b00624c7ba8444 100644 --- a/libraries/AP_HAL_Linux/GPIO_RPI_BCM.cpp +++ b/libraries/AP_HAL_Linux/GPIO_RPI_BCM.cpp @@ -232,7 +232,7 @@ void GPIO_RPI_BCM::toggle(uint8_t pin) /* Alternative interface: */ AP_HAL::DigitalSource* GPIO_RPI_BCM::channel(uint16_t n) { - return new DigitalSource(n); + return NEW_NOTHROW DigitalSource(n); } bool GPIO_RPI_BCM::usb_connected(void) diff --git a/libraries/AP_HAL_Linux/GPIO_Sysfs.cpp b/libraries/AP_HAL_Linux/GPIO_Sysfs.cpp index eab54f49de9269..34db881593d333 100644 --- a/libraries/AP_HAL_Linux/GPIO_Sysfs.cpp +++ b/libraries/AP_HAL_Linux/GPIO_Sysfs.cpp @@ -205,7 +205,7 @@ AP_HAL::DigitalSource* GPIO_Sysfs::channel(uint16_t vpin) /* Even if we couldn't open the fd, return a new DigitalSource and let * reads and writes fail later due to invalid. Otherwise we * could crash in undesired places */ - return new DigitalSource_Sysfs(pin, value_fd); + return NEW_NOTHROW DigitalSource_Sysfs(pin, value_fd); } bool GPIO_Sysfs::usb_connected(void) diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index a0be63c44ab906..bd7dc4122d5def 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -165,7 +165,7 @@ static RCInput_PRU rcinDriver; CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET static RCInput_AioPRU rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE -static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NULL, "/dev/ttyO4")}; +static RCInput_Multi rcinDriver{2, NEW_NOTHROW RCInput_AioPRU, NEW_NOTHROW RCInput_RCProtocol(NULL, "/dev/ttyO4")}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \ @@ -180,7 +180,7 @@ static RCInput_ZYNQ rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static RCInput_UDP rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO -static RCInput_Multi rcinDriver{2, new RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), new RCInput_UDP()}; +static RCInput_Multi rcinDriver{2, NEW_NOTHROW RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), NEW_NOTHROW RCInput_UDP()}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO static RCInput_SoloLink rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ diff --git a/libraries/AP_HAL_Linux/Heat_Pwm.cpp b/libraries/AP_HAL_Linux/Heat_Pwm.cpp index 75eafcb94927ef..91dddfd40c2e78 100644 --- a/libraries/AP_HAL_Linux/Heat_Pwm.cpp +++ b/libraries/AP_HAL_Linux/Heat_Pwm.cpp @@ -42,11 +42,11 @@ HeatPwm::HeatPwm(uint8_t pwm_num, float Kp, float Ki, uint32_t period_ns) : _period_ns(period_ns) { #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE - _pwm = new PWM_Sysfs(0, pwm_num); + _pwm = NEW_NOTHROW PWM_Sysfs(0, pwm_num); hal.gpio->pinMode(EDGE_GPIO_HEAT_ENABLE, HAL_GPIO_OUTPUT); hal.gpio->write(EDGE_GPIO_HEAT_ENABLE, 1); #else - _pwm = new PWM_Sysfs_Bebop(pwm_num); + _pwm = NEW_NOTHROW PWM_Sysfs_Bebop(pwm_num); #endif _pwm->init(); _pwm->set_period(_period_ns); diff --git a/libraries/AP_HAL_Linux/I2CDevice.cpp b/libraries/AP_HAL_Linux/I2CDevice.cpp index 17a9fd4fcdbe3a..b441dbd03282da 100644 --- a/libraries/AP_HAL_Linux/I2CDevice.cpp +++ b/libraries/AP_HAL_Linux/I2CDevice.cpp @@ -377,7 +377,7 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address, AP_HAL::OwnPtr I2CDeviceManager::_create_device(I2CBus &b, uint8_t address) const { - auto dev = AP_HAL::OwnPtr(new I2CDevice(b, address)); + auto dev = AP_HAL::OwnPtr(NEW_NOTHROW I2CDevice(b, address)); if (!dev) { return nullptr; } diff --git a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp index 9f597ace534133..2429449950bd42 100644 --- a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp +++ b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp @@ -55,7 +55,7 @@ void OpticalFlow_Onboard::init() return; } - _videoin = new VideoIn; + _videoin = NEW_NOTHROW VideoIn; const char* device_path = HAL_OPTFLOW_ONBOARD_VDEV_PATH; memtype = V4L2_MEMORY_MMAP; nbufs = HAL_OPTFLOW_ONBOARD_NBUFS; @@ -75,12 +75,12 @@ void OpticalFlow_Onboard::init() } #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP - _pwm = new PWM_Sysfs_Bebop(BEBOP_CAMV_PWM); + _pwm = NEW_NOTHROW PWM_Sysfs_Bebop(BEBOP_CAMV_PWM); _pwm->init(); _pwm->set_freq(BEBOP_CAMV_PWM_FREQ); _pwm->enable(true); - _camerasensor = new CameraSensor_Mt9v117(HAL_OPTFLOW_ONBOARD_SUBDEV_PATH, + _camerasensor = NEW_NOTHROW CameraSensor_Mt9v117(HAL_OPTFLOW_ONBOARD_SUBDEV_PATH, hal.i2c_mgr->get_device(0, 0x5D), MT9V117_QVGA, BEBOP_GPIO_CAMV_NRST, @@ -146,7 +146,7 @@ void OpticalFlow_Onboard::init() _videoin->prepare_capture(); /* Use px4 algorithm for optical flow */ - _flow = new Flow_PX4(_width, _bytesperline, + _flow = NEW_NOTHROW Flow_PX4(_width, _bytesperline, HAL_FLOW_PX4_MAX_FLOW_PIXEL, HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD, HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD); @@ -170,7 +170,7 @@ void OpticalFlow_Onboard::init() AP_HAL::panic("OpticalFlow_Onboard: failed to create thread"); } - _gyro_ring_buffer = new ObjectBuffer(OPTICAL_FLOW_GYRO_BUFFER_LEN); + _gyro_ring_buffer = NEW_NOTHROW ObjectBuffer(OPTICAL_FLOW_GYRO_BUFFER_LEN); if (_gyro_ring_buffer != nullptr && _gyro_ring_buffer->get_size() == 0) { // allocation failed delete _gyro_ring_buffer; diff --git a/libraries/AP_HAL_Linux/PollerThread.cpp b/libraries/AP_HAL_Linux/PollerThread.cpp index ab46403465068c..9dcd3b0336a833 100644 --- a/libraries/AP_HAL_Linux/PollerThread.cpp +++ b/libraries/AP_HAL_Linux/PollerThread.cpp @@ -93,7 +93,7 @@ TimerPollable *PollerThread::add_timer(TimerPollable::PeriodicCb cb, if (!_poller) { return nullptr; } - TimerPollable *p = new TimerPollable(cb, wrapper); + TimerPollable *p = NEW_NOTHROW TimerPollable(cb, wrapper); if (!p || !p->setup_timer(timeout_usec) || !_poller.register_pollable(p, POLLIN)) { delete p; diff --git a/libraries/AP_HAL_Linux/RCInput_Multi.cpp b/libraries/AP_HAL_Linux/RCInput_Multi.cpp index 2ebcfc42a0140e..093f513c0b0c77 100644 --- a/libraries/AP_HAL_Linux/RCInput_Multi.cpp +++ b/libraries/AP_HAL_Linux/RCInput_Multi.cpp @@ -31,7 +31,7 @@ RCInput_Multi::RCInput_Multi(uint8_t _num_inputs, ...) : num_inputs(_num_inputs) { va_list ap; - inputs = new RCInput*[num_inputs]; + inputs = NEW_NOTHROW RCInput*[num_inputs]; if (inputs == nullptr) { AP_HAL::panic("failed to allocated RCInput array"); } diff --git a/libraries/AP_HAL_Linux/RCInput_RPI.cpp b/libraries/AP_HAL_Linux/RCInput_RPI.cpp index c2d24f3c29c738..5201802ae70bc2 100644 --- a/libraries/AP_HAL_Linux/RCInput_RPI.cpp +++ b/libraries/AP_HAL_Linux/RCInput_RPI.cpp @@ -534,8 +534,8 @@ void RCInput_RPI::init() set_physical_addresses(); // Init memory for buffer and for DMA control blocks. // See comments in "init_ctrl_data()" to understand values "2" and "15" - circle_buffer = new Memory_table(RCIN_RPI_BUFFER_LENGTH * 2, _version); - con_blocks = new Memory_table(RCIN_RPI_BUFFER_LENGTH * 15, _version); + circle_buffer = NEW_NOTHROW Memory_table(RCIN_RPI_BUFFER_LENGTH * 2, _version); + con_blocks = NEW_NOTHROW Memory_table(RCIN_RPI_BUFFER_LENGTH * 15, _version); init_registers(); diff --git a/libraries/AP_HAL_Linux/RCOutput_AeroIO.cpp b/libraries/AP_HAL_Linux/RCOutput_AeroIO.cpp index 1f61cf73259d51..fed355bab1f0eb 100644 --- a/libraries/AP_HAL_Linux/RCOutput_AeroIO.cpp +++ b/libraries/AP_HAL_Linux/RCOutput_AeroIO.cpp @@ -94,8 +94,8 @@ using namespace Linux; extern const AP_HAL::HAL& hal; RCOutput_AeroIO::RCOutput_AeroIO() - : _freq_buffer(new uint16_t[PWM_CHAN_COUNT]) - , _duty_buffer(new uint16_t[PWM_CHAN_COUNT]) + : _freq_buffer(NEW_NOTHROW uint16_t[PWM_CHAN_COUNT]) + , _duty_buffer(NEW_NOTHROW uint16_t[PWM_CHAN_COUNT]) { } diff --git a/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp b/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp index d6c1fed519c3f4..4c88645963107d 100644 --- a/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp +++ b/libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp @@ -65,7 +65,7 @@ RCOutput_PCA9685::RCOutput_PCA9685(AP_HAL::OwnPtr dev, _dev(std::move(dev)), _enable_pin(nullptr), _frequency(50), - _pulses_buffer(new uint16_t[PWM_CHAN_COUNT - channel_offset]), + _pulses_buffer(NEW_NOTHROW uint16_t[PWM_CHAN_COUNT - channel_offset]), _external_clock(external_clock), _channel_offset(channel_offset), _oe_pin_number(oe_pin_number) diff --git a/libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp b/libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp index 5ffbf9ed224dbd..5f43e76294489f 100644 --- a/libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp +++ b/libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp @@ -25,8 +25,8 @@ RCOutput_Sysfs::RCOutput_Sysfs(uint8_t chip, uint8_t channel_base, uint8_t chann : _chip(chip) , _channel_base(channel_base) , _channel_count(channel_count) - , _pwm_channels(new PWM_Sysfs_Base *[_channel_count]) - , _pending(new uint16_t[_channel_count]) + , _pwm_channels(NEW_NOTHROW PWM_Sysfs_Base *[_channel_count]) + , _pending(NEW_NOTHROW uint16_t[_channel_count]) { } @@ -43,11 +43,11 @@ void RCOutput_Sysfs::init() { for (uint8_t i = 0; i < _channel_count; i++) { #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO - _pwm_channels[i] = new PWM_Sysfs_Bebop(_channel_base+i); + _pwm_channels[i] = NEW_NOTHROW PWM_Sysfs_Bebop(_channel_base+i); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ - _pwm_channels[i] = new PWM_Sysfs(_chip+i, 0); + _pwm_channels[i] = NEW_NOTHROW PWM_Sysfs(_chip+i, 0); #else - _pwm_channels[i] = new PWM_Sysfs(_chip, _channel_base+i); + _pwm_channels[i] = NEW_NOTHROW PWM_Sysfs(_chip, _channel_base+i); #endif if (!_pwm_channels[i]) { AP_HAL::panic("RCOutput_Sysfs_PWM: Unable to setup PWM pin."); diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp index a23ab1ca7d174f..1f66cc723197a6 100644 --- a/libraries/AP_HAL_Linux/SPIDevice.cpp +++ b/libraries/AP_HAL_Linux/SPIDevice.cpp @@ -503,7 +503,7 @@ SPIDeviceManager::_create_device(SPIBus &b, SPIDesc &desc) const // Ensure bus is open b.open(desc.subdev); - auto dev = AP_HAL::OwnPtr(new SPIDevice(b, desc)); + auto dev = AP_HAL::OwnPtr(NEW_NOTHROW SPIDevice(b, desc)); if (!dev) { return nullptr; } diff --git a/libraries/AP_HAL_Linux/SPIUARTDriver.cpp b/libraries/AP_HAL_Linux/SPIUARTDriver.cpp index 476ab6655a578f..e88b388b342b2f 100644 --- a/libraries/AP_HAL_Linux/SPIUARTDriver.cpp +++ b/libraries/AP_HAL_Linux/SPIUARTDriver.cpp @@ -54,7 +54,7 @@ void SPIUARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS) if (_buffer == nullptr) { /* Do not allocate new buffer, if we're just changing speed */ - _buffer = new uint8_t[rxS]; + _buffer = NEW_NOTHROW uint8_t[rxS]; if (_buffer == nullptr) { hal.console->printf("Not enough memory\n"); AP_HAL::panic("Not enough memory\n"); diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp index 98e3914332274a..8e35ba97b4c77f 100644 --- a/libraries/AP_HAL_Linux/Scheduler.cpp +++ b/libraries/AP_HAL_Linux/Scheduler.cpp @@ -408,7 +408,7 @@ uint8_t Scheduler::calculate_thread_priority(priority_base base, int8_t priority */ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) { - Thread *thread = new Thread{(Thread::task_t)proc}; + Thread *thread = NEW_NOTHROW Thread{(Thread::task_t)proc}; if (!thread) { return false; } diff --git a/libraries/AP_HAL_Linux/UARTDriver.cpp b/libraries/AP_HAL_Linux/UARTDriver.cpp index fb0be43ceec478..64747297136c06 100644 --- a/libraries/AP_HAL_Linux/UARTDriver.cpp +++ b/libraries/AP_HAL_Linux/UARTDriver.cpp @@ -53,7 +53,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS) { if (!_initialised) { if (device_path == nullptr && _console) { - _device = new ConsoleDevice(); + _device = NEW_NOTHROW ConsoleDevice(); } else { if (device_path == nullptr) { return; @@ -64,7 +64,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS) if (!_device.get()) { ::fprintf(stderr, "Argument is not valid. Fallback to console.\n" "Launch with --help to see an example.\n"); - _device = new ConsoleDevice(); + _device = NEW_NOTHROW ConsoleDevice(); } } } @@ -133,7 +133,7 @@ AP_HAL::OwnPtr UARTDriver::_parseDevicePath(const char *arg) struct stat st; if (stat(arg, &st) == 0 && S_ISCHR(st.st_mode)) { - return AP_HAL::OwnPtr(new UARTDevice(arg)); + return AP_HAL::OwnPtr(NEW_NOTHROW UARTDevice(arg)); } else if (strncmp(arg, "tcp:", 4) != 0 && strncmp(arg, "udp:", 4) != 0 && strncmp(arg, "udpin:", 6)) { @@ -185,17 +185,17 @@ AP_HAL::OwnPtr UARTDriver::_parseDevicePath(const char *arg) _packetise = true; #endif if (strcmp(protocol, "udp") == 0) { - device = new UDPDevice(_ip, _base_port, bcast, false); + device = NEW_NOTHROW UDPDevice(_ip, _base_port, bcast, false); } else { if (bcast) { AP_HAL::panic("Can't combine udpin with bcast"); } - device = new UDPDevice(_ip, _base_port, false, true); + device = NEW_NOTHROW UDPDevice(_ip, _base_port, false, true); } } else { bool wait = (_flag && strcmp(_flag, "wait") == 0); - device = new TCPServerDevice(_ip, _base_port, wait); + device = NEW_NOTHROW TCPServerDevice(_ip, _base_port, wait); } free(devstr); diff --git a/libraries/AP_HAL_Linux/Util.cpp b/libraries/AP_HAL_Linux/Util.cpp index dc9d8083a17b16..894cef4c4934c5 100644 --- a/libraries/AP_HAL_Linux/Util.cpp +++ b/libraries/AP_HAL_Linux/Util.cpp @@ -29,7 +29,7 @@ void Util::init(int argc, char * const *argv) { #ifdef HAL_UTILS_HEAT #if HAL_UTILS_HEAT == HAL_LINUX_HEAT_PWM - _heat = new Linux::HeatPwm(HAL_LINUX_HEAT_PWM_NUM, + _heat = NEW_NOTHROW Linux::HeatPwm(HAL_LINUX_HEAT_PWM_NUM, HAL_LINUX_HEAT_KP, HAL_LINUX_HEAT_KI, HAL_LINUX_HEAT_PERIOD_NS); @@ -37,7 +37,7 @@ void Util::init(int argc, char * const *argv) { #error Unrecognized Heat #endif // #if #else - _heat = new Linux::Heat(); + _heat = NEW_NOTHROW Linux::Heat(); #endif // #ifdef } From 17e338d7f6b20ba6971218e8c4b979534911242d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 062/282] AP_HAL_SITL: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL_SITL/AnalogIn.cpp | 2 +- libraries/AP_HAL_SITL/CANSocketIface.cpp | 4 +- libraries/AP_HAL_SITL/DSP.cpp | 4 +- libraries/AP_HAL_SITL/GPIO.cpp | 2 +- libraries/AP_HAL_SITL/I2CDevice.cpp | 4 +- libraries/AP_HAL_SITL/RCOutput.cpp | 2 +- libraries/AP_HAL_SITL/SITL_Periph_State.cpp | 2 +- libraries/AP_HAL_SITL/SITL_State.cpp | 2 +- libraries/AP_HAL_SITL/SITL_State_common.cpp | 82 ++++++++++----------- libraries/AP_HAL_SITL/SPIDevice.cpp | 6 +- libraries/AP_HAL_SITL/Scheduler.cpp | 2 +- 11 files changed, 56 insertions(+), 56 deletions(-) diff --git a/libraries/AP_HAL_SITL/AnalogIn.cpp b/libraries/AP_HAL_SITL/AnalogIn.cpp index 265092a072caef..84800fc0f2af91 100644 --- a/libraries/AP_HAL_SITL/AnalogIn.cpp +++ b/libraries/AP_HAL_SITL/AnalogIn.cpp @@ -69,7 +69,7 @@ void AnalogIn::init() { } AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin) { - return new ADCSource(_sitlState, pin); + return NEW_NOTHROW ADCSource(_sitlState, pin); } #endif diff --git a/libraries/AP_HAL_SITL/CANSocketIface.cpp b/libraries/AP_HAL_SITL/CANSocketIface.cpp index 4f26ba2e8fdbd0..48a32af1f08234 100644 --- a/libraries/AP_HAL_SITL/CANSocketIface.cpp +++ b/libraries/AP_HAL_SITL/CANSocketIface.cpp @@ -217,11 +217,11 @@ bool CANIface::init(const uint32_t bitrate, const OperatingMode mode) const SITL::SIM::CANTransport can_type = _sitl->can_transport[_self_index]; switch (can_type) { case SITL::SIM::CANTransport::MulticastUDP: - transport = new CAN_Multicast(); + transport = NEW_NOTHROW CAN_Multicast(); break; case SITL::SIM::CANTransport::SocketCAN: #if HAL_CAN_WITH_SOCKETCAN - transport = new CAN_SocketCAN(); + transport = NEW_NOTHROW CAN_SocketCAN(); #endif break; } diff --git a/libraries/AP_HAL_SITL/DSP.cpp b/libraries/AP_HAL_SITL/DSP.cpp index 2bb4d8131ad34a..8227a5d087fb33 100644 --- a/libraries/AP_HAL_SITL/DSP.cpp +++ b/libraries/AP_HAL_SITL/DSP.cpp @@ -39,7 +39,7 @@ extern const AP_HAL::HAL& hal; // initialize the FFT state machine AP_HAL::DSP::FFTWindowState* DSP::fft_init(uint16_t window_size, uint16_t sample_rate, uint8_t sliding_window_size) { - DSP::FFTWindowStateSITL* fft = new DSP::FFTWindowStateSITL(window_size, sample_rate, sliding_window_size); + DSP::FFTWindowStateSITL* fft = NEW_NOTHROW DSP::FFTWindowStateSITL(window_size, sample_rate, sliding_window_size); if (fft == nullptr || fft->_hanning_window == nullptr || fft->_rfft_data == nullptr || fft->_freq_bins == nullptr || fft->_derivative_freq_bins == nullptr) { delete fft; return nullptr; @@ -71,7 +71,7 @@ DSP::FFTWindowStateSITL::FFTWindowStateSITL(uint16_t window_size, uint16_t sampl return; } - buf = new complexf[window_size]; + buf = NEW_NOTHROW complexf[window_size]; } DSP::FFTWindowStateSITL::~FFTWindowStateSITL() diff --git a/libraries/AP_HAL_SITL/GPIO.cpp b/libraries/AP_HAL_SITL/GPIO.cpp index 3fe8db8cc6a102..4a83c2bf206d0b 100644 --- a/libraries/AP_HAL_SITL/GPIO.cpp +++ b/libraries/AP_HAL_SITL/GPIO.cpp @@ -82,7 +82,7 @@ void GPIO::toggle(uint8_t pin) /* Alternative interface: */ AP_HAL::DigitalSource* GPIO::channel(uint16_t n) { if (n < 16) { // (ie. sizeof(pin_mask)*8) - return new DigitalSource(static_cast(n)); + return NEW_NOTHROW DigitalSource(static_cast(n)); } else { return nullptr; } diff --git a/libraries/AP_HAL_SITL/I2CDevice.cpp b/libraries/AP_HAL_SITL/I2CDevice.cpp index 7b7b2d5914fb85..28c1f11e4073e7 100644 --- a/libraries/AP_HAL_SITL/I2CDevice.cpp +++ b/libraries/AP_HAL_SITL/I2CDevice.cpp @@ -67,7 +67,7 @@ int I2CBus::_ioctl(uint8_t ioctl_number, void *data) AP_HAL::Device::PeriodicHandle I2CBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb) { // mostly swiped from ChibiOS: - I2CBus::callback_info *callback = new I2CBus::callback_info; + I2CBus::callback_info *callback = NEW_NOTHROW I2CBus::callback_info; if (callback == nullptr) { return nullptr; } @@ -116,7 +116,7 @@ I2CDeviceManager::get_device(uint8_t bus, if (bus >= ARRAY_SIZE(buses)) { return AP_HAL::OwnPtr(nullptr); } - auto dev = AP_HAL::OwnPtr(new I2CDevice(buses[bus], address)); + auto dev = AP_HAL::OwnPtr(NEW_NOTHROW I2CDevice(buses[bus], address)); return dev; } diff --git a/libraries/AP_HAL_SITL/RCOutput.cpp b/libraries/AP_HAL_SITL/RCOutput.cpp index 423c4ea57e4d77..40677c66ec3161 100644 --- a/libraries/AP_HAL_SITL/RCOutput.cpp +++ b/libraries/AP_HAL_SITL/RCOutput.cpp @@ -101,7 +101,7 @@ void RCOutput::push(void) SITL::SIM *sitl = AP::sitl(); if (sitl && sitl->esc_telem) { if (esc_telem == nullptr) { - esc_telem = new AP_ESC_Telem_SITL; + esc_telem = NEW_NOTHROW AP_ESC_Telem_SITL; } if (esc_telem != nullptr) { esc_telem->update(); diff --git a/libraries/AP_HAL_SITL/SITL_Periph_State.cpp b/libraries/AP_HAL_SITL/SITL_Periph_State.cpp index a65e56310e5b8e..b455fcafb749c1 100644 --- a/libraries/AP_HAL_SITL/SITL_Periph_State.cpp +++ b/libraries/AP_HAL_SITL/SITL_Periph_State.cpp @@ -112,7 +112,7 @@ void SITL_State::init(int argc, char * const argv[]) { printf("Running Instance: %d\n", _instance); - sitl_model = new SimMCast(""); + sitl_model = NEW_NOTHROW SimMCast(""); _sitl = AP::sitl(); diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp index 85d3295445ae5a..627b7c6c80c079 100644 --- a/libraries/AP_HAL_SITL/SITL_State.cpp +++ b/libraries/AP_HAL_SITL/SITL_State.cpp @@ -80,7 +80,7 @@ void SITL_State::_sitl_setup() // setup some initial values _update_airspeed(0); if (enable_gimbal) { - gimbal = new SITL::Gimbal(_sitl->state); + gimbal = NEW_NOTHROW SITL::Gimbal(_sitl->state); } sitl_model->set_buzzer(&_sitl->buzzer_sim); diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp index 52f67237ac2beb..1a45ed97d97b67 100644 --- a/libraries/AP_HAL_SITL/SITL_State_common.cpp +++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp @@ -31,14 +31,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (benewake_tf02 != nullptr) { AP_HAL::panic("Only one benewake_tf02 at a time"); } - benewake_tf02 = new SITL::RF_Benewake_TF02(); + benewake_tf02 = NEW_NOTHROW SITL::RF_Benewake_TF02(); return benewake_tf02; #if !defined(HAL_BUILD_AP_PERIPH) } else if (streq(name, "vicon")) { if (vicon != nullptr) { AP_HAL::panic("Only one vicon system at a time"); } - vicon = new SITL::Vicon(); + vicon = NEW_NOTHROW SITL::Vicon(); return vicon; #endif #if HAL_SIM_ADSB_ENABLED @@ -47,7 +47,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const // will cope with begin() being called multiple times on a // serial port if (adsb == nullptr) { - adsb = new SITL::ADSB(); + adsb = NEW_NOTHROW SITL::ADSB(); } sitl_model->set_adsb(adsb); return adsb; @@ -56,97 +56,97 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (ainsteinlrd1 != nullptr) { AP_HAL::panic("Only one ainsteinlrd1 at a time"); } - ainsteinlrd1 = new SITL::RF_Ainstein_LR_D1(); + ainsteinlrd1 = NEW_NOTHROW SITL::RF_Ainstein_LR_D1(); return ainsteinlrd1; } else if (streq(name, "benewake_tf03")) { if (benewake_tf03 != nullptr) { AP_HAL::panic("Only one benewake_tf03 at a time"); } - benewake_tf03 = new SITL::RF_Benewake_TF03(); + benewake_tf03 = NEW_NOTHROW SITL::RF_Benewake_TF03(); return benewake_tf03; } else if (streq(name, "benewake_tfmini")) { if (benewake_tfmini != nullptr) { AP_HAL::panic("Only one benewake_tfmini at a time"); } - benewake_tfmini = new SITL::RF_Benewake_TFmini(); + benewake_tfmini = NEW_NOTHROW SITL::RF_Benewake_TFmini(); return benewake_tfmini; } else if (streq(name, "nooploop_tofsense")) { if (nooploop != nullptr) { AP_HAL::panic("Only one nooploop_tofsense at a time"); } - nooploop = new SITL::RF_Nooploop(); + nooploop = NEW_NOTHROW SITL::RF_Nooploop(); return nooploop; } else if (streq(name, "teraranger_serial")) { if (teraranger_serial != nullptr) { AP_HAL::panic("Only one teraranger_serial at a time"); } - teraranger_serial = new SITL::RF_TeraRanger_Serial(); + teraranger_serial = NEW_NOTHROW SITL::RF_TeraRanger_Serial(); return teraranger_serial; } else if (streq(name, "lightwareserial")) { if (lightwareserial != nullptr) { AP_HAL::panic("Only one lightwareserial at a time"); } - lightwareserial = new SITL::RF_LightWareSerial(); + lightwareserial = NEW_NOTHROW SITL::RF_LightWareSerial(); return lightwareserial; } else if (streq(name, "lightwareserial-binary")) { if (lightwareserial_binary != nullptr) { AP_HAL::panic("Only one lightwareserial-binary at a time"); } - lightwareserial_binary = new SITL::RF_LightWareSerialBinary(); + lightwareserial_binary = NEW_NOTHROW SITL::RF_LightWareSerialBinary(); return lightwareserial_binary; } else if (streq(name, "lanbao")) { if (lanbao != nullptr) { AP_HAL::panic("Only one lanbao at a time"); } - lanbao = new SITL::RF_Lanbao(); + lanbao = NEW_NOTHROW SITL::RF_Lanbao(); return lanbao; } else if (streq(name, "blping")) { if (blping != nullptr) { AP_HAL::panic("Only one blping at a time"); } - blping = new SITL::RF_BLping(); + blping = NEW_NOTHROW SITL::RF_BLping(); return blping; } else if (streq(name, "leddarone")) { if (leddarone != nullptr) { AP_HAL::panic("Only one leddarone at a time"); } - leddarone = new SITL::RF_LeddarOne(); + leddarone = NEW_NOTHROW SITL::RF_LeddarOne(); return leddarone; } else if (streq(name, "rds02uf")) { if (rds02uf != nullptr) { AP_HAL::panic("Only one rds02uf at a time"); } - rds02uf = new SITL::RF_RDS02UF(); + rds02uf = NEW_NOTHROW SITL::RF_RDS02UF(); return rds02uf; } else if (streq(name, "USD1_v0")) { if (USD1_v0 != nullptr) { AP_HAL::panic("Only one USD1_v0 at a time"); } - USD1_v0 = new SITL::RF_USD1_v0(); + USD1_v0 = NEW_NOTHROW SITL::RF_USD1_v0(); return USD1_v0; } else if (streq(name, "USD1_v1")) { if (USD1_v1 != nullptr) { AP_HAL::panic("Only one USD1_v1 at a time"); } - USD1_v1 = new SITL::RF_USD1_v1(); + USD1_v1 = NEW_NOTHROW SITL::RF_USD1_v1(); return USD1_v1; } else if (streq(name, "maxsonarseriallv")) { if (maxsonarseriallv != nullptr) { AP_HAL::panic("Only one maxsonarseriallv at a time"); } - maxsonarseriallv = new SITL::RF_MaxsonarSerialLV(); + maxsonarseriallv = NEW_NOTHROW SITL::RF_MaxsonarSerialLV(); return maxsonarseriallv; } else if (streq(name, "wasp")) { if (wasp != nullptr) { AP_HAL::panic("Only one wasp at a time"); } - wasp = new SITL::RF_Wasp(); + wasp = NEW_NOTHROW SITL::RF_Wasp(); return wasp; } else if (streq(name, "nmea")) { if (nmea != nullptr) { AP_HAL::panic("Only one nmea at a time"); } - nmea = new SITL::RF_NMEA(); + nmea = NEW_NOTHROW SITL::RF_NMEA(); return nmea; #if !defined(HAL_BUILD_AP_PERIPH) @@ -154,34 +154,34 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (rf_mavlink != nullptr) { AP_HAL::panic("Only one rf_mavlink at a time"); } - rf_mavlink = new SITL::RF_MAVLink(); + rf_mavlink = NEW_NOTHROW SITL::RF_MAVLink(); return rf_mavlink; #endif } else if (streq(name, "frsky-d")) { if (frsky_d != nullptr) { AP_HAL::panic("Only one frsky_d at a time"); } - frsky_d = new SITL::Frsky_D(); + frsky_d = NEW_NOTHROW SITL::Frsky_D(); return frsky_d; // } else if (streq(name, "frsky-SPort")) { // if (frsky_sport != nullptr) { // AP_HAL::panic("Only one frsky_sport at a time"); // } - // frsky_sport = new SITL::Frsky_SPort(); + // frsky_sport = NEW_NOTHROW SITL::Frsky_SPort(); // return frsky_sport; // } else if (streq(name, "frsky-SPortPassthrough")) { // if (frsky_sport_passthrough != nullptr) { // AP_HAL::panic("Only one frsky_sport passthrough at a time"); // } - // frsky_sport = new SITL::Frsky_SPortPassthrough(); + // frsky_sport = NEW_NOTHROW SITL::Frsky_SPortPassthrough(); // return frsky_sportpassthrough; #if AP_SIM_CRSF_ENABLED } else if (streq(name, "crsf")) { if (crsf != nullptr) { AP_HAL::panic("Only one crsf at a time"); } - crsf = new SITL::CRSF(); + crsf = NEW_NOTHROW SITL::CRSF(); return crsf; #endif #if HAL_SIM_PS_RPLIDARA2_ENABLED @@ -189,7 +189,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (rplidara2 != nullptr) { AP_HAL::panic("Only one rplidara2 at a time"); } - rplidara2 = new SITL::PS_RPLidarA2(); + rplidara2 = NEW_NOTHROW SITL::PS_RPLidarA2(); return rplidara2; #endif #if HAL_SIM_PS_RPLIDARA1_ENABLED @@ -197,7 +197,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (rplidara1 != nullptr) { AP_HAL::panic("Only one rplidara1 at a time"); } - rplidara1 = new SITL::PS_RPLidarA1(); + rplidara1 = NEW_NOTHROW SITL::PS_RPLidarA1(); return rplidara1; #endif #if HAL_SIM_PS_TERARANGERTOWER_ENABLED @@ -205,7 +205,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (terarangertower != nullptr) { AP_HAL::panic("Only one terarangertower at a time"); } - terarangertower = new SITL::PS_TeraRangerTower(); + terarangertower = NEW_NOTHROW SITL::PS_TeraRangerTower(); return terarangertower; #endif #if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED @@ -213,7 +213,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (sf45b != nullptr) { AP_HAL::panic("Only one sf45b at a time"); } - sf45b = new SITL::PS_LightWare_SF45B(); + sf45b = NEW_NOTHROW SITL::PS_LightWare_SF45B(); return sf45b; #endif #if AP_SIM_ADSB_SAGETECH_MXS_ENABLED @@ -221,9 +221,9 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (sagetech_mxs != nullptr) { AP_HAL::panic("Only one sagetech_mxs at a time"); } - sagetech_mxs = new SITL::ADSB_Sagetech_MXS(); + sagetech_mxs = NEW_NOTHROW SITL::ADSB_Sagetech_MXS(); if (adsb == nullptr) { - adsb = new SITL::ADSB(); + adsb = NEW_NOTHROW SITL::ADSB(); } sitl_model->set_adsb(adsb); return sagetech_mxs; @@ -248,51 +248,51 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (jre != nullptr) { AP_HAL::panic("Only one jre at a time"); } - jre = new SITL::RF_JRE(); + jre = NEW_NOTHROW SITL::RF_JRE(); return jre; } else if (streq(name, "gyus42v2")) { if (gyus42v2 != nullptr) { AP_HAL::panic("Only one gyus42v2 at a time"); } - gyus42v2 = new SITL::RF_GYUS42v2(); + gyus42v2 = NEW_NOTHROW SITL::RF_GYUS42v2(); return gyus42v2; } else if (streq(name, "megasquirt")) { if (efi_ms != nullptr) { AP_HAL::panic("Only one megasquirt at a time"); } - efi_ms = new SITL::EFI_MegaSquirt(); + efi_ms = NEW_NOTHROW SITL::EFI_MegaSquirt(); return efi_ms; } else if (streq(name, "hirth")) { if (efi_hirth != nullptr) { AP_HAL::panic("Only one hirth at a time"); } - efi_hirth = new SITL::EFI_Hirth(); + efi_hirth = NEW_NOTHROW SITL::EFI_Hirth(); return efi_hirth; } else if (streq(name, "VectorNav")) { if (vectornav != nullptr) { AP_HAL::panic("Only one VectorNav at a time"); } - vectornav = new SITL::VectorNav(); + vectornav = NEW_NOTHROW SITL::VectorNav(); return vectornav; } else if (streq(name, "MicroStrain5")) { if (microstrain5 != nullptr) { AP_HAL::panic("Only one MicroStrain5 at a time"); } - microstrain5 = new SITL::MicroStrain5(); + microstrain5 = NEW_NOTHROW SITL::MicroStrain5(); return microstrain5; } else if (streq(name, "MicroStrain7")) { if (microstrain7 != nullptr) { AP_HAL::panic("Only one MicroStrain7 at a time"); } - microstrain7 = new SITL::MicroStrain7(); + microstrain7 = NEW_NOTHROW SITL::MicroStrain7(); return microstrain7; } else if (streq(name, "ILabs")) { if (inertiallabs != nullptr) { AP_HAL::panic("Only one InertialLabs INS at a time"); } - inertiallabs = new SITL::InertialLabs(); + inertiallabs = NEW_NOTHROW SITL::InertialLabs(); return inertiallabs; #if HAL_SIM_AIS_ENABLED @@ -300,7 +300,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (ais != nullptr) { AP_HAL::panic("Only one AIS at a time"); } - ais = new SITL::AIS(); + ais = NEW_NOTHROW SITL::AIS(); return ais; #endif } else if (strncmp(name, "gps", 3) == 0) { @@ -312,13 +312,13 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const if (x <= 0 || x > ARRAY_SIZE(gps)) { AP_HAL::panic("Bad GPS number %u", x); } - gps[x-1] = new SITL::GPS(x-1); + gps[x-1] = NEW_NOTHROW SITL::GPS(x-1); return gps[x-1]; } else if (streq(name, "ELRS")) { // Only allocate if not done already // MAVLink serial ports have begin called several times if (elrs == nullptr) { - elrs = new SITL::ELRS(portNumber, this); + elrs = NEW_NOTHROW SITL::ELRS(portNumber, this); _sitl->set_stop_MAVLink_sim_state(); } return elrs; diff --git a/libraries/AP_HAL_SITL/SPIDevice.cpp b/libraries/AP_HAL_SITL/SPIDevice.cpp index 2ea7a4e22ae5f3..9e082a53e98359 100644 --- a/libraries/AP_HAL_SITL/SPIDevice.cpp +++ b/libraries/AP_HAL_SITL/SPIDevice.cpp @@ -73,7 +73,7 @@ int SPIBus::_ioctl(uint8_t cs_pin, uint8_t ioctl_number, void *data) AP_HAL::Device::PeriodicHandle SPIBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb) { // mostly swiped from ChibiOS: - SPIBus::callback_info *callback = new SPIBus::callback_info; + SPIBus::callback_info *callback = NEW_NOTHROW SPIBus::callback_info; if (callback == nullptr) { return nullptr; } @@ -150,7 +150,7 @@ SPIDeviceManager::get_device(const char *name) } if (busp == nullptr) { // create a new one - busp = new SPIBus(desc.bus); + busp = NEW_NOTHROW SPIBus(desc.bus); if (busp == nullptr) { return nullptr; } @@ -160,7 +160,7 @@ SPIDeviceManager::get_device(const char *name) buses = busp; } - return AP_HAL::OwnPtr(new SPIDevice(*busp, desc)); + return AP_HAL::OwnPtr(NEW_NOTHROW SPIDevice(*busp, desc)); } // void SPIDeviceManager::_timer_tick() diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp index 0ae924f15ae1aa..d9a2a3ba3a84c2 100644 --- a/libraries/AP_HAL_SITL/Scheduler.cpp +++ b/libraries/AP_HAL_SITL/Scheduler.cpp @@ -351,7 +351,7 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_ pthread_t thread {}; const uint32_t alloc_stack = MAX(size_t(PTHREAD_STACK_MIN),stack_size); - struct thread_attr *a = new struct thread_attr; + struct thread_attr *a = NEW_NOTHROW struct thread_attr; if (!a) { return false; } From a0acccb1f98a32679bbe88ad7d113f0ed1474b96 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 063/282] AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 8 ++++---- .../AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp | 4 ++-- libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp | 4 ++-- .../AP_InertialSensor/AP_InertialSensor_Invensense.cpp | 8 ++++---- .../AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp | 8 ++++---- .../AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp | 2 +- .../AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_SCHA63T.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp | 2 +- 16 files changed, 27 insertions(+), 27 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index bf62d4cdfced35..3e566025b2f675 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -721,7 +721,7 @@ AP_InertialSensor::AP_InertialSensor() : AP_InertialSensor *AP_InertialSensor::get_singleton() { if (!_singleton) { - _singleton = new AP_InertialSensor(); + _singleton = NEW_NOTHROW AP_InertialSensor(); } return _singleton; } @@ -1157,7 +1157,7 @@ AP_InertialSensor::detect_backends(void) // if enabled, make the first IMU the external AHRS const int8_t serial_port = AP::externalAHRS().get_port(AP_ExternalAHRS::AvailableSensor::IMU); if (serial_port >= 0) { - ADD_BACKEND(new AP_InertialSensor_ExternalAHRS(*this, serial_port)); + ADD_BACKEND(NEW_NOTHROW AP_InertialSensor_ExternalAHRS(*this, serial_port)); } #endif @@ -2279,10 +2279,10 @@ void AP_InertialSensor::acal_init() { // NOTE: these objects are never deallocated because the pre-arm checks force a reboot if (_acal == nullptr) { - _acal = new AP_AccelCal; + _acal = NEW_NOTHROW AP_AccelCal; } if (_accel_calibrator == nullptr) { - _accel_calibrator = new AccelCalibrator[INS_MAX_INSTANCES]; + _accel_calibrator = NEW_NOTHROW AccelCalibrator[INS_MAX_INSTANCES]; } } diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp index 125775a5bf74e6..e407d6da4d474e 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp @@ -89,7 +89,7 @@ AP_InertialSensor_ADIS1647x::probe(AP_InertialSensor &imu, if (!dev) { return nullptr; } - auto sensor = new AP_InertialSensor_ADIS1647x(imu, std::move(dev), rotation, drdy_gpio); + auto sensor = NEW_NOTHROW AP_InertialSensor_ADIS1647x(imu, std::move(dev), rotation, drdy_gpio); if (!sensor) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp index f916e0e063c208..5886993f628892 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp @@ -85,7 +85,7 @@ AP_InertialSensor_BMI055::probe(AP_InertialSensor &imu, if (!dev_accel || !dev_gyro) { return nullptr; } - auto sensor = new AP_InertialSensor_BMI055(imu, std::move(dev_accel), std::move(dev_gyro), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_BMI055(imu, std::move(dev_accel), std::move(dev_gyro), rotation); if (!sensor) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp index aa839b6b4e6bbc..a0a538704c970b 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp @@ -84,7 +84,7 @@ AP_InertialSensor_BMI088::probe(AP_InertialSensor &imu, if (!dev_accel || !dev_gyro) { return nullptr; } - auto sensor = new AP_InertialSensor_BMI088(imu, std::move(dev_accel), std::move(dev_gyro), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_BMI088(imu, std::move(dev_accel), std::move(dev_gyro), rotation); if (!sensor) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp index aff58e5b3503e0..8659d053ffe1b6 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp @@ -135,7 +135,7 @@ AP_InertialSensor_BMI160::probe(AP_InertialSensor &imu, if (!dev) { return nullptr; } - auto sensor = new AP_InertialSensor_BMI160(imu, std::move(dev), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_BMI160(imu, std::move(dev), rotation); if (!sensor) { return nullptr; @@ -157,7 +157,7 @@ AP_InertialSensor_BMI160::probe(AP_InertialSensor &imu, if (!dev) { return nullptr; } - auto sensor = new AP_InertialSensor_BMI160(imu, std::move(dev), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_BMI160(imu, std::move(dev), rotation); if (!sensor) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp index 37bade08b8fd33..0d3bb850718d55 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp @@ -164,7 +164,7 @@ AP_InertialSensor_BMI270::probe(AP_InertialSensor &imu, if (!dev) { return nullptr; } - auto sensor = new AP_InertialSensor_BMI270(imu, std::move(dev), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_BMI270(imu, std::move(dev), rotation); if (!sensor) { return nullptr; @@ -186,7 +186,7 @@ AP_InertialSensor_BMI270::probe(AP_InertialSensor &imu, if (!dev) { return nullptr; } - auto sensor = new AP_InertialSensor_BMI270(imu, std::move(dev), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_BMI270(imu, std::move(dev), rotation); if (!sensor) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp index 8f430479f0f44d..50ff76205accda 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp @@ -114,7 +114,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_Invensense::probe(AP_InertialSensor return nullptr; } AP_InertialSensor_Invensense *sensor = - new AP_InertialSensor_Invensense(imu, std::move(dev), rotation); + NEW_NOTHROW AP_InertialSensor_Invensense(imu, std::move(dev), rotation); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; @@ -140,7 +140,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_Invensense::probe(AP_InertialSensor dev->set_read_flag(0x80); - sensor = new AP_InertialSensor_Invensense(imu, std::move(dev), rotation); + sensor = NEW_NOTHROW AP_InertialSensor_Invensense(imu, std::move(dev), rotation); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; @@ -502,7 +502,7 @@ AuxiliaryBus *AP_InertialSensor_Invensense::get_auxiliary_bus() } if (_has_auxiliary_bus()) { - _auxiliary_bus = new AP_Invensense_AuxiliaryBus(*this, _dev->get_bus_id()); + _auxiliary_bus = NEW_NOTHROW AP_Invensense_AuxiliaryBus(*this, _dev->get_bus_id()); } return _auxiliary_bus; @@ -1204,7 +1204,7 @@ AuxiliaryBusSlave *AP_Invensense_AuxiliaryBus::_instantiate_slave(uint8_t addr, _configure_slaves(); } - return new AP_Invensense_AuxiliaryBusSlave(*this, addr, instance); + return NEW_NOTHROW AP_Invensense_AuxiliaryBusSlave(*this, addr, instance); } void AP_Invensense_AuxiliaryBus::_configure_slaves() diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp index 0503fad44b638f..1e8be9d2b56a1f 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp @@ -94,7 +94,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_Invensensev2::probe(AP_InertialSens return nullptr; } AP_InertialSensor_Invensensev2 *sensor = - new AP_InertialSensor_Invensensev2(imu, std::move(dev), rotation); + NEW_NOTHROW AP_InertialSensor_Invensensev2(imu, std::move(dev), rotation); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; @@ -116,7 +116,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_Invensensev2::probe(AP_InertialSens dev->set_read_flag(0x80); - sensor = new AP_InertialSensor_Invensensev2(imu, std::move(dev), rotation); + sensor = NEW_NOTHROW AP_InertialSensor_Invensensev2(imu, std::move(dev), rotation); if (!sensor || !sensor->_init()) { delete sensor; return nullptr; @@ -293,7 +293,7 @@ AuxiliaryBus *AP_InertialSensor_Invensensev2::get_auxiliary_bus() } if (_has_auxiliary_bus()) { - _auxiliary_bus = new AP_Invensensev2_AuxiliaryBus(*this, _dev->get_bus_id()); + _auxiliary_bus = NEW_NOTHROW AP_Invensensev2_AuxiliaryBus(*this, _dev->get_bus_id()); } return _auxiliary_bus; @@ -868,7 +868,7 @@ AuxiliaryBusSlave *AP_Invensensev2_AuxiliaryBus::_instantiate_slave(uint8_t addr _configure_slaves(); } - return new AP_Invensensev2_AuxiliaryBusSlave(*this, addr, instance); + return NEW_NOTHROW AP_Invensensev2_AuxiliaryBusSlave(*this, addr, instance); } void AP_Invensensev2_AuxiliaryBus::_configure_slaves() diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp index e8159946194151..b1d4c520555e09 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp @@ -207,7 +207,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_Invensensev3::probe(AP_InertialSens } AP_InertialSensor_Invensensev3 *sensor = - new AP_InertialSensor_Invensensev3(imu, std::move(_dev), _rotation); + NEW_NOTHROW AP_InertialSensor_Invensensev3(imu, std::move(_dev), _rotation); if (!sensor || !sensor->hardware_init()) { delete sensor; return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp index 1bc80404759c19..0d97d71f8448de 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp @@ -146,7 +146,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::probe(AP_InertialSensor & return nullptr; } AP_InertialSensor_L3G4200D *sensor - = new AP_InertialSensor_L3G4200D(imu, std::move(dev_gyro), std::move(dev_accel)); + = NEW_NOTHROW AP_InertialSensor_L3G4200D(imu, std::move(dev_gyro), std::move(dev_accel)); if (!sensor || !sensor->_init_sensor()) { delete sensor; return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp index a872ddc7b5ae48..e6d91738cd4e16 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp @@ -402,7 +402,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS0::probe(AP_InertialSensor &_ return nullptr; } AP_InertialSensor_LSM9DS0 *sensor = - new AP_InertialSensor_LSM9DS0(_imu, std::move(dev_gyro), std::move(dev_accel), + NEW_NOTHROW AP_InertialSensor_LSM9DS0(_imu, std::move(dev_gyro), std::move(dev_accel), LSM9DS0_DRY_X_PIN, LSM9DS0_DRY_G_PIN, rotation_a, rotation_g, rotation_gH); if (!sensor || !sensor->_init_sensor()) { diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp index 1d4ff5f19887bc..2a8aa0621b9069 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp @@ -26,7 +26,7 @@ AP_InertialSensor_NONE::AP_InertialSensor_NONE(AP_InertialSensor &imu, const uin */ AP_InertialSensor_Backend *AP_InertialSensor_NONE::detect(AP_InertialSensor &_imu, const uint16_t sample_rates[]) { - AP_InertialSensor_NONE *sensor = new AP_InertialSensor_NONE(_imu, sample_rates); + AP_InertialSensor_NONE *sensor = NEW_NOTHROW AP_InertialSensor_NONE(_imu, sample_rates); if (sensor == nullptr) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp index 761e2e9100b301..860ae4aa261db3 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp @@ -206,7 +206,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_RST::probe(AP_InertialSensor &imu, return nullptr; } AP_InertialSensor_RST *sensor - = new AP_InertialSensor_RST(imu, std::move(dev_gyro), std::move(dev_accel), rotation_g, rotation_a); + = NEW_NOTHROW AP_InertialSensor_RST(imu, std::move(dev_gyro), std::move(dev_accel), rotation_g, rotation_a); if (!sensor || !sensor->_init_sensor()) { delete sensor; return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SCHA63T.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SCHA63T.cpp index 652dd100ad5b87..53b1bd901a0629 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_SCHA63T.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_SCHA63T.cpp @@ -63,7 +63,7 @@ AP_InertialSensor_Backend* AP_InertialSensor_SCHA63T::probe(AP_InertialSensor &i if (!dev_uno || !dev_due) { return nullptr; } - auto sensor = new AP_InertialSensor_SCHA63T(imu, std::move(dev_uno), std::move(dev_due), rotation); + auto sensor = NEW_NOTHROW AP_InertialSensor_SCHA63T(imu, std::move(dev_uno), std::move(dev_due), rotation); if (!sensor) { return nullptr; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp index c6b994413a8bb9..d9e91a0df429cf 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp @@ -20,7 +20,7 @@ AP_InertialSensor_SITL::AP_InertialSensor_SITL(AP_InertialSensor &imu, const uin */ AP_InertialSensor_Backend *AP_InertialSensor_SITL::detect(AP_InertialSensor &_imu, const uint16_t sample_rates[]) { - AP_InertialSensor_SITL *sensor = new AP_InertialSensor_SITL(_imu, sample_rates); + AP_InertialSensor_SITL *sensor = NEW_NOTHROW AP_InertialSensor_SITL(_imu, sample_rates); if (sensor == nullptr) { return nullptr; } diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp index 22b4aa454148c0..17d89f15ac1cd5 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp @@ -349,7 +349,7 @@ void AP_InertialSensor_TCal::update_accel_learning(const Vector3f &accel, float return; } if (learn == nullptr && hal.scheduler->is_system_initialized()) { - learn = new Learn(*this, temperature); + learn = NEW_NOTHROW Learn(*this, temperature); if (learn) { GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TCAL[%u]: started calibration t=%.1fC tmax=%.1fC", instance()+1, From 2e6c5157e6d7ca247f219c0b5de8b38584fcdb0e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 064/282] AP_IOMCU: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp index 984c31deb09cb3..f76b1e8ce91353 100644 --- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp +++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp @@ -303,7 +303,7 @@ void AP_IOMCU_FW::init() thread_ctx = chThdGetSelfX(); #if AP_HAL_SHARED_DMA_ENABLED - tx_dma_handle = new ChibiOS::Shared_DMA(STM32_UART_USART2_TX_DMA_STREAM, SHARED_DMA_NONE, + tx_dma_handle = NEW_NOTHROW ChibiOS::Shared_DMA(STM32_UART_USART2_TX_DMA_STREAM, SHARED_DMA_NONE, FUNCTOR_BIND_MEMBER(&AP_IOMCU_FW::tx_dma_allocate, void, Shared_DMA *), FUNCTOR_BIND_MEMBER(&AP_IOMCU_FW::tx_dma_deallocate, void, Shared_DMA *)); tx_dma_handle->lock(); From 6962c4080d92842a0f21e88d4790850792d93619 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 065/282] AP_JSON: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_JSON/AP_JSON.cpp | 44 +++++++++++++++++------------------ 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/libraries/AP_JSON/AP_JSON.cpp b/libraries/AP_JSON/AP_JSON.cpp index 32ee85fe2beef1..33bf30657bea0a 100644 --- a/libraries/AP_JSON/AP_JSON.cpp +++ b/libraries/AP_JSON/AP_JSON.cpp @@ -56,7 +56,7 @@ AP_JSON::value *AP_JSON::load_json(const char *filename) ::printf("failed to open json %s\n", filename); return nullptr; } - char *buf = new char[st.st_size+1]; + char *buf = NEW_NOTHROW char[st.st_size+1]; if (buf == nullptr) { AP::FS().close(fd); ::printf("failed to allocate json %s\n", filename); @@ -87,7 +87,7 @@ AP_JSON::value *AP_JSON::load_json(const char *filename) } while (*p != '\n' && *p != '\r' && *p); } - AP_JSON::value *obj = new AP_JSON::value; + AP_JSON::value *obj = NEW_NOTHROW AP_JSON::value; if (obj == nullptr) { ::printf("Invalid allocate json for %s\n", filename); delete[] buf; @@ -133,9 +133,9 @@ AP_JSON::value::value(int type, bool) : type_(type), u_() break INIT(boolean_, false); INIT(number_, 0.0); - INIT(string_, new std::string()); - INIT(array_, new array()); - INIT(object_, new object()); + INIT(string_, NEW_NOTHROW std::string()); + INIT(array_, NEW_NOTHROW array()); + INIT(object_, NEW_NOTHROW object()); #undef INIT default: break; @@ -154,42 +154,42 @@ AP_JSON::value::value(double n) : type_(number_type), u_() AP_JSON::value::value(const std::string &s) : type_(string_type), u_() { - u_.string_ = new std::string(s); + u_.string_ = NEW_NOTHROW std::string(s); } AP_JSON::value::value(const array &a) : type_(array_type), u_() { - u_.array_ = new array(a); + u_.array_ = NEW_NOTHROW array(a); } AP_JSON::value::value(const object &o) : type_(object_type), u_() { - u_.object_ = new object(o); + u_.object_ = NEW_NOTHROW object(o); } AP_JSON::value::value(std::string &&s) : type_(string_type), u_() { - u_.string_ = new std::string(std::move(s)); + u_.string_ = NEW_NOTHROW std::string(std::move(s)); } AP_JSON::value::value(array &&a) : type_(array_type), u_() { - u_.array_ = new array(std::move(a)); + u_.array_ = NEW_NOTHROW array(std::move(a)); } AP_JSON::value::value(object &&o) : type_(object_type), u_() { - u_.object_ = new object(std::move(o)); + u_.object_ = NEW_NOTHROW object(std::move(o)); } AP_JSON::value::value(const char *s) : type_(string_type), u_() { - u_.string_ = new std::string(s); + u_.string_ = NEW_NOTHROW std::string(s); } AP_JSON::value::value(const char *s, size_t len) : type_(string_type), u_() { - u_.string_ = new std::string(s, len); + u_.string_ = NEW_NOTHROW std::string(s, len); } void AP_JSON::value::clear() @@ -220,9 +220,9 @@ AP_JSON::value::value(const value &x) : type_(x.type_), u_() case p##type: \ u_.p = v; \ break - INIT(string_, new std::string(*x.u_.string_)); - INIT(array_, new array(*x.u_.array_)); - INIT(object_, new object(*x.u_.object_)); + INIT(string_, NEW_NOTHROW std::string(*x.u_.string_)); + INIT(array_, NEW_NOTHROW array(*x.u_.array_)); + INIT(object_, NEW_NOTHROW object(*x.u_.object_)); #undef INIT default: u_ = x.u_; @@ -291,9 +291,9 @@ GET(double, u_.number_) setter \ } SET(bool, boolean, u_.boolean_ = _val;) -SET(std::string, string, u_.string_ = new std::string(_val);) -SET(array, array, u_.array_ = new array(_val);) -SET(object, object, u_.object_ = new object(_val);) +SET(std::string, string, u_.string_ = NEW_NOTHROW std::string(_val);) +SET(array, array, u_.array_ = NEW_NOTHROW array(_val);) +SET(object, object, u_.object_ = NEW_NOTHROW object(_val);) SET(double, number, u_.number_ = _val;) #undef SET @@ -303,9 +303,9 @@ SET(double, number, u_.number_ = _val;) type_ = jtype##_type; \ setter \ } -MOVESET(std::string, string, u_.string_ = new std::string(std::move(_val));) -MOVESET(array, array, u_.array_ = new array(std::move(_val));) -MOVESET(object, object, u_.object_ = new object(std::move(_val));) +MOVESET(std::string, string, u_.string_ = NEW_NOTHROW std::string(std::move(_val));) +MOVESET(array, array, u_.array_ = NEW_NOTHROW array(std::move(_val));) +MOVESET(object, object, u_.object_ = NEW_NOTHROW object(std::move(_val));) #undef MOVESET bool AP_JSON::value::evaluate_as_boolean() const From 98697ba5d3f0fc9ea736981cb3bde8be66fa95f5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 066/282] AP_KDECAN: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_KDECAN/AP_KDECAN.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_KDECAN/AP_KDECAN.cpp b/libraries/AP_KDECAN/AP_KDECAN.cpp index db0afdf4aba7eb..bf3272519c71bd 100644 --- a/libraries/AP_KDECAN/AP_KDECAN.cpp +++ b/libraries/AP_KDECAN/AP_KDECAN.cpp @@ -63,7 +63,7 @@ void AP_KDECAN::init() for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) { if (CANSensor::get_driver_type(i) == AP_CAN::Protocol::KDECAN) { - _driver = new AP_KDECAN_Driver(); + _driver = NEW_NOTHROW AP_KDECAN_Driver(); return; } } From 41cc776bd9b904d83b2f9aea789c1cc0ae856ea3 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 067/282] AP_LeakDetector: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_LeakDetector/AP_LeakDetector.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_LeakDetector/AP_LeakDetector.cpp b/libraries/AP_LeakDetector/AP_LeakDetector.cpp index c4973b3a1ebaa5..3b39a9a07fde79 100644 --- a/libraries/AP_LeakDetector/AP_LeakDetector.cpp +++ b/libraries/AP_LeakDetector/AP_LeakDetector.cpp @@ -112,11 +112,11 @@ void AP_LeakDetector::init() switch(_type[i]) { case ANALOG: _state[i].instance = i; - _drivers[i] = new AP_LeakDetector_Analog(*this, _state[i]); + _drivers[i] = NEW_NOTHROW AP_LeakDetector_Analog(*this, _state[i]); break; case DIGITAL: _state[i].instance = i; - _drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]); + _drivers[i] = NEW_NOTHROW AP_LeakDetector_Digital(*this, _state[i]); break; } } From 20070b7e37255b19e13d754e951c1cac70c0e795 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 068/282] AP_Logger: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Logger/AP_Logger.cpp | 8 ++++---- libraries/AP_Logger/AP_Logger_Block.cpp | 2 +- libraries/AP_Logger/AP_Logger_File.cpp | 2 +- libraries/AP_Logger/AP_Logger_File.h | 2 +- libraries/AP_Logger/AP_Logger_Flash_JEDEC.h | 2 +- libraries/AP_Logger/AP_Logger_MAVLink.cpp | 2 +- libraries/AP_Logger/AP_Logger_MAVLink.h | 2 +- libraries/AP_Logger/AP_Logger_W25NXX.h | 2 +- 8 files changed, 11 insertions(+), 11 deletions(-) diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp index b61db7fc7c9aa0..4e24bfded252b7 100644 --- a/libraries/AP_Logger/AP_Logger.cpp +++ b/libraries/AP_Logger/AP_Logger.cpp @@ -247,7 +247,7 @@ void AP_Logger::init(const AP_Int32 &log_bitmask, const struct LogStructure *str return; } LoggerMessageWriter_DFLogStart *message_writer = - new LoggerMessageWriter_DFLogStart(); + NEW_NOTHROW LoggerMessageWriter_DFLogStart(); if (message_writer == nullptr) { AP_BoardConfig::allocation_error("message writer"); } @@ -714,7 +714,7 @@ void AP_Logger::save_format_Replay(const void *pBuffer) { if (((uint8_t *)pBuffer)[2] == LOG_FORMAT_MSG) { struct log_Format *fmt = (struct log_Format *)pBuffer; - struct log_write_fmt *f = new log_write_fmt; + struct log_write_fmt *f = NEW_NOTHROW log_write_fmt; f->msg_type = fmt->type; f->msg_len = fmt->length; f->name = strndup(fmt->name, sizeof(fmt->name)); @@ -1639,13 +1639,13 @@ void AP_Logger::log_file_content(const char *filename) void AP_Logger::log_file_content(FileContent &file_content, const char *filename) { WITH_SEMAPHORE(file_content.sem); - auto *file = new file_list; + auto *file = NEW_NOTHROW file_list; if (file == nullptr) { return; } // make copy to allow original to go out of scope const size_t len = strlen(filename)+1; - char * tmp_filename = new char[len]; + char * tmp_filename = NEW_NOTHROW char[len]; if (tmp_filename == nullptr) { delete file; return; diff --git a/libraries/AP_Logger/AP_Logger_Block.cpp b/libraries/AP_Logger/AP_Logger_Block.cpp index c0966f7ec6ef3c..74722907274a80 100644 --- a/libraries/AP_Logger/AP_Logger_Block.cpp +++ b/libraries/AP_Logger/AP_Logger_Block.cpp @@ -314,7 +314,7 @@ void AP_Logger_Block::periodic_1Hz() _front._params.disarm_ratemax > 0 || _front._log_pause)) { // setup rate limiting if log rate max > 0Hz or log pause of streaming entries is requested - rate_limiter = new AP_Logger_RateLimiter(_front, _front._params.blk_ratemax, _front._params.disarm_ratemax); + rate_limiter = NEW_NOTHROW AP_Logger_RateLimiter(_front, _front._params.blk_ratemax, _front._params.disarm_ratemax); } if (!io_thread_alive()) { diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp index 3208f8cf6e2549..e4db560c71939f 100644 --- a/libraries/AP_Logger/AP_Logger_File.cpp +++ b/libraries/AP_Logger/AP_Logger_File.cpp @@ -173,7 +173,7 @@ void AP_Logger_File::periodic_1Hz() _front._params.disarm_ratemax > 0 || _front._log_pause)) { // setup rate limiting if log rate max > 0Hz or log pause of streaming entries is requested - rate_limiter = new AP_Logger_RateLimiter(_front, _front._params.file_ratemax, _front._params.disarm_ratemax); + rate_limiter = NEW_NOTHROW AP_Logger_RateLimiter(_front, _front._params.file_ratemax, _front._params.disarm_ratemax); } } diff --git a/libraries/AP_Logger/AP_Logger_File.h b/libraries/AP_Logger/AP_Logger_File.h index 038324e92e2274..8ca4259a1f9fa0 100644 --- a/libraries/AP_Logger/AP_Logger_File.h +++ b/libraries/AP_Logger/AP_Logger_File.h @@ -26,7 +26,7 @@ class AP_Logger_File : public AP_Logger_Backend static AP_Logger_Backend *probe(AP_Logger &front, LoggerMessageWriter_DFLogStart *ls) { - return new AP_Logger_File(front, ls); + return NEW_NOTHROW AP_Logger_File(front, ls); } // initialisation diff --git a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h index 43c0b37665d73d..c51ae1b3d26e11 100644 --- a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h +++ b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h @@ -15,7 +15,7 @@ class AP_Logger_Flash_JEDEC : public AP_Logger_Block { AP_Logger_Block(front, writer) {} static AP_Logger_Backend *probe(AP_Logger &front, LoggerMessageWriter_DFLogStart *ls) { - return new AP_Logger_Flash_JEDEC(front, ls); + return NEW_NOTHROW AP_Logger_Flash_JEDEC(front, ls); } void Init(void) override; bool CardInserted() const override { return !flash_died && df_NumPages > 0; } diff --git a/libraries/AP_Logger/AP_Logger_MAVLink.cpp b/libraries/AP_Logger/AP_Logger_MAVLink.cpp index 7d48b4afcaac33..5c41ae2d3b7dd7 100644 --- a/libraries/AP_Logger/AP_Logger_MAVLink.cpp +++ b/libraries/AP_Logger/AP_Logger_MAVLink.cpp @@ -545,7 +545,7 @@ void AP_Logger_MAVLink::periodic_1Hz() _front._params.disarm_ratemax > 0 || _front._log_pause)) { // setup rate limiting if log rate max > 0Hz or log pause of streaming entries is requested - rate_limiter = new AP_Logger_RateLimiter(_front, _front._params.mav_ratemax, _front._params.disarm_ratemax); + rate_limiter = NEW_NOTHROW AP_Logger_RateLimiter(_front, _front._params.mav_ratemax, _front._params.disarm_ratemax); } if (_sending_to_client && diff --git a/libraries/AP_Logger/AP_Logger_MAVLink.h b/libraries/AP_Logger/AP_Logger_MAVLink.h index 4ae7202ff4f5d7..13155e6da7109d 100644 --- a/libraries/AP_Logger/AP_Logger_MAVLink.h +++ b/libraries/AP_Logger/AP_Logger_MAVLink.h @@ -21,7 +21,7 @@ class AP_Logger_MAVLink : public AP_Logger_Backend static AP_Logger_Backend *probe(AP_Logger &front, LoggerMessageWriter_DFLogStart *ls) { - return new AP_Logger_MAVLink(front, ls); + return NEW_NOTHROW AP_Logger_MAVLink(front, ls); } // initialisation diff --git a/libraries/AP_Logger/AP_Logger_W25NXX.h b/libraries/AP_Logger/AP_Logger_W25NXX.h index 885800e9136481..5e7c8d7fb48a0a 100644 --- a/libraries/AP_Logger/AP_Logger_W25NXX.h +++ b/libraries/AP_Logger/AP_Logger_W25NXX.h @@ -15,7 +15,7 @@ class AP_Logger_W25NXX : public AP_Logger_Block { AP_Logger_Block(front, writer) {} static AP_Logger_Backend *probe(AP_Logger &front, LoggerMessageWriter_DFLogStart *ls) { - return new AP_Logger_W25NXX(front, ls); + return NEW_NOTHROW AP_Logger_W25NXX(front, ls); } void Init(void) override; bool CardInserted() const override { return !flash_died && df_NumPages > 0; } From 72c77b3453cee2a98d908c43580bda45d960c643 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:12 +1000 Subject: [PATCH 069/282] AP_Math: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Math/matrix_alg.cpp | 12 ++++++------ libraries/AP_Math/polyfit.cpp | 2 +- libraries/AP_Math/vector2.cpp | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Math/matrix_alg.cpp b/libraries/AP_Math/matrix_alg.cpp index cda345b21b8bf0..9b5f76ec08d106 100644 --- a/libraries/AP_Math/matrix_alg.cpp +++ b/libraries/AP_Math/matrix_alg.cpp @@ -35,7 +35,7 @@ template static T* matrix_multiply(const T *A, const T *B, uint16_t n) { - T* ret = new T[n*n]; + T* ret = NEW_NOTHROW T[n*n]; memset(ret,0.0f,n*n*sizeof(T)); for(uint16_t i = 0; i < n; i++) { @@ -194,13 +194,13 @@ static bool mat_inverseN(const T* A, T* inv, uint16_t n) { T *L, *U, *P; bool ret = true; - L = new T[n*n]; - U = new T[n*n]; - P = new T[n*n]; + L = NEW_NOTHROW T[n*n]; + U = NEW_NOTHROW T[n*n]; + P = NEW_NOTHROW T[n*n]; mat_LU_decompose(A,L,U,P,n); - T *L_inv = new T[n*n]; - T *U_inv = new T[n*n]; + T *L_inv = NEW_NOTHROW T[n*n]; + T *U_inv = NEW_NOTHROW T[n*n]; memset(L_inv,0,n*n*sizeof(T)); mat_forward_sub(L,L_inv,n); diff --git a/libraries/AP_Math/polyfit.cpp b/libraries/AP_Math/polyfit.cpp index 3a702671850ff6..88a925070f1b1a 100644 --- a/libraries/AP_Math/polyfit.cpp +++ b/libraries/AP_Math/polyfit.cpp @@ -31,7 +31,7 @@ template bool PolyFit::get_polynomial(vtype res[order]) const { // we dynamically allocate the inverse matrix to keep stack usage low - xtype *inv_mat = new xtype[order*order]; + xtype *inv_mat = NEW_NOTHROW xtype[order*order]; if (inv_mat == nullptr) { return false; } diff --git a/libraries/AP_Math/vector2.cpp b/libraries/AP_Math/vector2.cpp index 0204e8d3af9d18..149bcd08e04752 100644 --- a/libraries/AP_Math/vector2.cpp +++ b/libraries/AP_Math/vector2.cpp @@ -241,7 +241,7 @@ bool Vector2::circle_segment_intersection(const Vector2& seg_start, const // -> o o -> | -> | // FallShort (t1>1,t2>1), Past (t1<0,t2<0), CompletelyInside(t1<0, t2>1) - // intersection = new Vector3(E.x + t1 * d.x, secondPoint.y, E.y + t1 * d.y); + // intersection = NEW_NOTHROW Vector3(E.x + t1 * d.x, secondPoint.y, E.y + t1 * d.y); // intersection.x = seg_start.x + t1 * seg_end_minus_start.x; // intersection.y = seg_start.y + t1 * seg_end_minus_start.y; From ad6502c9f192210700cf5da9673d0085689b9e7f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 070/282] APM_Control: use NEW_NOTHROW for new(std::nothrow) --- libraries/APM_Control/AP_PitchController.cpp | 2 +- libraries/APM_Control/AP_RollController.cpp | 2 +- libraries/APM_Control/AP_YawController.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp index 0dda072cdd3302..0bd2e9417e590b 100644 --- a/libraries/APM_Control/AP_PitchController.cpp +++ b/libraries/APM_Control/AP_PitchController.cpp @@ -412,7 +412,7 @@ void AP_PitchController::convert_pid() void AP_PitchController::autotune_start(void) { if (autotune == nullptr) { - autotune = new AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_PITCH, aparm, rate_pid); + autotune = NEW_NOTHROW AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_PITCH, aparm, rate_pid); if (autotune == nullptr) { if (!failed_autotune_alloc) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AutoTune: failed pitch allocation"); diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp index 8717828cda403b..6f16fd2b0245db 100644 --- a/libraries/APM_Control/AP_RollController.cpp +++ b/libraries/APM_Control/AP_RollController.cpp @@ -313,7 +313,7 @@ void AP_RollController::convert_pid() void AP_RollController::autotune_start(void) { if (autotune == nullptr) { - autotune = new AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_ROLL, aparm, rate_pid); + autotune = NEW_NOTHROW AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_ROLL, aparm, rate_pid); if (autotune == nullptr) { if (!failed_autotune_alloc) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AutoTune: failed roll allocation"); diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp index 15f42c2fb505bd..0da792112bef9a 100644 --- a/libraries/APM_Control/AP_YawController.cpp +++ b/libraries/APM_Control/AP_YawController.cpp @@ -391,7 +391,7 @@ void AP_YawController::autotune_start(void) gains.tau.set(0.5); gains.rmax_pos.set(90); - autotune = new AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_YAW, aparm, rate_pid); + autotune = NEW_NOTHROW AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_YAW, aparm, rate_pid); if (autotune == nullptr) { if (!failed_autotune_alloc) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AutoTune: failed yaw allocation"); From e1803597575d5bb70558df688c9416469eed2bca Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 071/282] AP_Menu: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Menu/AP_Menu.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Menu/AP_Menu.cpp b/libraries/AP_Menu/AP_Menu.cpp index 647b4eea60d7ee..5ce3dac8250e31 100644 --- a/libraries/AP_Menu/AP_Menu.cpp +++ b/libraries/AP_Menu/AP_Menu.cpp @@ -261,11 +261,11 @@ Menu::_allocate_buffers(void) { /* only allocate if the buffers are nullptr */ if (_inbuf == nullptr) { - _inbuf = new char[_commandline_max]; + _inbuf = NEW_NOTHROW char[_commandline_max]; memset(_inbuf, 0, _commandline_max); } if (_argv == nullptr) { - _argv = new arg[_args_max+1]; + _argv = NEW_NOTHROW arg[_args_max+1]; memset(_argv, 0, (_args_max+1) * sizeof(_argv[0])); } } From 3912c6a5e038927d0e0828fb599ceaa4cc6632cb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 072/282] AP_Module: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Module/AP_Module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Module/AP_Module.cpp b/libraries/AP_Module/AP_Module.cpp index 3bad1d59ef852c..bb79d619d71124 100644 --- a/libraries/AP_Module/AP_Module.cpp +++ b/libraries/AP_Module/AP_Module.cpp @@ -55,7 +55,7 @@ void AP_Module::module_scan(const char *path) void *s = dlsym(m, hook_names[i]); if (s != nullptr) { // found a hook in this module, add it to the list - struct hook_list *h = new hook_list; + struct hook_list *h = NEW_NOTHROW hook_list; if (h == nullptr) { AP_HAL::panic("Failed to allocate hook for %s", hook_names[i]); } From e5a63eaad0f4ce5ba0dda6cb42a084c2d2ca690d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 073/282] AP_Motors: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Motors/AP_Motors_Class.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp index b5d81c13b7d044..9995dca6b7dea7 100644 --- a/libraries/AP_Motors/AP_Motors_Class.cpp +++ b/libraries/AP_Motors/AP_Motors_Class.cpp @@ -286,7 +286,7 @@ void AP_Motors::set_frame_string(const char * str) { return; } const size_t len = strlen(str)+1; - custom_frame_string = new char[len]; + custom_frame_string = NEW_NOTHROW char[len]; if (custom_frame_string != nullptr) { strncpy(custom_frame_string, str, len); } From 28da263e160d782f5eb3dc669bdf5dde985cb67a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 074/282] AP_Mount: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Mount/AP_Mount.cpp | 22 +++++++++++----------- libraries/AP_Mount/AP_Mount_Xacti.cpp | 2 +- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp index a9de1354b774e2..94e7a24a1ca14e 100644 --- a/libraries/AP_Mount/AP_Mount.cpp +++ b/libraries/AP_Mount/AP_Mount.cpp @@ -72,20 +72,20 @@ void AP_Mount::init() break; #if HAL_MOUNT_SERVO_ENABLED case Type::Servo: - _backends[instance] = new AP_Mount_Servo(*this, _params[instance], true, instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Servo(*this, _params[instance], true, instance); _num_instances++; break; #endif #if HAL_SOLO_GIMBAL_ENABLED case Type::SoloGimbal: - _backends[instance] = new AP_Mount_SoloGimbal(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Mount_SoloGimbal(*this, _params[instance], instance); _num_instances++; break; #endif // HAL_SOLO_GIMBAL_ENABLED #if HAL_MOUNT_ALEXMOS_ENABLED case Type::Alexmos: - _backends[instance] = new AP_Mount_Alexmos(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Alexmos(*this, _params[instance], instance); _num_instances++; break; #endif @@ -93,7 +93,7 @@ void AP_Mount::init() #if HAL_MOUNT_STORM32MAVLINK_ENABLED // check for SToRM32 mounts using MAVLink protocol case Type::SToRM32: - _backends[instance] = new AP_Mount_SToRM32(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Mount_SToRM32(*this, _params[instance], instance); _num_instances++; break; #endif @@ -101,7 +101,7 @@ void AP_Mount::init() #if HAL_MOUNT_STORM32SERIAL_ENABLED // check for SToRM32 mounts using serial protocol case Type::SToRM32_serial: - _backends[instance] = new AP_Mount_SToRM32_serial(*this, _params[instance], instance, serial_instance); + _backends[instance] = NEW_NOTHROW AP_Mount_SToRM32_serial(*this, _params[instance], instance, serial_instance); _num_instances++; serial_instance++; break; @@ -110,7 +110,7 @@ void AP_Mount::init() #if HAL_MOUNT_GREMSY_ENABLED // check for Gremsy mounts case Type::Gremsy: - _backends[instance] = new AP_Mount_Gremsy(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Gremsy(*this, _params[instance], instance); _num_instances++; break; #endif // HAL_MOUNT_GREMSY_ENABLED @@ -118,7 +118,7 @@ void AP_Mount::init() #if HAL_MOUNT_SERVO_ENABLED // check for BrushlessPWM mounts (uses Servo backend) case Type::BrushlessPWM: - _backends[instance] = new AP_Mount_Servo(*this, _params[instance], false, instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Servo(*this, _params[instance], false, instance); _num_instances++; break; #endif @@ -126,7 +126,7 @@ void AP_Mount::init() #if HAL_MOUNT_SIYI_ENABLED // check for Siyi gimbal case Type::Siyi: - _backends[instance] = new AP_Mount_Siyi(*this, _params[instance], instance, serial_instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Siyi(*this, _params[instance], instance, serial_instance); _num_instances++; serial_instance++; break; @@ -135,7 +135,7 @@ void AP_Mount::init() #if HAL_MOUNT_SCRIPTING_ENABLED // check for Scripting gimbal case Type::Scripting: - _backends[instance] = new AP_Mount_Scripting(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Scripting(*this, _params[instance], instance); _num_instances++; break; #endif // HAL_MOUNT_SCRIPTING_ENABLED @@ -143,7 +143,7 @@ void AP_Mount::init() #if HAL_MOUNT_XACTI_ENABLED // check for Xacti gimbal case Type::Xacti: - _backends[instance] = new AP_Mount_Xacti(*this, _params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Xacti(*this, _params[instance], instance); _num_instances++; break; #endif // HAL_MOUNT_XACTI_ENABLED @@ -151,7 +151,7 @@ void AP_Mount::init() #if HAL_MOUNT_VIEWPRO_ENABLED // check for Xacti gimbal case Type::Viewpro: - _backends[instance] = new AP_Mount_Viewpro(*this, _params[instance], instance, serial_instance); + _backends[instance] = NEW_NOTHROW AP_Mount_Viewpro(*this, _params[instance], instance, serial_instance); _num_instances++; serial_instance++; break; diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp index 3d551885ce35dc..a4c21bfea7e4a3 100644 --- a/libraries/AP_Mount/AP_Mount_Xacti.cpp +++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp @@ -49,7 +49,7 @@ AP_Mount_Xacti::AP_Mount_Xacti(class AP_Mount &frontend, class AP_Mount_Params & void AP_Mount_Xacti::init() { // instantiate parameter queue, return on failure so init fails - _set_param_int32_queue = new ObjectArray(XACTI_SET_PARAM_QUEUE_SIZE); + _set_param_int32_queue = NEW_NOTHROW ObjectArray(XACTI_SET_PARAM_QUEUE_SIZE); if (_set_param_int32_queue == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s init failed", send_text_prefix); return; From 5ca4bdbd8dd0b9d04876ce73ef3ae4a8d1fe9f15 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 075/282] AP_MSP: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_MSP/AP_MSP.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_MSP/AP_MSP.cpp b/libraries/AP_MSP/AP_MSP.cpp index 9f41ed928afbbe..9006bbf8907e7d 100644 --- a/libraries/AP_MSP/AP_MSP.cpp +++ b/libraries/AP_MSP/AP_MSP.cpp @@ -63,12 +63,12 @@ AP_MSP::AP_MSP() bool AP_MSP::init_backend(uint8_t backend_idx, AP_HAL::UARTDriver *uart, AP_SerialManager::SerialProtocol protocol) { if (protocol == AP_SerialManager::SerialProtocol_MSP) { - _backends[backend_idx] = new AP_MSP_Telem_Generic(uart); + _backends[backend_idx] = NEW_NOTHROW AP_MSP_Telem_Generic(uart); } else if (protocol == AP_SerialManager::SerialProtocol_DJI_FPV) { - _backends[backend_idx] = new AP_MSP_Telem_DJI(uart); + _backends[backend_idx] = NEW_NOTHROW AP_MSP_Telem_DJI(uart); #if HAL_WITH_MSP_DISPLAYPORT } else if (protocol == AP_SerialManager::SerialProtocol_MSP_DisplayPort) { - _backends[backend_idx] = new AP_MSP_Telem_DisplayPort(uart); + _backends[backend_idx] = NEW_NOTHROW AP_MSP_Telem_DisplayPort(uart); #endif } else { return false; From 5e88d67571d392330629291ba42b746061ba67a6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 076/282] AP_NavEKF2: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp index abc916f3332393..e8c35d768ad0ae 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp @@ -99,7 +99,7 @@ bool NavEKF2_core::setup_core(uint8_t _imu_index, uint8_t _core_index) } // try to instantiate - yawEstimator = new EKFGSF_yaw(); + yawEstimator = NEW_NOTHROW EKFGSF_yaw(); if (yawEstimator == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF2 IMU%uGSF: allocation failed",(unsigned)imu_index); return false; From 94cbd7cbfb64b1f7fc07cff353fda89e998801b8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 077/282] AP_NavEKF3: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp index 6fc98f08148297..92a2ba4eeca5fa 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp @@ -43,7 +43,7 @@ void NavEKF3_core::BeaconFusion::InitialiseVariables() auto *beacon = AP::dal().beacon(); if (beacon != nullptr) { const uint8_t count = beacon->count(); - fusionReport = new BeaconFusion::FusionReport[count]; + fusionReport = NEW_NOTHROW BeaconFusion::FusionReport[count]; if (fusionReport != nullptr) { numFusionReports = count; } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index af10084e6cc2df..6c750ff63a8914 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -172,7 +172,7 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index) } // try to instantiate - yawEstimator = new EKFGSF_yaw(); + yawEstimator = NEW_NOTHROW EKFGSF_yaw(); if (yawEstimator == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF3 IMU%uGSF: allocation failed",(unsigned)imu_index); return false; From 242a3741e3c5c352128d930bce4325e2718ad4a3 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 078/282] AP_NavEKF: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_NavEKF/tests/test_ring_buffer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF/tests/test_ring_buffer.cpp b/libraries/AP_NavEKF/tests/test_ring_buffer.cpp index e61840469d9217..515715462502b6 100644 --- a/libraries/AP_NavEKF/tests/test_ring_buffer.cpp +++ b/libraries/AP_NavEKF/tests/test_ring_buffer.cpp @@ -128,7 +128,7 @@ TEST(ekf_imu_buffer, one_element_case) struct element { uint8_t value; }; - ekf_imu_buffer *b = new ekf_imu_buffer(sizeof(element)); + ekf_imu_buffer *b = NEW_NOTHROW ekf_imu_buffer(sizeof(element)); b->init(1); // 1 element EXPECT_EQ(b->is_filled(), false); EXPECT_EQ(b->get_oldest_index(), b->get_youngest_index()); @@ -157,7 +157,7 @@ TEST(ekf_imu_buffer, is_filled) struct element { uint8_t value; }; - ekf_imu_buffer *b = new ekf_imu_buffer(sizeof(element)); + ekf_imu_buffer *b = NEW_NOTHROW ekf_imu_buffer(sizeof(element)); b->init(4); // 4 elements const element e { 34 }; From 4d5aa1b8e3f3df3cf9513b329efac3954403e854 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 079/282] AP_Networking: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Networking/AP_Networking.cpp | 10 +++++----- libraries/AP_Networking/AP_Networking_ChibiOS.cpp | 2 +- libraries/AP_Networking/AP_Networking_PPP.cpp | 2 +- libraries/AP_Networking/AP_Networking_port.cpp | 14 +++++++------- libraries/AP_Networking/AP_Networking_tests.cpp | 6 +++--- 5 files changed, 17 insertions(+), 17 deletions(-) diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp index 19016f3f7044e1..63bdb7235af9bc 100644 --- a/libraries/AP_Networking/AP_Networking.cpp +++ b/libraries/AP_Networking/AP_Networking.cpp @@ -148,26 +148,26 @@ void AP_Networking::init() /* when we are a PPP/Ethernet gateway we bring up the ethernet first */ - backend = new AP_Networking_ChibiOS(*this); - backend_PPP = new AP_Networking_PPP(*this); + backend = NEW_NOTHROW AP_Networking_ChibiOS(*this); + backend_PPP = NEW_NOTHROW AP_Networking_PPP(*this); } #endif #if AP_NETWORKING_BACKEND_PPP if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) { - backend = new AP_Networking_PPP(*this); + backend = NEW_NOTHROW AP_Networking_PPP(*this); } #endif #if AP_NETWORKING_BACKEND_CHIBIOS if (backend == nullptr) { - backend = new AP_Networking_ChibiOS(*this); + backend = NEW_NOTHROW AP_Networking_ChibiOS(*this); } #endif #if AP_NETWORKING_BACKEND_SITL if (backend == nullptr) { - backend = new AP_Networking_SITL(*this); + backend = NEW_NOTHROW AP_Networking_SITL(*this); } #endif diff --git a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp index 889a8526be7523..4248119a2d8adf 100644 --- a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp +++ b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp @@ -127,7 +127,7 @@ bool AP_Networking_ChibiOS::init() } #endif - thisif = new netif; + thisif = NEW_NOTHROW netif; if (thisif == nullptr) { return false; } diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp index 18f16f0bdbb56e..6bcf3651bba098 100644 --- a/libraries/AP_Networking/AP_Networking_PPP.cpp +++ b/libraries/AP_Networking/AP_Networking_PPP.cpp @@ -96,7 +96,7 @@ bool AP_Networking_PPP::init() return false; } - pppif = new netif; + pppif = NEW_NOTHROW netif; if (pppif == nullptr) { return false; } diff --git a/libraries/AP_Networking/AP_Networking_port.cpp b/libraries/AP_Networking/AP_Networking_port.cpp index 07c35ab070800d..c5b8a435cc64a2 100644 --- a/libraries/AP_Networking/AP_Networking_port.cpp +++ b/libraries/AP_Networking/AP_Networking_port.cpp @@ -115,7 +115,7 @@ void AP_Networking::Port::thread_create(AP_HAL::MemberProc proc) */ void AP_Networking::Port::udp_client_init(void) { - sock = new SocketAPM(true); + sock = NEW_NOTHROW SocketAPM(true); if (sock == nullptr) { return; } @@ -133,7 +133,7 @@ void AP_Networking::Port::udp_client_init(void) */ void AP_Networking::Port::udp_server_init(void) { - sock = new SocketAPM(true); + sock = NEW_NOTHROW SocketAPM(true); if (sock == nullptr) { return; } @@ -151,7 +151,7 @@ void AP_Networking::Port::udp_server_init(void) */ void AP_Networking::Port::tcp_server_init(void) { - listen_sock = new SocketAPM(false); + listen_sock = NEW_NOTHROW SocketAPM(false); if (listen_sock == nullptr) { return; } @@ -165,7 +165,7 @@ void AP_Networking::Port::tcp_server_init(void) */ void AP_Networking::Port::tcp_client_init(void) { - sock = new SocketAPM(false); + sock = NEW_NOTHROW SocketAPM(false); if (sock != nullptr) { sock->set_blocking(true); thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::Port::tcp_client_loop, void)); @@ -286,7 +286,7 @@ void AP_Networking::Port::tcp_client_loop(void) hal.scheduler->delay_microseconds(100); } if (sock == nullptr) { - sock = new SocketAPM(false); + sock = NEW_NOTHROW SocketAPM(false); if (sock == nullptr) { continue; } @@ -444,12 +444,12 @@ bool AP_Networking::Port::init_buffers(const uint32_t size_rx, const uint32_t si } WITH_SEMAPHORE(sem); if (readbuffer == nullptr) { - readbuffer = new ByteBuffer(size_rx); + readbuffer = NEW_NOTHROW ByteBuffer(size_rx); } else { readbuffer->set_size_best(size_rx); } if (writebuffer == nullptr) { - writebuffer = new ByteBuffer(size_tx); + writebuffer = NEW_NOTHROW ByteBuffer(size_tx); } else { writebuffer->set_size_best(size_tx); } diff --git a/libraries/AP_Networking/AP_Networking_tests.cpp b/libraries/AP_Networking/AP_Networking_tests.cpp index 839f17f74647ad..4747b0ce8873e7 100644 --- a/libraries/AP_Networking/AP_Networking_tests.cpp +++ b/libraries/AP_Networking/AP_Networking_tests.cpp @@ -43,7 +43,7 @@ void AP_Networking::test_UDP_client(void) startup_wait(); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: starting"); const char *dest = param.test_ipaddr.get_str(); - auto *sock = new SocketAPM(true); + auto *sock = NEW_NOTHROW SocketAPM(true); if (sock == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: failed to create socket"); return; @@ -75,7 +75,7 @@ void AP_Networking::test_TCP_client(void) startup_wait(); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: starting"); const char *dest = param.test_ipaddr.get_str(); - auto *sock = new SocketAPM(false); + auto *sock = NEW_NOTHROW SocketAPM(false); if (sock == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: failed to create socket"); return; @@ -107,7 +107,7 @@ void AP_Networking::test_TCP_discard(void) startup_wait(); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_discard: starting"); const char *dest = param.test_ipaddr.get_str(); - auto *sock = new SocketAPM(false); + auto *sock = NEW_NOTHROW SocketAPM(false); if (sock == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_discard: failed to create socket"); return; From 530cbf1ecadf286e3b3aa37b2b5a4d4c647da046 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 080/282] AP_Notify: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Notify/AP_Notify.cpp | 72 ++++++++++----------- libraries/AP_Notify/Display_SH1106_I2C.cpp | 2 +- libraries/AP_Notify/Display_SITL.cpp | 4 +- libraries/AP_Notify/Display_SSD1306_I2C.cpp | 2 +- libraries/AP_Notify/ProfiLED.cpp | 2 +- libraries/AP_Notify/SITL_SFML_LED.cpp | 4 +- 6 files changed, 43 insertions(+), 43 deletions(-) diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp index 3d7503f1ed0eca..577916e733cf71 100644 --- a/libraries/AP_Notify/AP_Notify.cpp +++ b/libraries/AP_Notify/AP_Notify.cpp @@ -289,126 +289,126 @@ void AP_Notify::add_backends(void) // select the most appropriate built in LED driver type #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 - ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1")); + ADD_BACKEND(NEW_NOTHROW Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1")); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE - ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14)); + ADD_BACKEND(NEW_NOTHROW RCOutputRGBLedInverted(12, 13, 14)); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH - ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE)); + ADD_BACKEND(NEW_NOTHROW RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE)); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO - ADD_BACKEND(new DiscoLED()); + ADD_BACKEND(NEW_NOTHROW DiscoLED()); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR - ADD_BACKEND(new NavigatorLED()); + ADD_BACKEND(NEW_NOTHROW NavigatorLED()); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 - ADD_BACKEND(new AP_BoardLED2()); + ADD_BACKEND(NEW_NOTHROW AP_BoardLED2()); #endif #endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if AP_NOTIFY_EXTERNALLED_ENABLED - ADD_BACKEND(new ExternalLED()); // despite the name this is a built in set of onboard LED's + ADD_BACKEND(NEW_NOTHROW ExternalLED()); // despite the name this is a built in set of onboard LED's #endif #if defined(HAL_HAVE_PIXRACER_LED) - ADD_BACKEND(new PixRacerLED()); + ADD_BACKEND(NEW_NOTHROW PixRacerLED()); #elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN)) #if AP_NOTIFY_VRBOARD_LED_ENABLED - ADD_BACKEND(new VRBoard_LED()); + ADD_BACKEND(NEW_NOTHROW VRBoard_LED()); #else - ADD_BACKEND(new AP_BoardLED()); + ADD_BACKEND(NEW_NOTHROW AP_BoardLED()); #endif #elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN)) - ADD_BACKEND(new AP_BoardLED2()); + ADD_BACKEND(NEW_NOTHROW AP_BoardLED2()); #endif break; #if AP_NOTIFY_TOSHIBALED_ENABLED case Notify_LED_ToshibaLED_I2C_Internal: - ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL)); + ADD_BACKEND(NEW_NOTHROW ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL)); break; case Notify_LED_ToshibaLED_I2C_External: - ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL)); + ADD_BACKEND(NEW_NOTHROW ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL)); break; #endif #if AP_NOTIFY_NCP5623_ENABLED case Notify_LED_NCP5623_I2C_External: FOREACH_I2C_EXTERNAL(b) { - ADD_BACKEND(new NCP5623(b)); + ADD_BACKEND(NEW_NOTHROW NCP5623(b)); } break; case Notify_LED_NCP5623_I2C_Internal: FOREACH_I2C_INTERNAL(b) { - ADD_BACKEND(new NCP5623(b)); + ADD_BACKEND(NEW_NOTHROW NCP5623(b)); } break; #endif #if AP_NOTIFY_PCA9685_ENABLED case Notify_LED_PCA9685LED_I2C_External: - ADD_BACKEND(new PCA9685LED_I2C()); + ADD_BACKEND(NEW_NOTHROW PCA9685LED_I2C()); break; #endif #if AP_NOTIFY_NEOPIXEL_ENABLED case Notify_LED_NeoPixel: case Notify_LED_NeoPixelRGB: - ADD_BACKEND(new NeoPixel()); + ADD_BACKEND(NEW_NOTHROW NeoPixel()); break; #endif #if AP_NOTIFY_PROFILED_ENABLED case Notify_LED_ProfiLED: - ADD_BACKEND(new ProfiLED()); + ADD_BACKEND(NEW_NOTHROW ProfiLED()); break; #endif #if AP_NOTIFY_PROFILED_SPI_ENABLED case Notify_LED_ProfiLED_SPI: - ADD_BACKEND(new ProfiLED_SPI()); + ADD_BACKEND(NEW_NOTHROW ProfiLED_SPI()); break; #endif #if AP_NOTIFY_OREOLED_ENABLED case Notify_LED_OreoLED: if (_oreo_theme) { - ADD_BACKEND(new OreoLED_I2C(0, _oreo_theme)); + ADD_BACKEND(NEW_NOTHROW OreoLED_I2C(0, _oreo_theme)); } break; #endif #if AP_NOTIFY_DRONECAN_LED_ENABLED case Notify_LED_DroneCAN: - ADD_BACKEND(new DroneCAN_RGB_LED()); + ADD_BACKEND(NEW_NOTHROW DroneCAN_RGB_LED()); break; #endif // AP_NOTIFY_DRONECAN_LED_ENABLED #if AP_NOTIFY_SCRIPTING_LED_ENABLED case Notify_LED_Scripting: - ADD_BACKEND(new ScriptingLED()); + ADD_BACKEND(NEW_NOTHROW ScriptingLED()); break; #endif #if AP_NOTIFY_DSHOT_LED_ENABLED case Notify_LED_DShot: - ADD_BACKEND(new DShotLED()); + ADD_BACKEND(NEW_NOTHROW DShotLED()); break; #endif #if AP_NOTIFY_LP5562_ENABLED case Notify_LED_LP5562_I2C_External: FOREACH_I2C_EXTERNAL(b) { - ADD_BACKEND(new LP5562(b, 0x30)); + ADD_BACKEND(NEW_NOTHROW LP5562(b, 0x30)); } break; case Notify_LED_LP5562_I2C_Internal: FOREACH_I2C_INTERNAL(b) { - ADD_BACKEND(new LP5562(b, 0x30)); + ADD_BACKEND(NEW_NOTHROW LP5562(b, 0x30)); } break; #endif #if AP_NOTIFY_IS31FL3195_ENABLED case Notify_LED_IS31FL3195_I2C_External: FOREACH_I2C_EXTERNAL(b) { - ADD_BACKEND(new IS31FL3195(b, 0x54)); + ADD_BACKEND(NEW_NOTHROW IS31FL3195(b, 0x54)); } break; case Notify_LED_IS31FL3195_I2C_Internal: FOREACH_I2C_INTERNAL(b) { - ADD_BACKEND(new IS31FL3195(b, 0x54)); + ADD_BACKEND(NEW_NOTHROW IS31FL3195(b, 0x54)); } break; #endif #if AP_NOTIFY_DISCRETE_RGB_ENABLED case Notify_LED_DiscreteRGB: - ADD_BACKEND(new DiscreteRGBLed(DISCRETE_RGB_RED_PIN, + ADD_BACKEND(NEW_NOTHROW DiscreteRGBLed(DISCRETE_RGB_RED_PIN, DISCRETE_RGB_GREEN_PIN, DISCRETE_RGB_BLUE_PIN, DISCRETE_RGB_POLARITY)); @@ -419,14 +419,14 @@ void AP_Notify::add_backends(void) #if HAL_DISPLAY_ENABLED // Always try and add a display backend - ADD_BACKEND(new Display()); + ADD_BACKEND(NEW_NOTHROW Display()); #endif // ChibiOS noise makers #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS - ADD_BACKEND(new Buzzer()); + ADD_BACKEND(NEW_NOTHROW Buzzer()); #if AP_NOTIFY_TONEALARM_ENABLED - ADD_BACKEND(new AP_ToneAlarm()); + ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm()); #endif // Linux noise makers @@ -444,17 +444,17 @@ void AP_Notify::add_backends(void) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 - ADD_BACKEND(new Buzzer()); + ADD_BACKEND(NEW_NOTHROW Buzzer()); #else // other linux - ADD_BACKEND(new AP_ToneAlarm()); + ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm()); #endif #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL - ADD_BACKEND(new AP_ToneAlarm()); - ADD_BACKEND(new Buzzer()); + ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm()); + ADD_BACKEND(NEW_NOTHROW Buzzer()); #ifdef WITH_SITL_RGBLED - ADD_BACKEND(new SITL_SFML_LED()); + ADD_BACKEND(NEW_NOTHROW SITL_SFML_LED()); #endif #endif // Noise makers diff --git a/libraries/AP_Notify/Display_SH1106_I2C.cpp b/libraries/AP_Notify/Display_SH1106_I2C.cpp index 0c5f36e4274545..275945210055f7 100644 --- a/libraries/AP_Notify/Display_SH1106_I2C.cpp +++ b/libraries/AP_Notify/Display_SH1106_I2C.cpp @@ -31,7 +31,7 @@ Display_SH1106_I2C::~Display_SH1106_I2C() Display_SH1106_I2C *Display_SH1106_I2C::probe(AP_HAL::OwnPtr dev) { - Display_SH1106_I2C *driver = new Display_SH1106_I2C(std::move(dev)); + Display_SH1106_I2C *driver = NEW_NOTHROW Display_SH1106_I2C(std::move(dev)); if (!driver || !driver->hw_init()) { delete driver; return nullptr; diff --git a/libraries/AP_Notify/Display_SITL.cpp b/libraries/AP_Notify/Display_SITL.cpp index 61effccca7db58..0d9206d032824f 100644 --- a/libraries/AP_Notify/Display_SITL.cpp +++ b/libraries/AP_Notify/Display_SITL.cpp @@ -33,7 +33,7 @@ Display_SITL::~Display_SITL() Display_SITL *Display_SITL::probe() { - Display_SITL *driver = new Display_SITL(); + Display_SITL *driver = NEW_NOTHROW Display_SITL(); if (!driver || !driver->hw_init()) { delete driver; return nullptr; @@ -46,7 +46,7 @@ void Display_SITL::update_thread(void) { { WITH_SEMAPHORE(AP::notify().sf_window_mutex); - w = new sf::RenderWindow(sf::VideoMode(COLUMNS*SCALE, ROWS*SCALE), "Display"); + w = NEW_NOTHROW sf::RenderWindow(sf::VideoMode(COLUMNS*SCALE, ROWS*SCALE), "Display"); } if (!w) { AP_HAL::panic("Unable to create Display_SITL window"); diff --git a/libraries/AP_Notify/Display_SSD1306_I2C.cpp b/libraries/AP_Notify/Display_SSD1306_I2C.cpp index f292fbb32125c4..c57341442ee6d8 100644 --- a/libraries/AP_Notify/Display_SSD1306_I2C.cpp +++ b/libraries/AP_Notify/Display_SSD1306_I2C.cpp @@ -32,7 +32,7 @@ Display_SSD1306_I2C::~Display_SSD1306_I2C() Display_SSD1306_I2C *Display_SSD1306_I2C::probe(AP_HAL::OwnPtr dev) { - Display_SSD1306_I2C *driver = new Display_SSD1306_I2C(std::move(dev)); + Display_SSD1306_I2C *driver = NEW_NOTHROW Display_SSD1306_I2C(std::move(dev)); if (!driver || !driver->hw_init()) { delete driver; return nullptr; diff --git a/libraries/AP_Notify/ProfiLED.cpp b/libraries/AP_Notify/ProfiLED.cpp index 872e7819a27218..72ee6599c8ec96 100644 --- a/libraries/AP_Notify/ProfiLED.cpp +++ b/libraries/AP_Notify/ProfiLED.cpp @@ -75,7 +75,7 @@ ProfiLED_SPI::ProfiLED_SPI() : bool ProfiLED_SPI::init() { num_leds = pNotify->get_led_len() + 1; // for some reason we have to send an additional LED data - rgb = new ProfiLED_SPI::RGB[num_leds]; + rgb = NEW_NOTHROW ProfiLED_SPI::RGB[num_leds]; if (!rgb) { return false; } diff --git a/libraries/AP_Notify/SITL_SFML_LED.cpp b/libraries/AP_Notify/SITL_SFML_LED.cpp index 6bb96be714b27d..3a5ed202674445 100644 --- a/libraries/AP_Notify/SITL_SFML_LED.cpp +++ b/libraries/AP_Notify/SITL_SFML_LED.cpp @@ -126,7 +126,7 @@ void SITL_SFML_LED::update_serial_LEDs() if (!layout_size(layout, xsize, ysize)) { return; } - w = new sf::RenderWindow(sf::VideoMode(xsize*(serialLED_size+1), ysize*(serialLED_size+1)), "SerialLED"); + w = NEW_NOTHROW sf::RenderWindow(sf::VideoMode(xsize*(serialLED_size+1), ysize*(serialLED_size+1)), "SerialLED"); if (!w) { return; } @@ -150,7 +150,7 @@ void SITL_SFML_LED::update_serial_LEDs() uint8_t *rgb = &sitl->led.rgb[chan][led].rgb[0]; if (leds[chan][led] == nullptr) { - leds[chan][led] = new sf::RectangleShape(sf::Vector2f(serialLED_size, serialLED_size)); + leds[chan][led] = NEW_NOTHROW sf::RectangleShape(sf::Vector2f(serialLED_size, serialLED_size)); if (!leds[chan][led]) { return; } From cead1ee2640e0b23866cb8cf671e3c969a49c957 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 081/282] AP_ONVIF: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_ONVIF/AP_ONVIF.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_ONVIF/AP_ONVIF.cpp b/libraries/AP_ONVIF/AP_ONVIF.cpp index 6a0fae5672334c..d5c43e9278a901 100644 --- a/libraries/AP_ONVIF/AP_ONVIF.cpp +++ b/libraries/AP_ONVIF/AP_ONVIF.cpp @@ -63,13 +63,13 @@ bool AP_ONVIF::start(const char *user, const char *pass, const char *hostname) soap->connect_timeout = soap->recv_timeout = soap->send_timeout = 30; // 30 sec if (proxy_device == nullptr) { - proxy_device = new DeviceBindingProxy(soap); + proxy_device = NEW_NOTHROW DeviceBindingProxy(soap); } if (proxy_media == nullptr) { - proxy_media = new MediaBindingProxy(soap); + proxy_media = NEW_NOTHROW MediaBindingProxy(soap); } if (proxy_ptz == nullptr) { - proxy_ptz = new PTZBindingProxy(soap); + proxy_ptz = NEW_NOTHROW PTZBindingProxy(soap); } if (proxy_device == nullptr || From 014b3bba70c7a05af06691400d64a85eec5ce854 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 082/282] AP_OpenDroneID: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp b/libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp index 73becf04406da2..b15f2af98842e9 100644 --- a/libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp +++ b/libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp @@ -42,35 +42,35 @@ void AP_OpenDroneID::dronecan_init(AP_DroneCAN *uavcan) return; } - dc_location[driver_index] = new Canard::Publisher(uavcan->get_canard_iface()); + dc_location[driver_index] = NEW_NOTHROW Canard::Publisher(uavcan->get_canard_iface()); if (dc_location[driver_index] == nullptr) { goto alloc_failed; } dc_location[driver_index]->set_timeout_ms(20); dc_location[driver_index]->set_priority(CANARD_TRANSFER_PRIORITY_LOW); - dc_basic_id[driver_index] = new Canard::Publisher(uavcan->get_canard_iface()); + dc_basic_id[driver_index] = NEW_NOTHROW Canard::Publisher(uavcan->get_canard_iface()); if (dc_basic_id[driver_index] == nullptr) { goto alloc_failed; } dc_basic_id[driver_index]->set_timeout_ms(20); dc_basic_id[driver_index]->set_priority(CANARD_TRANSFER_PRIORITY_LOW); - dc_self_id[driver_index] = new Canard::Publisher(uavcan->get_canard_iface()); + dc_self_id[driver_index] = NEW_NOTHROW Canard::Publisher(uavcan->get_canard_iface()); if (dc_self_id[driver_index] == nullptr) { goto alloc_failed; } dc_self_id[driver_index]->set_timeout_ms(20); dc_self_id[driver_index]->set_priority(CANARD_TRANSFER_PRIORITY_LOW); - dc_system[driver_index] = new Canard::Publisher(uavcan->get_canard_iface()); + dc_system[driver_index] = NEW_NOTHROW Canard::Publisher(uavcan->get_canard_iface()); if (dc_system[driver_index] == nullptr) { goto alloc_failed; } dc_system[driver_index]->set_timeout_ms(20); dc_system[driver_index]->set_priority(CANARD_TRANSFER_PRIORITY_LOW); - dc_operator_id[driver_index] = new Canard::Publisher(uavcan->get_canard_iface()); + dc_operator_id[driver_index] = NEW_NOTHROW Canard::Publisher(uavcan->get_canard_iface()); if (dc_operator_id[driver_index] == nullptr) { goto alloc_failed; } From 7235c146fa100f424385d10a7331d20efdd0b3da Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:13 +1000 Subject: [PATCH 083/282] AP_OpticalFlow: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_OpticalFlow/AP_OpticalFlow.cpp | 8 ++++---- libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp | 2 +- libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp | 2 +- libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp | 2 +- libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp | 2 +- libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp | 2 +- libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp | 2 +- 7 files changed, 10 insertions(+), 10 deletions(-) diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp index 0a5c89aa6689d0..fc14d0d316bd8f 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp @@ -141,7 +141,7 @@ void AP_OpticalFlow::init(uint32_t log_bit) break; case Type::BEBOP: #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP - backend = new AP_OpticalFlow_Onboard(*this); + backend = NEW_NOTHROW AP_OpticalFlow_Onboard(*this); #endif break; case Type::CXOF: @@ -156,7 +156,7 @@ void AP_OpticalFlow::init(uint32_t log_bit) break; case Type::UAVCAN: #if AP_OPTICALFLOW_HEREFLOW_ENABLED - backend = new AP_OpticalFlow_HereFlow(*this); + backend = NEW_NOTHROW AP_OpticalFlow_HereFlow(*this); #endif break; case Type::MSP: @@ -171,7 +171,7 @@ void AP_OpticalFlow::init(uint32_t log_bit) break; case Type::SITL: #if AP_OPTICALFLOW_SITL_ENABLED - backend = new AP_OpticalFlow_SITL(*this); + backend = NEW_NOTHROW AP_OpticalFlow_SITL(*this); #endif break; } @@ -243,7 +243,7 @@ void AP_OpticalFlow::handle_msp(const MSP::msp_opflow_data_message_t &pkt) void AP_OpticalFlow::start_calibration() { if (_calibrator == nullptr) { - _calibrator = new AP_OpticalFlow_Calibrator(); + _calibrator = NEW_NOTHROW AP_OpticalFlow_Calibrator(); if (_calibrator == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "FlowCal: failed to start"); return; diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp index af3180b95dd8d8..f27e5f0aca8137 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp @@ -72,7 +72,7 @@ AP_OpticalFlow_CXOF *AP_OpticalFlow_CXOF::detect(AP_OpticalFlow &_frontend) } // we have found a serial port so use it - AP_OpticalFlow_CXOF *sensor = new AP_OpticalFlow_CXOF(_frontend, uart); + AP_OpticalFlow_CXOF *sensor = NEW_NOTHROW AP_OpticalFlow_CXOF(_frontend, uart); return sensor; } diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp index 7a84b17623e3f5..9d26f141c25901 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp @@ -26,7 +26,7 @@ AP_OpticalFlow_MAV *AP_OpticalFlow_MAV::detect(AP_OpticalFlow &_frontend) { // we assume mavlink messages will be sent into this driver - AP_OpticalFlow_MAV *sensor = new AP_OpticalFlow_MAV(_frontend); + AP_OpticalFlow_MAV *sensor = NEW_NOTHROW AP_OpticalFlow_MAV(_frontend); return sensor; } diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp index eaff53fde2a90a..8923a5846b5c01 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp @@ -29,7 +29,7 @@ using namespace MSP; AP_OpticalFlow_MSP *AP_OpticalFlow_MSP::detect(AP_OpticalFlow &_frontend) { // we assume msp messages will be sent into this driver - return new AP_OpticalFlow_MSP(_frontend); + return NEW_NOTHROW AP_OpticalFlow_MSP(_frontend); } // read latest values from sensor and fill in x,y and totals. diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp index 0f72760d02c307..17380ed38a21d6 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp @@ -40,7 +40,7 @@ extern const AP_HAL::HAL& hal; // detect the device AP_OpticalFlow_PX4Flow *AP_OpticalFlow_PX4Flow::detect(AP_OpticalFlow &_frontend) { - AP_OpticalFlow_PX4Flow *sensor = new AP_OpticalFlow_PX4Flow(_frontend); + AP_OpticalFlow_PX4Flow *sensor = NEW_NOTHROW AP_OpticalFlow_PX4Flow(_frontend); if (!sensor) { return nullptr; } diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp index 5a976c8a3eb2f4..373c044ef3d6db 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp @@ -94,7 +94,7 @@ AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(const char *devname, AP_OpticalFlow // detect the device AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(const char *devname, AP_OpticalFlow &_frontend) { - AP_OpticalFlow_Pixart *sensor = new AP_OpticalFlow_Pixart(devname, _frontend); + AP_OpticalFlow_Pixart *sensor = NEW_NOTHROW AP_OpticalFlow_Pixart(devname, _frontend); if (!sensor) { return nullptr; } diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp index a4af1d4c86c2c0..6452cc1532f3a6 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp @@ -74,7 +74,7 @@ AP_OpticalFlow_UPFLOW *AP_OpticalFlow_UPFLOW::detect(AP_OpticalFlow &_frontend) } // we have found a serial port so use it - AP_OpticalFlow_UPFLOW *sensor = new AP_OpticalFlow_UPFLOW(_frontend, uart); + AP_OpticalFlow_UPFLOW *sensor = NEW_NOTHROW AP_OpticalFlow_UPFLOW(_frontend, uart); return sensor; } From a5672b0105ae0ef577222f1e0c7e3522bebe58f9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 084/282] AP_OSD: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_OSD/AP_OSD_MAX7456.cpp | 2 +- libraries/AP_OSD/AP_OSD_MSP.cpp | 2 +- libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp | 2 +- libraries/AP_OSD/AP_OSD_SITL.cpp | 6 +++--- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_OSD/AP_OSD_MAX7456.cpp b/libraries/AP_OSD/AP_OSD_MAX7456.cpp index c5830e707837fe..81104399d6ce09 100644 --- a/libraries/AP_OSD/AP_OSD_MAX7456.cpp +++ b/libraries/AP_OSD/AP_OSD_MAX7456.cpp @@ -252,7 +252,7 @@ AP_OSD_Backend *AP_OSD_MAX7456::probe(AP_OSD &osd, AP_HAL::OwnPtrdata[i*54]; // each pixel is 4 bytes, RGBA - sf::Uint8 *pixels = new sf::Uint8[char_width * char_height * 4]; + sf::Uint8 *pixels = NEW_NOTHROW sf::Uint8[char_width * char_height * 4]; if (!font[i].create(char_width, char_height)) { AP_HAL::panic("Failed to create texture"); } @@ -125,7 +125,7 @@ void AP_OSD_SITL::update_thread(void) load_font(); { WITH_SEMAPHORE(AP::notify().sf_window_mutex); - w = new sf::RenderWindow(sf::VideoMode(video_cols*(char_width+char_spacing)*char_scale, + w = NEW_NOTHROW sf::RenderWindow(sf::VideoMode(video_cols*(char_width+char_spacing)*char_scale, video_lines*(char_height+char_spacing)*char_scale), "OSD"); } @@ -194,7 +194,7 @@ bool AP_OSD_SITL::init(void) AP_OSD_Backend *AP_OSD_SITL::probe(AP_OSD &osd) { - AP_OSD_SITL *backend = new AP_OSD_SITL(osd); + AP_OSD_SITL *backend = NEW_NOTHROW AP_OSD_SITL(osd); if (!backend) { return nullptr; } From 6bd2be548bce7b1791d64f78a7d4a9b2a82975c6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 085/282] AP_Param: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Param/AP_Param.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp index b44f4d2c02e40b..65915b4d8834f6 100644 --- a/libraries/AP_Param/AP_Param.cpp +++ b/libraries/AP_Param/AP_Param.cpp @@ -2391,7 +2391,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass) num_param_overrides = 0; num_read_only = 0; - param_overrides = new param_override[num_defaults]; + param_overrides = NEW_NOTHROW param_override[num_defaults]; if (param_overrides == nullptr) { AP_HAL::panic("AP_Param: Failed to allocate overrides"); return false; @@ -2486,7 +2486,7 @@ void AP_Param::load_param_defaults(const volatile char *ptr, int32_t length, boo return; } - param_overrides = new param_override[num_defaults]; + param_overrides = NEW_NOTHROW param_override[num_defaults]; if (param_overrides == nullptr) { AP_HAL::panic("AP_Param: Failed to allocate overrides"); return; @@ -2882,7 +2882,7 @@ void AP_Param::add_default(AP_Param *ap, float v) } // add to list - defaults_list *new_item = new defaults_list; + defaults_list *new_item = NEW_NOTHROW defaults_list; if (new_item == nullptr) { return; } From c681701f81cfd60d630531c2e2026bdf0824a663 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 086/282] AP_Proximity: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Proximity/AP_Proximity.cpp | 26 +++++++++---------- .../AP_Proximity/AP_Proximity_DroneCAN.cpp | 2 +- .../AP_Proximity/AP_Proximity_MR72_CAN.cpp | 2 +- 3 files changed, 15 insertions(+), 15 deletions(-) diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp index 753b7eb0bc030f..1ba08b6228906b 100644 --- a/libraries/AP_Proximity/AP_Proximity.cpp +++ b/libraries/AP_Proximity/AP_Proximity.cpp @@ -153,7 +153,7 @@ void AP_Proximity::init() case Type::RPLidarA2: if (AP_Proximity_RPLidarA2::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_RPLidarA2(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_RPLidarA2(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; @@ -161,14 +161,14 @@ void AP_Proximity::init() #if AP_PROXIMITY_MAV_ENABLED case Type::MAV: state[instance].instance = instance; - drivers[instance] = new AP_Proximity_MAV(*this, state[instance], params[instance]); + drivers[instance] = NEW_NOTHROW AP_Proximity_MAV(*this, state[instance], params[instance]); break; #endif #if AP_PROXIMITY_TERARANGERTOWER_ENABLED case Type::TRTOWER: if (AP_Proximity_TeraRangerTower::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_TeraRangerTower(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_TeraRangerTower(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; @@ -177,7 +177,7 @@ void AP_Proximity::init() case Type::TRTOWEREVO: if (AP_Proximity_TeraRangerTowerEvo::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_TeraRangerTowerEvo(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; @@ -185,14 +185,14 @@ void AP_Proximity::init() #if AP_PROXIMITY_RANGEFINDER_ENABLED case Type::RangeFinder: state[instance].instance = instance; - drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance], params[instance]); + drivers[instance] = NEW_NOTHROW AP_Proximity_RangeFinder(*this, state[instance], params[instance]); break; #endif #if AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED case Type::SF40C: if (AP_Proximity_LightWareSF40C::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_LightWareSF40C(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; @@ -201,7 +201,7 @@ void AP_Proximity::init() case Type::SF45B: if (AP_Proximity_LightWareSF45B::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_LightWareSF45B(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_LightWareSF45B(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; @@ -210,7 +210,7 @@ void AP_Proximity::init() case Type::CYGBOT_D1: if (AP_Proximity_Cygbot_D1::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_Cygbot_D1(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_Cygbot_D1(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; @@ -223,32 +223,32 @@ void AP_Proximity::init() #if AP_PROXIMITY_SCRIPTING_ENABLED case Type::Scripting: state[instance].instance = instance; - drivers[instance] = new AP_Proximity_Scripting(*this, state[instance], params[instance]); + drivers[instance] = NEW_NOTHROW AP_Proximity_Scripting(*this, state[instance], params[instance]); break; #endif #if AP_PROXIMITY_MR72_ENABLED case Type::MR72: state[instance].instance = instance; - drivers[instance] = new AP_Proximity_MR72_CAN(*this, state[instance], params[instance]); + drivers[instance] = NEW_NOTHROW AP_Proximity_MR72_CAN(*this, state[instance], params[instance]); break; # endif #if AP_PROXIMITY_SITL_ENABLED case Type::SITL: state[instance].instance = instance; - drivers[instance] = new AP_Proximity_SITL(*this, state[instance], params[instance]); + drivers[instance] = NEW_NOTHROW AP_Proximity_SITL(*this, state[instance], params[instance]); break; #endif #if AP_PROXIMITY_AIRSIMSITL_ENABLED case Type::AirSimSITL: state[instance].instance = instance; - drivers[instance] = new AP_Proximity_AirSimSITL(*this, state[instance], params[instance]); + drivers[instance] = NEW_NOTHROW AP_Proximity_AirSimSITL(*this, state[instance], params[instance]); break; #endif #if AP_PROXIMITY_LD06_ENABLED case Type::LD06: if (AP_Proximity_LD06::detect(serial_instance)) { state[instance].instance = instance; - drivers[instance] = new AP_Proximity_LD06(*this, state[instance], params[instance], serial_instance); + drivers[instance] = NEW_NOTHROW AP_Proximity_LD06(*this, state[instance], params[instance], serial_instance); serial_instance++; } break; diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp index 09f751491ea18d..caa2b03f078ae9 100644 --- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp +++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp @@ -85,7 +85,7 @@ AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_dronecan_backend(AP_DroneCAN* //it up as DroneCAN type return nullptr; } - prx->drivers[i] = new AP_Proximity_DroneCAN(*prx, prx->state[i], prx->params[i]); + prx->drivers[i] = NEW_NOTHROW AP_Proximity_DroneCAN(*prx, prx->state[i], prx->params[i]); driver = (AP_Proximity_DroneCAN*)prx->drivers[i]; if (driver == nullptr) { break; diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp index 9d9618286c5b5f..292414130ce79b 100644 --- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp +++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp @@ -37,7 +37,7 @@ AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend, AP_Proximity_Params& _params): AP_Proximity_Backend(_frontend, _state, _params) { - multican_MR72 = new MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::NanoRadar, "MR72 MultiCAN"}; + multican_MR72 = NEW_NOTHROW MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::NanoRadar, "MR72 MultiCAN"}; if (multican_MR72 == nullptr) { AP_BoardConfig::allocation_error("Failed to create proximity multican"); } From 5130e26f4c23f75c4618809439c4a80606a1e1f1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 087/282] AP_Radio: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Radio/AP_Radio.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Radio/AP_Radio.cpp b/libraries/AP_Radio/AP_Radio.cpp index 5afaa5764b6032..6f62c9c90cf2ff 100644 --- a/libraries/AP_Radio/AP_Radio.cpp +++ b/libraries/AP_Radio/AP_Radio.cpp @@ -155,17 +155,17 @@ bool AP_Radio::init(void) switch (radio_type) { #if AP_RADIO_CYRF6936_ENABLED case RADIO_TYPE_CYRF6936: - driver = new AP_Radio_cypress(*this); + driver = NEW_NOTHROW AP_Radio_cypress(*this); break; #endif #if AP_RADIO_CC2500_ENABLED case RADIO_TYPE_CC2500: - driver = new AP_Radio_cc2500(*this); + driver = NEW_NOTHROW AP_Radio_cc2500(*this); break; #endif #if AP_RADIO_BK2425_ENABLED case RADIO_TYPE_BK2425: - driver = new AP_Radio_beken(*this); + driver = NEW_NOTHROW AP_Radio_beken(*this); break; #endif #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 @@ -173,12 +173,12 @@ bool AP_Radio::init(void) // auto-detect between cc2500 and beken radios #if AP_RADIO_CC2500_ENABLED if (AP_Radio_cc2500::probe()) { - driver = new AP_Radio_cc2500(*this); + driver = NEW_NOTHROW AP_Radio_cc2500(*this); } #endif #if AP_RADIO_BK2425_ENABLED if (driver == nullptr) { - driver = new AP_Radio_beken(*this); + driver = NEW_NOTHROW AP_Radio_beken(*this); } #endif break; From 8554081be59bccd5526197b173a4bad2274abf85 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 088/282] AP_RangeFinder: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_RangeFinder/AP_RangeFinder.cpp | 28 +++++++++---------- .../AP_RangeFinder_Ainstein_LR_D1.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_BLPing.h | 2 +- .../AP_RangeFinder_Backend_CAN.cpp | 2 +- .../AP_RangeFinder/AP_RangeFinder_Bebop.cpp | 2 +- .../AP_RangeFinder_Benewake_TF02.h | 2 +- .../AP_RangeFinder_Benewake_TF03.h | 2 +- .../AP_RangeFinder_Benewake_TFMini.h | 2 +- .../AP_RangeFinder_Benewake_TFMiniPlus.cpp | 2 +- .../AP_RangeFinder_DroneCAN.cpp | 2 +- .../AP_RangeFinder/AP_RangeFinder_GYUS42v2.h | 2 +- .../AP_RangeFinder_JRE_Serial.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_Lanbao.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_LeddarOne.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_LeddarVu8.h | 2 +- .../AP_RangeFinder_LightWareI2C.cpp | 2 +- .../AP_RangeFinder_LightWareSerial.h | 2 +- .../AP_RangeFinder_MaxsonarI2CXL.cpp | 2 +- .../AP_RangeFinder_MaxsonarSerialLV.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_NMEA.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_NoopLoop.h | 2 +- .../AP_RangeFinder_PulsedLightLRF.cpp | 2 +- .../AP_RangeFinder/AP_RangeFinder_RDS02UF.h | 2 +- .../AP_RangeFinder_TOFSenseF_I2C.cpp | 2 +- .../AP_RangeFinder_TeraRangerI2C.cpp | 2 +- .../AP_RangeFinder_TeraRanger_Serial.h | 2 +- .../AP_RangeFinder_USD1_Serial.h | 2 +- .../AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp | 2 +- .../AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp | 2 +- .../AP_RangeFinder/AP_RangeFinder_Wasp.h | 2 +- 30 files changed, 43 insertions(+), 43 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp index 0da1912c84e5ee..6f1f4a6c2614bf 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp @@ -386,14 +386,14 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) // to ease moving from PX4 to ChibiOS we'll lie a little about // the backend driver... if (AP_RangeFinder_PWM::detect()) { - _add_backend(new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance); } break; #endif #if AP_RANGEFINDER_BBB_PRU_ENABLED case Type::BBB_PRU: if (AP_RangeFinder_BBB_PRU::detect()) { - _add_backend(new AP_RangeFinder_BBB_PRU(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_BBB_PRU(state[instance], params[instance]), instance); } break; #endif @@ -415,14 +415,14 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) #if AP_RANGEFINDER_BEBOP_ENABLED case Type::BEBOP: if (AP_RangeFinder_Bebop::detect()) { - _add_backend(new AP_RangeFinder_Bebop(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_Bebop(state[instance], params[instance]), instance); } break; #endif #if AP_RANGEFINDER_MAVLINK_ENABLED case Type::MAVLink: if (AP_RangeFinder_MAVLink::detect()) { - _add_backend(new AP_RangeFinder_MAVLink(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_MAVLink(state[instance], params[instance]), instance); } break; #endif @@ -435,7 +435,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) case Type::ANALOG: // note that analog will always come back as present if the pin is valid if (AP_RangeFinder_analog::detect(params[instance])) { - _add_backend(new AP_RangeFinder_analog(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_analog(state[instance], params[instance]), instance); } break; #endif @@ -443,7 +443,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) case Type::HC_SR04: // note that this will always come back as present if the pin is valid if (AP_RangeFinder_HC_SR04::detect(params[instance])) { - _add_backend(new AP_RangeFinder_HC_SR04(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_HC_SR04(state[instance], params[instance]), instance); } break; #endif @@ -480,7 +480,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) #if AP_RANGEFINDER_PWM_ENABLED case Type::PWM: if (AP_RangeFinder_PWM::detect()) { - _add_backend(new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance); } break; #endif @@ -519,32 +519,32 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) #if AP_RANGEFINDER_SIM_ENABLED case Type::SIM: - _add_backend(new AP_RangeFinder_SITL(state[instance], params[instance], instance), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_SITL(state[instance], params[instance], instance), instance); break; #endif #if HAL_MSP_RANGEFINDER_ENABLED case Type::MSP: if (AP_RangeFinder_MSP::detect()) { - _add_backend(new AP_RangeFinder_MSP(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_MSP(state[instance], params[instance]), instance); } break; #endif // HAL_MSP_RANGEFINDER_ENABLED #if AP_RANGEFINDER_USD1_CAN_ENABLED case Type::USD1_CAN: - _add_backend(new AP_RangeFinder_USD1_CAN(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_USD1_CAN(state[instance], params[instance]), instance); break; #endif #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED case Type::Benewake_CAN: - _add_backend(new AP_RangeFinder_Benewake_CAN(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_Benewake_CAN(state[instance], params[instance]), instance); break; #endif #if AP_RANGEFINDER_LUA_ENABLED case Type::Lua_Scripting: - _add_backend(new AP_RangeFinder_Lua(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_Lua(state[instance], params[instance]), instance); break; #endif @@ -562,12 +562,12 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) #if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED case Type::TOFSenseP_CAN: - _add_backend(new AP_RangeFinder_TOFSenseP_CAN(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_TOFSenseP_CAN(state[instance], params[instance]), instance); break; #endif #if AP_RANGEFINDER_NRA24_CAN_ENABLED case Type::NRA24_CAN: - _add_backend(new AP_RangeFinder_NRA24_CAN(state[instance], params[instance]), instance); + _add_backend(NEW_NOTHROW AP_RangeFinder_NRA24_CAN(state[instance], params[instance]), instance); break; #endif #if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h index f39bdea95b1ec5..3bf2d348c56aa3 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h @@ -22,7 +22,7 @@ class AP_RangeFinder_Ainstein_LR_D1 : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_Ainstein_LR_D1(_state, _params); + return NEW_NOTHROW AP_RangeFinder_Ainstein_LR_D1(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h index 04fccaae4e35e2..c96830997b568c 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h @@ -124,7 +124,7 @@ class AP_RangeFinder_BLPing : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_BLPing(_state, _params); + return NEW_NOTHROW AP_RangeFinder_BLPing(_state, _params); } /** diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp index 659a4af1991067..ebc60dc2d17508 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp @@ -45,7 +45,7 @@ AP_RangeFinder_Backend_CAN::AP_RangeFinder_Backend_CAN( { AP_Param::setup_object_defaults(this, var_info); state.var_info = var_info; - multican_rangefinder = new MultiCAN{FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Backend_CAN::handle_frame, bool, AP_HAL::CANFrame &), can_type, driver_name}; + multican_rangefinder = NEW_NOTHROW MultiCAN{FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Backend_CAN::handle_frame, bool, AP_HAL::CANFrame &), can_type, driver_name}; if (multican_rangefinder == nullptr) { AP_BoardConfig::allocation_error("Failed to create rangefinder multican"); } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp index 5d1dd73ff4b435..043397d1e38e88 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp @@ -64,7 +64,7 @@ static const uint16_t waveform_mode1[32] = { AP_RangeFinder_Bebop::AP_RangeFinder_Bebop(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : AP_RangeFinder_Backend(_state, _params), - _thread(new Linux::Thread(FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Bebop::_loop, void))) + _thread(NEW_NOTHROW Linux::Thread(FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Bebop::_loop, void))) { _init(); _freq = RNFD_BEBOP_DEFAULT_FREQ; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h index f6b62d4ac2e6ec..785bbdf0c1f021 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h @@ -13,7 +13,7 @@ class AP_RangeFinder_Benewake_TF02 : public AP_RangeFinder_Benewake static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_Benewake_TF02(_state, _params); + return NEW_NOTHROW AP_RangeFinder_Benewake_TF02(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h index 2e2318ae22ee55..82790796a8b2a3 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h @@ -13,7 +13,7 @@ class AP_RangeFinder_Benewake_TF03 : public AP_RangeFinder_Benewake static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_Benewake_TF03(_state, _params); + return NEW_NOTHROW AP_RangeFinder_Benewake_TF03(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h index 451cdfe5259c7e..71cd0e8932c52e 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h @@ -13,7 +13,7 @@ class AP_RangeFinder_Benewake_TFMini : public AP_RangeFinder_Benewake static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_Benewake_TFMini(_state, _params); + return NEW_NOTHROW AP_RangeFinder_Benewake_TFMini(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp index fc4e227c74b051..0e3e9548166112 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp @@ -56,7 +56,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_Benewake_TFMiniPlus::detect( } AP_RangeFinder_Benewake_TFMiniPlus *sensor - = new AP_RangeFinder_Benewake_TFMiniPlus(_state, _params, std::move(dev)); + = NEW_NOTHROW AP_RangeFinder_Benewake_TFMiniPlus(_state, _params, std::move(dev)); if (!sensor || !sensor->init()) { delete sensor; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp index 4db29571beda1b..94c3aead5a1be6 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp @@ -60,7 +60,7 @@ AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_dronecan_backend(AP_DroneC //it up as UAVCAN type return nullptr; } - frontend.drivers[i] = new AP_RangeFinder_DroneCAN(frontend.state[i], frontend.params[i]); + frontend.drivers[i] = NEW_NOTHROW AP_RangeFinder_DroneCAN(frontend.state[i], frontend.params[i]); driver = (AP_RangeFinder_DroneCAN*)frontend.drivers[i]; if (driver == nullptr) { break; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h index 7347e649e14408..4a4363ab1fe504 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h @@ -15,7 +15,7 @@ class AP_RangeFinder_GYUS42v2 : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_GYUS42v2(_state, _params); + return NEW_NOTHROW AP_RangeFinder_GYUS42v2(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h index e37030a9713989..ea44688440b8c9 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h @@ -70,7 +70,7 @@ class AP_RangeFinder_JRE_Serial : public AP_RangeFinder_Backend_Serial RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_JRE_Serial(_state, _params); + return NEW_NOTHROW AP_RangeFinder_JRE_Serial(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h index 0a655c51837b54..8ca44d30f56be8 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h @@ -15,7 +15,7 @@ class AP_RangeFinder_Lanbao : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_Lanbao(_state, _params); + return NEW_NOTHROW AP_RangeFinder_Lanbao(_state, _params); } // Lanbao is always 115200: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h index 43ee3f09ba98b7..8053c7b496dd17 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h @@ -49,7 +49,7 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_LeddarOne(_state, _params); + return NEW_NOTHROW AP_RangeFinder_LeddarOne(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h index 68db11394ebc38..b3d71b9098e89c 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h @@ -17,7 +17,7 @@ class AP_RangeFinder_LeddarVu8 : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_LeddarVu8(_state, _params); + return NEW_NOTHROW AP_RangeFinder_LeddarVu8(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp index 725b76f4f63ad6..5e600ca463dd27 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp @@ -81,7 +81,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder::RangeFi } AP_RangeFinder_LightWareI2C *sensor - = new AP_RangeFinder_LightWareI2C(_state, _params, std::move(dev)); + = NEW_NOTHROW AP_RangeFinder_LightWareI2C(_state, _params, std::move(dev)); if (!sensor) { return nullptr; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h index 13f4e776cdd0e5..632f9534c7f914 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h @@ -15,7 +15,7 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_LightWareSerial(_state, _params); + return NEW_NOTHROW AP_RangeFinder_LightWareSerial(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp index 1cb7cdc5af66b3..a5aedb1758013a 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp @@ -54,7 +54,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeF } AP_RangeFinder_MaxsonarI2CXL *sensor - = new AP_RangeFinder_MaxsonarI2CXL(_state, _params, std::move(dev)); + = NEW_NOTHROW AP_RangeFinder_MaxsonarI2CXL(_state, _params, std::move(dev)); if (!sensor) { return nullptr; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h index b0693c11e3247e..62ac3de22f115c 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h @@ -15,7 +15,7 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_MaxsonarSerialLV(_state, _params); + return NEW_NOTHROW AP_RangeFinder_MaxsonarSerialLV(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h index d8c7ff3d145201..7f18c05916343d 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h @@ -30,7 +30,7 @@ class AP_RangeFinder_NMEA : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_NMEA(_state, _params); + return NEW_NOTHROW AP_RangeFinder_NMEA(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h b/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h index e40fe11dd62f43..eeedf71cecea2d 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h @@ -14,7 +14,7 @@ class AP_RangeFinder_NoopLoop : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_NoopLoop(_state, _params); + return NEW_NOTHROW AP_RangeFinder_NoopLoop(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp index 608f2492efa3bd..5ceb1925c0211a 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp @@ -62,7 +62,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(uint8_t bus, RangeFinder::Type rftype) { AP_RangeFinder_PulsedLightLRF *sensor - = new AP_RangeFinder_PulsedLightLRF(bus, _state, _params, rftype); + = NEW_NOTHROW AP_RangeFinder_PulsedLightLRF(bus, _state, _params, rftype); if (!sensor || !sensor->init()) { delete sensor; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h b/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h index e4fc161c091649..6b480a17765c86 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h @@ -35,7 +35,7 @@ class AP_RangeFinder_RDS02UF : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_RDS02UF(_state, _params); + return NEW_NOTHROW AP_RangeFinder_RDS02UF(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.cpp index 55f0e497d62f06..9c81e4e0c1aa46 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.cpp @@ -47,7 +47,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_TOFSenseF_I2C::detect(RangeFinder::RangeF } AP_RangeFinder_TOFSenseF_I2C *sensor - = new AP_RangeFinder_TOFSenseF_I2C(_state, _params, std::move(dev)); + = NEW_NOTHROW AP_RangeFinder_TOFSenseF_I2C(_state, _params, std::move(dev)); if (!sensor) { return nullptr; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp index c1772bfbad1f98..ab63b192dd1156 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp @@ -53,7 +53,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_TeraRangerI2C::detect(RangeFinder::RangeF return nullptr; } - AP_RangeFinder_TeraRangerI2C *sensor = new AP_RangeFinder_TeraRangerI2C(_state, _params, std::move(i2c_dev)); + AP_RangeFinder_TeraRangerI2C *sensor = NEW_NOTHROW AP_RangeFinder_TeraRangerI2C(_state, _params, std::move(i2c_dev)); if (!sensor) { return nullptr; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h index aba2d08df84510..90b65af283e554 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h @@ -15,7 +15,7 @@ class AP_RangeFinder_TeraRanger_Serial : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_TeraRanger_Serial(_state, _params); + return NEW_NOTHROW AP_RangeFinder_TeraRanger_Serial(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h index 3c48c38628f4b2..02cbb6e7045def 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h @@ -15,7 +15,7 @@ class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_USD1_Serial(_state, _params); + return NEW_NOTHROW AP_RangeFinder_USD1_Serial(_state, _params); } protected: diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp index 51c10dec8cd005..a5f32ce06b94ff 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp @@ -229,7 +229,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_VL53L0X::detect(RangeFinder::RangeFinder_ return nullptr; } AP_RangeFinder_VL53L0X *sensor - = new AP_RangeFinder_VL53L0X(_state, _params, std::move(dev)); + = NEW_NOTHROW AP_RangeFinder_VL53L0X(_state, _params, std::move(dev)); if (!sensor) { delete sensor; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp index e0eba359eee8f1..c4445462399874 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp @@ -48,7 +48,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_VL53L1X::detect(RangeFinder::RangeFinder_ } AP_RangeFinder_VL53L1X *sensor - = new AP_RangeFinder_VL53L1X(_state, _params, std::move(dev)); + = NEW_NOTHROW AP_RangeFinder_VL53L1X(_state, _params, std::move(dev)); if (!sensor) { delete sensor; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h index e0a3e15ca2b27c..f70d1b3f4e1a02 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h @@ -17,7 +17,7 @@ class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend_Serial { static AP_RangeFinder_Backend_Serial *create( RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) { - return new AP_RangeFinder_Wasp(_state, _params); + return NEW_NOTHROW AP_RangeFinder_Wasp(_state, _params); } void update(void) override; From 51d5f85b839c159c8c6ff4dbb13141af1e83ab38 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 089/282] AP_RCProtocol: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_RCProtocol/AP_RCProtocol.cpp | 40 +++++++++++------------ 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp index 2202dbd5cc1ad3..f8bc3b55b385b0 100644 --- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp +++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp @@ -49,62 +49,62 @@ extern const AP_HAL::HAL& hal; void AP_RCProtocol::init() { #if AP_RCPROTOCOL_PPMSUM_ENABLED - backend[AP_RCProtocol::PPMSUM] = new AP_RCProtocol_PPMSum(*this); + backend[AP_RCProtocol::PPMSUM] = NEW_NOTHROW AP_RCProtocol_PPMSum(*this); #endif #if AP_RCPROTOCOL_IBUS_ENABLED - backend[AP_RCProtocol::IBUS] = new AP_RCProtocol_IBUS(*this); + backend[AP_RCProtocol::IBUS] = NEW_NOTHROW AP_RCProtocol_IBUS(*this); #endif #if AP_RCPROTOCOL_SBUS_ENABLED - backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this, true, 100000); + backend[AP_RCProtocol::SBUS] = NEW_NOTHROW AP_RCProtocol_SBUS(*this, true, 100000); #endif #if AP_RCPROTOCOL_FASTSBUS_ENABLED - backend[AP_RCProtocol::FASTSBUS] = new AP_RCProtocol_SBUS(*this, true, 200000); + backend[AP_RCProtocol::FASTSBUS] = NEW_NOTHROW AP_RCProtocol_SBUS(*this, true, 200000); #endif #if AP_RCPROTOCOL_DSM_ENABLED - backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this); + backend[AP_RCProtocol::DSM] = NEW_NOTHROW AP_RCProtocol_DSM(*this); #endif #if AP_RCPROTOCOL_SUMD_ENABLED - backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this); + backend[AP_RCProtocol::SUMD] = NEW_NOTHROW AP_RCProtocol_SUMD(*this); #endif #if AP_RCPROTOCOL_SRXL_ENABLED - backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this); + backend[AP_RCProtocol::SRXL] = NEW_NOTHROW AP_RCProtocol_SRXL(*this); #endif #if AP_RCPROTOCOL_SBUS_NI_ENABLED - backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS(*this, false, 100000); + backend[AP_RCProtocol::SBUS_NI] = NEW_NOTHROW AP_RCProtocol_SBUS(*this, false, 100000); #endif #if AP_RCPROTOCOL_SRXL2_ENABLED - backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this); + backend[AP_RCProtocol::SRXL2] = NEW_NOTHROW AP_RCProtocol_SRXL2(*this); #endif #if AP_RCPROTOCOL_CRSF_ENABLED - backend[AP_RCProtocol::CRSF] = new AP_RCProtocol_CRSF(*this); + backend[AP_RCProtocol::CRSF] = NEW_NOTHROW AP_RCProtocol_CRSF(*this); #endif #if AP_RCPROTOCOL_FPORT2_ENABLED - backend[AP_RCProtocol::FPORT2] = new AP_RCProtocol_FPort2(*this, true); + backend[AP_RCProtocol::FPORT2] = NEW_NOTHROW AP_RCProtocol_FPort2(*this, true); #endif #if AP_RCPROTOCOL_ST24_ENABLED - backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this); + backend[AP_RCProtocol::ST24] = NEW_NOTHROW AP_RCProtocol_ST24(*this); #endif #if AP_RCPROTOCOL_FPORT_ENABLED - backend[AP_RCProtocol::FPORT] = new AP_RCProtocol_FPort(*this, true); + backend[AP_RCProtocol::FPORT] = NEW_NOTHROW AP_RCProtocol_FPort(*this, true); #endif #if AP_RCPROTOCOL_DRONECAN_ENABLED - backend[AP_RCProtocol::DRONECAN] = new AP_RCProtocol_DroneCAN(*this); + backend[AP_RCProtocol::DRONECAN] = NEW_NOTHROW AP_RCProtocol_DroneCAN(*this); #endif #if AP_RCPROTOCOL_GHST_ENABLED - backend[AP_RCProtocol::GHST] = new AP_RCProtocol_GHST(*this); + backend[AP_RCProtocol::GHST] = NEW_NOTHROW AP_RCProtocol_GHST(*this); #endif #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED - backend[AP_RCProtocol::MAVLINK_RADIO] = new AP_RCProtocol_MAVLinkRadio(*this); + backend[AP_RCProtocol::MAVLINK_RADIO] = NEW_NOTHROW AP_RCProtocol_MAVLinkRadio(*this); #endif #if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED - backend[AP_RCProtocol::JOYSTICK_SFML] = new AP_RCProtocol_Joystick_SFML(*this); + backend[AP_RCProtocol::JOYSTICK_SFML] = NEW_NOTHROW AP_RCProtocol_Joystick_SFML(*this); #endif #if AP_RCPROTOCOL_UDP_ENABLED - const auto UDP_backend = new AP_RCProtocol_UDP(*this); + const auto UDP_backend = NEW_NOTHROW AP_RCProtocol_UDP(*this); backend[AP_RCProtocol::UDP] = UDP_backend; #endif #if AP_RCPROTOCOL_FDM_ENABLED - const auto FDM_backend = new AP_RCProtocol_FDM(*this);; + const auto FDM_backend = NEW_NOTHROW AP_RCProtocol_FDM(*this);; backend[AP_RCProtocol::FDM] = FDM_backend; #if AP_RCPROTOCOL_UDP_ENABLED // the UDP-Packed16Bit backend gives way to the FDM backend: @@ -112,7 +112,7 @@ void AP_RCProtocol::init() #endif // AP_RCPROTOCOL_UDP_ENABLED #endif // AP_RCPROTOCOL_FDM_ENABLED #if AP_RCPROTOCOL_RADIO_ENABLED - backend[AP_RCProtocol::RADIO] = new AP_RCProtocol_Radio(*this); + backend[AP_RCProtocol::RADIO] = NEW_NOTHROW AP_RCProtocol_Radio(*this); #endif } From 01f02867a61b91ff71d9a5d6ee3b454cd695f238 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 090/282] AP_RCTelemetry: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 2 +- libraries/AP_RCTelemetry/AP_GHST_Telem.cpp | 2 +- libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp index 6568a2cf1ced06..24ae36cc975559 100644 --- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp +++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp @@ -1638,7 +1638,7 @@ AP_CRSF_Telem *AP_CRSF_Telem::get_singleton(void) { if (!singleton && !hal.util->get_soft_armed()) { // if telem data is requested when we are disarmed and don't // yet have a AP_CRSF_Telem object then try to allocate one - new AP_CRSF_Telem(); + NEW_NOTHROW AP_CRSF_Telem(); // initialize the passthrough scheduler if (singleton) { singleton->init(); diff --git a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp index 821742273a44e1..801b2574404bca 100644 --- a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp +++ b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp @@ -373,7 +373,7 @@ AP_GHST_Telem *AP_GHST_Telem::get_singleton(void) { if (!singleton && !hal.util->get_soft_armed()) { // if telem data is requested when we are disarmed and don't // yet have a AP_GHST_Telem object then try to allocate one - new AP_GHST_Telem(); + NEW_NOTHROW AP_GHST_Telem(); // initialize the passthrough scheduler if (singleton) { singleton->init(); diff --git a/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp b/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp index 7caa87cfc9504a..a196574adbed48 100644 --- a/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp +++ b/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp @@ -618,7 +618,7 @@ bool AP_Spektrum_Telem::get_telem_data(uint8_t* data) if (!singleton && !hal.util->get_soft_armed()) { // if telem data is requested when we are disarmed and don't // yet have a AP_Spektrum_Telem object then try to allocate one - new AP_Spektrum_Telem(); + NEW_NOTHROW AP_Spektrum_Telem(); // initialize the passthrough scheduler if (singleton) { singleton->init(); From c1bdf15c1d04b56c4b10f8c438a6da83680b1e4e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 091/282] AP_RPM: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_RPM/AP_RPM.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp index 228e845294c661..79a26460309147 100644 --- a/libraries/AP_RPM/AP_RPM.cpp +++ b/libraries/AP_RPM/AP_RPM.cpp @@ -75,39 +75,39 @@ void AP_RPM::init(void) case RPM_TYPE_PWM: case RPM_TYPE_PIN: // PWM option same as PIN option, for upgrade - drivers[i] = new AP_RPM_Pin(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_Pin(*this, i, state[i]); break; #endif // AP_RPM_PIN_ENABLED #if AP_RPM_ESC_TELEM_ENABLED case RPM_TYPE_ESC_TELEM: - drivers[i] = new AP_RPM_ESC_Telem(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_ESC_Telem(*this, i, state[i]); break; #endif // AP_RPM_ESC_TELEM_ENABLED #if AP_RPM_EFI_ENABLED case RPM_TYPE_EFI: - drivers[i] = new AP_RPM_EFI(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_EFI(*this, i, state[i]); break; #endif // AP_RPM_EFI_ENABLED #if AP_RPM_GENERATOR_ENABLED case RPM_TYPE_GENERATOR: - drivers[i] = new AP_RPM_Generator(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_Generator(*this, i, state[i]); break; #endif // AP_RPM_GENERATOR_ENABLED #if AP_RPM_HARMONICNOTCH_ENABLED // include harmonic notch last // this makes whatever process is driving the dynamic notch appear as an RPM value case RPM_TYPE_HNTCH: - drivers[i] = new AP_RPM_HarmonicNotch(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_HarmonicNotch(*this, i, state[i]); break; #endif // AP_RPM_HARMONICNOTCH_ENABLED #if AP_RPM_DRONECAN_ENABLED case RPM_TYPE_DRONECAN: - drivers[i] = new AP_RPM_DroneCAN(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_DroneCAN(*this, i, state[i]); break; #endif // AP_RPM_DRONECAN_ENABLED #if AP_RPM_SIM_ENABLED case RPM_TYPE_SITL: - drivers[i] = new AP_RPM_SITL(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_RPM_SITL(*this, i, state[i]); break; #endif // AP_RPM_SIM_ENABLED } From 5af89a429143596d3b511f6c3de76370e618c97d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 092/282] AP_Scheduler: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Scheduler/AP_Scheduler.cpp | 2 +- libraries/AP_Scheduler/PerfInfo.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp index f879a1f6e7d018..7d21cf015a9b8a 100644 --- a/libraries/AP_Scheduler/AP_Scheduler.cpp +++ b/libraries/AP_Scheduler/AP_Scheduler.cpp @@ -125,7 +125,7 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint _num_tasks = _num_vehicle_tasks + _num_common_tasks; - _last_run = new uint16_t[_num_tasks]; + _last_run = NEW_NOTHROW uint16_t[_num_tasks]; _tick_counter = 0; // setup initial performance counters diff --git a/libraries/AP_Scheduler/PerfInfo.cpp b/libraries/AP_Scheduler/PerfInfo.cpp index 6fb2f6dd5dcb9e..08d3fc3bd3b3c4 100644 --- a/libraries/AP_Scheduler/PerfInfo.cpp +++ b/libraries/AP_Scheduler/PerfInfo.cpp @@ -40,7 +40,7 @@ void AP::PerfInfo::ignore_this_loop() // allocate the array of task statistics for use by @SYS/tasks.txt void AP::PerfInfo::allocate_task_info(uint8_t num_tasks) { - _task_info = new TaskInfo[num_tasks]; + _task_info = NEW_NOTHROW TaskInfo[num_tasks]; if (_task_info == nullptr) { DEV_PRINTF("Unable to allocate scheduler TaskInfo\n"); _num_tasks = 0; From a2459c6e6129a0296f6f07ce01a1f406dd86370e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:14 +1000 Subject: [PATCH 093/282] AP_Scripting: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Scripting/AP_Scripting.cpp | 4 ++-- .../AP_Scripting/AP_Scripting_CANSensor.cpp | 2 +- libraries/AP_Scripting/AP_Scripting_helpers.cpp | 8 ++++---- libraries/AP_Scripting/lua_bindings.cpp | 16 ++++++++-------- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp index 8dc40aad59fdc4..b283f9791a9479 100644 --- a/libraries/AP_Scripting/AP_Scripting.cpp +++ b/libraries/AP_Scripting/AP_Scripting.cpp @@ -259,7 +259,7 @@ void AP_Scripting::thread(void) { _restart = false; _init_failed = false; - lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_options); + lua_scripts *lua = NEW_NOTHROW lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_options); if (lua == nullptr || !lua->heap_allocated()) { GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "Unable to allocate memory"); _init_failed = true; @@ -340,7 +340,7 @@ void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd if (mission_data == nullptr) { // load buffer - mission_data = new ObjectBuffer(mission_cmd_queue_size); + mission_data = NEW_NOTHROW ObjectBuffer(mission_cmd_queue_size); if (mission_data != nullptr && mission_data->get_size() == 0) { delete mission_data; mission_data = nullptr; diff --git a/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp b/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp index 39f1bf9f870a09..796462e8a7e2e6 100644 --- a/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp +++ b/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp @@ -39,7 +39,7 @@ void ScriptingCANSensor::handle_frame(AP_HAL::CANFrame &frame) ScriptingCANBuffer* ScriptingCANSensor::add_buffer(uint32_t buffer_len) { WITH_SEMAPHORE(sem); - ScriptingCANBuffer *new_buff = new ScriptingCANBuffer(*this, buffer_len); + ScriptingCANBuffer *new_buff = NEW_NOTHROW ScriptingCANBuffer(*this, buffer_len); if (buffer_list == nullptr) { buffer_list = new_buff; } else { diff --git a/libraries/AP_Scripting/AP_Scripting_helpers.cpp b/libraries/AP_Scripting/AP_Scripting_helpers.cpp index 01e13c99f847d6..01251cfe124433 100644 --- a/libraries/AP_Scripting/AP_Scripting_helpers.cpp +++ b/libraries/AP_Scripting/AP_Scripting_helpers.cpp @@ -54,16 +54,16 @@ bool Parameter::init_by_info(uint16_t key, uint32_t group_element, enum ap_var_t { switch (type) { case AP_PARAM_INT8: - vp = new AP_Int8; + vp = NEW_NOTHROW AP_Int8; break; case AP_PARAM_INT16: - vp = new AP_Int16; + vp = NEW_NOTHROW AP_Int16; break; case AP_PARAM_INT32: - vp = new AP_Int32; + vp = NEW_NOTHROW AP_Int32; break; case AP_PARAM_FLOAT: - vp = new AP_Float; + vp = NEW_NOTHROW AP_Float; break; default: return false; diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp index c8013b813f493e..81f58703fe5910 100644 --- a/libraries/AP_Scripting/lua_bindings.cpp +++ b/libraries/AP_Scripting/lua_bindings.cpp @@ -64,13 +64,13 @@ int lua_mavlink_init(lua_State *L) { struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data; if (data.rx_buffer == nullptr) { - data.rx_buffer = new ObjectBuffer(queue_size); + data.rx_buffer = NEW_NOTHROW ObjectBuffer(queue_size); if (data.rx_buffer == nullptr) { return luaL_error(L, "Failed to allocate mavlink rx buffer"); } } if (data.accept_msg_ids == nullptr) { - data.accept_msg_ids = new uint32_t[num_msgs]; + data.accept_msg_ids = NEW_NOTHROW uint32_t[num_msgs]; if (data.accept_msg_ids == nullptr) { return luaL_error(L, "Failed to allocate mavlink rx registry"); } @@ -203,7 +203,7 @@ int lua_mavlink_block_command(lua_State *L) { } // Add new list item - AP_Scripting::command_block_list *new_item = new AP_Scripting::command_block_list; + AP_Scripting::command_block_list *new_item = NEW_NOTHROW AP_Scripting::command_block_list; if (new_item == nullptr) { lua_pushboolean(L, false); return 1; @@ -577,7 +577,7 @@ int lua_get_i2c_device(lua_State *L) { return luaL_argerror(L, 1, "no i2c devices available"); } - scripting->_i2c_dev[scripting->num_i2c_devices] = new AP_HAL::OwnPtr; + scripting->_i2c_dev[scripting->num_i2c_devices] = NEW_NOTHROW AP_HAL::OwnPtr; if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr) { return luaL_argerror(L, 1, "i2c device nullptr"); } @@ -676,7 +676,7 @@ int lua_get_CAN_device(lua_State *L) { auto *scripting = AP::scripting(); if (scripting->_CAN_dev == nullptr) { - scripting->_CAN_dev = new ScriptingCANSensor(AP_CAN::Protocol::Scripting); + scripting->_CAN_dev = NEW_NOTHROW ScriptingCANSensor(AP_CAN::Protocol::Scripting); if (scripting->_CAN_dev == nullptr) { return luaL_argerror(L, 1, "CAN device nullptr"); } @@ -707,7 +707,7 @@ int lua_get_CAN_device2(lua_State *L) { auto *scripting = AP::scripting(); if (scripting->_CAN_dev2 == nullptr) { - scripting->_CAN_dev2 = new ScriptingCANSensor(AP_CAN::Protocol::Scripting2); + scripting->_CAN_dev2 = NEW_NOTHROW ScriptingCANSensor(AP_CAN::Protocol::Scripting2); if (scripting->_CAN_dev2 == nullptr) { return luaL_argerror(L, 1, "CAN device nullptr"); } @@ -784,7 +784,7 @@ int lua_get_PWMSource(lua_State *L) { return luaL_argerror(L, 1, "no PWMSources available"); } - scripting->_pwm_source[scripting->num_pwm_source] = new AP_HAL::PWMSource; + scripting->_pwm_source[scripting->num_pwm_source] = NEW_NOTHROW AP_HAL::PWMSource; if (scripting->_pwm_source[scripting->num_pwm_source] == nullptr) { return luaL_argerror(L, 1, "PWMSources device nullptr"); } @@ -806,7 +806,7 @@ int lua_get_SocketAPM(lua_State *L) { const uint8_t datagram = get_uint8_t(L, 1); auto *scripting = AP::scripting(); - auto *sock = new SocketAPM(datagram); + auto *sock = NEW_NOTHROW SocketAPM(datagram); if (sock == nullptr) { return luaL_argerror(L, 1, "SocketAPM device nullptr"); } From 93484ec81daa5373fcadb158540b5c4002cc0273 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 094/282] AP_TempCalibration: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_TempCalibration/AP_TempCalibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_TempCalibration/AP_TempCalibration.cpp b/libraries/AP_TempCalibration/AP_TempCalibration.cpp index 574dc9258d0846..f9b6c07a5b0330 100644 --- a/libraries/AP_TempCalibration/AP_TempCalibration.cpp +++ b/libraries/AP_TempCalibration/AP_TempCalibration.cpp @@ -98,7 +98,7 @@ void AP_TempCalibration::setup_learning(void) learn_count = 200; learn_i = 0; delete [] learn_values; - learn_values = new float[learn_count]; + learn_values = NEW_NOTHROW float[learn_count]; if (learn_values == nullptr) { return; } From 65822c01ed0a54fe5a5ac5f288c17f4d6c9b5a0e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 095/282] AP_TemperatureSensor: use NEW_NOTHROW for new(std::nothrow) --- .../AP_TemperatureSensor/AP_TemperatureSensor.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp index 69ef84e41a6aca..86c56778f794a7 100644 --- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp +++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp @@ -174,32 +174,32 @@ void AP_TemperatureSensor::init() switch (get_type(instance)) { #if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED case AP_TemperatureSensor_Params::Type::TSYS01: - drivers[instance] = new AP_TemperatureSensor_TSYS01(*this, _state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_TSYS01(*this, _state[instance], _params[instance]); break; #endif #if AP_TEMPERATURE_SENSOR_MCP9600_ENABLED case AP_TemperatureSensor_Params::Type::MCP9600: - drivers[instance] = new AP_TemperatureSensor_MCP9600(*this, _state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_MCP9600(*this, _state[instance], _params[instance]); break; #endif #if AP_TEMPERATURE_SENSOR_MAX31865_ENABLED case AP_TemperatureSensor_Params::Type::MAX31865: - drivers[instance] = new AP_TemperatureSensor_MAX31865(*this, _state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_MAX31865(*this, _state[instance], _params[instance]); break; #endif #if AP_TEMPERATURE_SENSOR_TSYS03_ENABLED case AP_TemperatureSensor_Params::Type::TSYS03: - drivers[instance] = new AP_TemperatureSensor_TSYS03(*this, _state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_TSYS03(*this, _state[instance], _params[instance]); break; #endif #if AP_TEMPERATURE_SENSOR_ANALOG_ENABLED case AP_TemperatureSensor_Params::Type::ANALOG: - drivers[instance] = new AP_TemperatureSensor_Analog(*this, _state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_Analog(*this, _state[instance], _params[instance]); break; #endif #if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED case AP_TemperatureSensor_Params::Type::DRONECAN: - drivers[instance] = new AP_TemperatureSensor_DroneCAN(*this, _state[instance], _params[instance]); + drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_DroneCAN(*this, _state[instance], _params[instance]); break; #endif case AP_TemperatureSensor_Params::Type::NONE: From 30228f5e6e18ac174daecb16bf4313d26a62c7cf Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 096/282] AP_Torqeedo: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Torqeedo/AP_Torqeedo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Torqeedo/AP_Torqeedo.cpp b/libraries/AP_Torqeedo/AP_Torqeedo.cpp index 1aac8d689cee00..69f30972cb99ba 100644 --- a/libraries/AP_Torqeedo/AP_Torqeedo.cpp +++ b/libraries/AP_Torqeedo/AP_Torqeedo.cpp @@ -67,7 +67,7 @@ void AP_Torqeedo::init() break; case ConnectionType::TYPE_TILLER: case ConnectionType::TYPE_MOTOR: - _backends[instance] = new AP_Torqeedo_TQBus(_params[instance], instance); + _backends[instance] = NEW_NOTHROW AP_Torqeedo_TQBus(_params[instance], instance); break; } } From 6a96df479247ec770ad2ebd5169f49b5d1b252df Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 097/282] AP_Vehicle: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Vehicle/AP_Vehicle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp index b05851bdfe7f8a..6b13e2b409d9b1 100644 --- a/libraries/AP_Vehicle/AP_Vehicle.cpp +++ b/libraries/AP_Vehicle/AP_Vehicle.cpp @@ -1083,7 +1083,7 @@ void AP_Vehicle::check_motor_noise() #if AP_DDS_ENABLED bool AP_Vehicle::init_dds_client() { - dds_client = new AP_DDS_Client(); + dds_client = NEW_NOTHROW AP_DDS_Client(); if (dds_client == nullptr) { return false; } From 659ecf6159b8c8f73f7af6cc009e57ac89468123 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 098/282] AP_VisualOdom: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_VisualOdom/AP_VisualOdom.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.cpp b/libraries/AP_VisualOdom/AP_VisualOdom.cpp index 35c97d4875ce9c..c457627a4176bb 100644 --- a/libraries/AP_VisualOdom/AP_VisualOdom.cpp +++ b/libraries/AP_VisualOdom/AP_VisualOdom.cpp @@ -138,13 +138,13 @@ void AP_VisualOdom::init() break; #if AP_VISUALODOM_MAV_ENABLED case VisualOdom_Type::MAV: - _driver = new AP_VisualOdom_MAV(*this); + _driver = NEW_NOTHROW AP_VisualOdom_MAV(*this); break; #endif #if AP_VISUALODOM_INTELT265_ENABLED case VisualOdom_Type::IntelT265: case VisualOdom_Type::VOXL: - _driver = new AP_VisualOdom_IntelT265(*this); + _driver = NEW_NOTHROW AP_VisualOdom_IntelT265(*this); break; #endif } From 20a5ec4348ac28e61e8514f07c73152dd80c7116 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 099/282] AP_WheelEncoder: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_WheelEncoder/AP_WheelEncoder.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp b/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp index 610a7cd8e2bd7e..fffe1ae9a51d64 100644 --- a/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp +++ b/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp @@ -168,13 +168,13 @@ void AP_WheelEncoder::init(void) case WheelEncoder_TYPE_QUADRATURE: #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS - drivers[i] = new AP_WheelEncoder_Quadrature(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_WheelEncoder_Quadrature(*this, i, state[i]); #endif break; case WheelEncoder_TYPE_SITL_QUADRATURE: #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - drivers[i] = new AP_WheelEncoder_SITL_Quadrature(*this, i, state[i]); + drivers[i] = NEW_NOTHROW AP_WheelEncoder_SITL_Quadrature(*this, i, state[i]); #endif break; From 76d16e2d78fdb5192bb809ff7e43cbfab465829b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 100/282] AP_Winch: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Winch/AP_Winch.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Winch/AP_Winch.cpp b/libraries/AP_Winch/AP_Winch.cpp index 5738fdfea957b0..75ef73fdfe0b39 100644 --- a/libraries/AP_Winch/AP_Winch.cpp +++ b/libraries/AP_Winch/AP_Winch.cpp @@ -79,10 +79,10 @@ void AP_Winch::init() case WinchType::NONE: break; case WinchType::PWM: - backend = new AP_Winch_PWM(config); + backend = NEW_NOTHROW AP_Winch_PWM(config); break; case WinchType::DAIWA: - backend = new AP_Winch_Daiwa(config); + backend = NEW_NOTHROW AP_Winch_Daiwa(config); break; default: break; From db6bcdb725bb48e86cfd66b11322212fca1f5add Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 101/282] AP_WindVane: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_WindVane/AP_WindVane.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/libraries/AP_WindVane/AP_WindVane.cpp b/libraries/AP_WindVane/AP_WindVane.cpp index 7d336a41c570c2..9d417713b64cb2 100644 --- a/libraries/AP_WindVane/AP_WindVane.cpp +++ b/libraries/AP_WindVane/AP_WindVane.cpp @@ -209,23 +209,23 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager) #if AP_WINDVANE_HOME_ENABLED case WindVaneType::WINDVANE_HOME_HEADING: case WindVaneType::WINDVANE_PWM_PIN: - _direction_driver = new AP_WindVane_Home(*this); + _direction_driver = NEW_NOTHROW AP_WindVane_Home(*this); break; #endif #if AP_WINDVANE_ANALOG_ENABLED case WindVaneType::WINDVANE_ANALOG_PIN: - _direction_driver = new AP_WindVane_Analog(*this); + _direction_driver = NEW_NOTHROW AP_WindVane_Analog(*this); break; #endif #if AP_WINDVANE_SIM_ENABLED case WindVaneType::WINDVANE_SITL_TRUE: case WindVaneType::WINDVANE_SITL_APPARENT: - _direction_driver = new AP_WindVane_SITL(*this); + _direction_driver = NEW_NOTHROW AP_WindVane_SITL(*this); break; #endif #if AP_WINDVANE_NMEA_ENABLED case WindVaneType::WINDVANE_NMEA: - _direction_driver = new AP_WindVane_NMEA(*this); + _direction_driver = NEW_NOTHROW AP_WindVane_NMEA(*this); _direction_driver->init(serial_manager); break; #endif @@ -237,12 +237,12 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager) break; #if AP_WINDVANE_AIRSPEED_ENABLED case Speed_type::WINDSPEED_AIRSPEED: - _speed_driver = new AP_WindVane_Airspeed(*this); + _speed_driver = NEW_NOTHROW AP_WindVane_Airspeed(*this); break; #endif #if AP_WINDVANE_MODERNDEVICE_ENABLED case Speed_type::WINDVANE_WIND_SENSOR_REV_P: - _speed_driver = new AP_WindVane_ModernDevice(*this); + _speed_driver = NEW_NOTHROW AP_WindVane_ModernDevice(*this); break; #endif #if AP_WINDVANE_SIM_ENABLED @@ -250,7 +250,7 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager) case Speed_type::WINDSPEED_SITL_APPARENT: // single driver does both speed and direction if (_direction_type != _speed_sensor_type) { - _speed_driver = new AP_WindVane_SITL(*this); + _speed_driver = NEW_NOTHROW AP_WindVane_SITL(*this); } else { _speed_driver = _direction_driver; } @@ -260,7 +260,7 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager) case Speed_type::WINDSPEED_NMEA: // single driver does both speed and direction if (_direction_type != WindVaneType::WINDVANE_NMEA) { - _speed_driver = new AP_WindVane_NMEA(*this); + _speed_driver = NEW_NOTHROW AP_WindVane_NMEA(*this); _speed_driver->init(serial_manager); } else { _speed_driver = _direction_driver; @@ -269,7 +269,7 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager) #endif // AP_WINDVANE_NMEA_ENABLED #if AP_WINDVANE_RPM_ENABLED case Speed_type::WINDSPEED_RPM: - _speed_driver = new AP_WindVane_RPM(*this); + _speed_driver = NEW_NOTHROW AP_WindVane_RPM(*this); break; #endif } From 58592506517692a0b414e2118851be3ec3ff5fdf Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 102/282] Filter: use NEW_NOTHROW for new(std::nothrow) --- libraries/Filter/AP_Filter.cpp | 2 +- libraries/Filter/HarmonicNotchFilter.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/Filter/AP_Filter.cpp b/libraries/Filter/AP_Filter.cpp index 3e2763141ac18c..072e0513c9d011 100644 --- a/libraries/Filter/AP_Filter.cpp +++ b/libraries/Filter/AP_Filter.cpp @@ -117,7 +117,7 @@ void AP_Filters::update() break; case AP_Filter::FilterType::FILTER_NOTCH: if (filters[i] == nullptr) { - filters[i] = new AP_NotchFilter_params(); + filters[i] = NEW_NOTHROW AP_NotchFilter_params(); backend_var_info[i] = AP_NotchFilter_params::var_info; update = true; } diff --git a/libraries/Filter/HarmonicNotchFilter.cpp b/libraries/Filter/HarmonicNotchFilter.cpp index f3329715913f2b..835e53192abfd0 100644 --- a/libraries/Filter/HarmonicNotchFilter.cpp +++ b/libraries/Filter/HarmonicNotchFilter.cpp @@ -205,7 +205,7 @@ void HarmonicNotchFilter::allocate_filters(uint8_t num_notches, uint32_t harm _harmonics = harmonics; if (_num_filters > 0) { - _filters = new NotchFilter[_num_filters]; + _filters = NEW_NOTHROW NotchFilter[_num_filters]; if (_filters == nullptr) { GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Failed to allocate %u bytes for notch filter", (unsigned int)(_num_filters * sizeof(NotchFilter))); _num_filters = 0; @@ -231,7 +231,7 @@ void HarmonicNotchFilter::expand_filter_count(uint16_t total_notches) note that we rely on the semaphore in AP_InertialSensor_Backend.cpp to make this thread safe */ - auto filters = new NotchFilter[total_notches]; + auto filters = NEW_NOTHROW NotchFilter[total_notches]; if (filters == nullptr) { _alloc_has_failed = true; return; From 9b046f5a12d6ab99aa51922003052aca07748d3a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:15 +1000 Subject: [PATCH 103/282] GCS_MAVLink: use NEW_NOTHROW for new(std::nothrow) --- libraries/GCS_MAVLink/GCS_Common.cpp | 14 +++++++------- libraries/GCS_MAVLink/GCS_Dummy.h | 2 +- libraries/GCS_MAVLink/GCS_FTP.cpp | 2 +- .../GCS_MAVLink/MissionItemProtocol_Fence.cpp | 2 +- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 1f5ec42104cbe3..ad782c46cad967 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -2480,19 +2480,19 @@ void GCS::update_send() #if AP_MISSION_ENABLED AP_Mission *mission = AP::mission(); if (mission != nullptr) { - missionitemprotocols[MAV_MISSION_TYPE_MISSION] = new MissionItemProtocol_Waypoints(*mission); + missionitemprotocols[MAV_MISSION_TYPE_MISSION] = NEW_NOTHROW MissionItemProtocol_Waypoints(*mission); } #endif #if HAL_RALLY_ENABLED AP_Rally *rally = AP::rally(); if (rally != nullptr) { - missionitemprotocols[MAV_MISSION_TYPE_RALLY] = new MissionItemProtocol_Rally(*rally); + missionitemprotocols[MAV_MISSION_TYPE_RALLY] = NEW_NOTHROW MissionItemProtocol_Rally(*rally); } #endif #if AP_FENCE_ENABLED AC_Fence *fence = AP::fence(); if (fence != nullptr) { - missionitemprotocols[MAV_MISSION_TYPE_FENCE] = new MissionItemProtocol_Fence(*fence); + missionitemprotocols[MAV_MISSION_TYPE_FENCE] = NEW_NOTHROW MissionItemProtocol_Fence(*fence); } #endif } @@ -2594,7 +2594,7 @@ void GCS::setup_uarts() #if AP_FRSKY_TELEM_ENABLED if (frsky == nullptr) { - frsky = new AP_Frsky_Telem(); + frsky = NEW_NOTHROW AP_Frsky_Telem(); if (frsky == nullptr || !frsky->init()) { delete frsky; frsky = nullptr; @@ -6389,7 +6389,7 @@ DefaultIntervalsFromFiles::DefaultIntervalsFromFiles(uint16_t max_num) if (max_num == 0) { return; } - _intervals = new from_file_default_interval[max_num]; + _intervals = NEW_NOTHROW from_file_default_interval[max_num]; _max_intervals = max_num; } @@ -6513,7 +6513,7 @@ void GCS_MAVLINK::initialise_message_intervals_from_config_files() } // first over-allocate: - DefaultIntervalsFromFiles *overallocated = new DefaultIntervalsFromFiles(128); + DefaultIntervalsFromFiles *overallocated = NEW_NOTHROW DefaultIntervalsFromFiles(128); if (overallocated == nullptr) { return; } @@ -6531,7 +6531,7 @@ void GCS_MAVLINK::initialise_message_intervals_from_config_files() delete overallocated; overallocated = nullptr; - default_intervals_from_files = new DefaultIntervalsFromFiles(num_required); + default_intervals_from_files = NEW_NOTHROW DefaultIntervalsFromFiles(num_required); if (default_intervals_from_files == nullptr) { return; } diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h index 723f927dcdef69..f12155294df31e 100644 --- a/libraries/GCS_MAVLink/GCS_Dummy.h +++ b/libraries/GCS_MAVLink/GCS_Dummy.h @@ -55,7 +55,7 @@ class GCS_Dummy : public GCS GCS_MAVLINK_Dummy *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Dummy(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Dummy(params, uart); } private: diff --git a/libraries/GCS_MAVLink/GCS_FTP.cpp b/libraries/GCS_MAVLink/GCS_FTP.cpp index 720142a839ef5c..e3e65095798102 100644 --- a/libraries/GCS_MAVLink/GCS_FTP.cpp +++ b/libraries/GCS_MAVLink/GCS_FTP.cpp @@ -48,7 +48,7 @@ bool GCS_MAVLINK::ftp_init(void) { return true; } - ftp.requests = new ObjectBuffer(5); + ftp.requests = NEW_NOTHROW ObjectBuffer(5); if (ftp.requests == nullptr || ftp.requests->get_size() == 0) { goto failed; } diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp index 3d8cd593d02ee7..4db88146b1435e 100644 --- a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp +++ b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp @@ -233,7 +233,7 @@ MAV_MISSION_RESULT MissionItemProtocol_Fence::allocate_receive_resources(const u MAV_MISSION_RESULT MissionItemProtocol_Fence::allocate_update_resources() { const uint16_t _item_count = _fence.polyfence().num_stored_items(); - _updated_mask = new uint8_t[(_item_count+7)/8]; + _updated_mask = NEW_NOTHROW uint8_t[(_item_count+7)/8]; if (_updated_mask == nullptr) { return MAV_MISSION_ERROR; } From 4e1b2b95d480e4816f020c15e311aa6798111d5d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 104/282] SITL: use NEW_NOTHROW for new(std::nothrow) --- libraries/SITL/SIM_AirSim.h | 2 +- libraries/SITL/SIM_BalanceBot.h | 2 +- libraries/SITL/SIM_Balloon.h | 2 +- libraries/SITL/SIM_Blimp.h | 2 +- libraries/SITL/SIM_CRRCSim.h | 2 +- libraries/SITL/SIM_Calibration.h | 2 +- libraries/SITL/SIM_FlightAxis.cpp | 2 +- libraries/SITL/SIM_FlightAxis.h | 2 +- libraries/SITL/SIM_GPS.cpp | 16 ++++++++-------- libraries/SITL/SIM_GPS_FILE.cpp | 2 +- libraries/SITL/SIM_Gazebo.h | 2 +- libraries/SITL/SIM_Glider.h | 2 +- libraries/SITL/SIM_Helicopter.cpp | 2 +- libraries/SITL/SIM_Helicopter.h | 2 +- libraries/SITL/SIM_JSBSim.h | 2 +- libraries/SITL/SIM_JSON.h | 2 +- libraries/SITL/SIM_JSON_Master.cpp | 2 +- libraries/SITL/SIM_LM2755.cpp | 6 +++--- libraries/SITL/SIM_LP5562.cpp | 6 +++--- libraries/SITL/SIM_Morse.cpp | 4 ++-- libraries/SITL/SIM_Morse.h | 2 +- libraries/SITL/SIM_MotorBoat.h | 2 +- libraries/SITL/SIM_Multicopter.h | 2 +- libraries/SITL/SIM_NoVehicle.h | 2 +- libraries/SITL/SIM_Plane.h | 2 +- libraries/SITL/SIM_QuadPlane.h | 2 +- libraries/SITL/SIM_RGBLED.cpp | 2 +- libraries/SITL/SIM_Rover.h | 2 +- libraries/SITL/SIM_Sailboat.h | 2 +- libraries/SITL/SIM_Scrimmage.h | 2 +- libraries/SITL/SIM_SerialDevice.cpp | 4 ++-- libraries/SITL/SIM_SilentWings.h | 2 +- libraries/SITL/SIM_SingleCopter.h | 2 +- libraries/SITL/SIM_StratoBlimp.h | 2 +- libraries/SITL/SIM_Submarine.h | 2 +- libraries/SITL/SIM_Tracker.h | 2 +- libraries/SITL/SIM_Webots.cpp | 2 +- libraries/SITL/SIM_Webots.h | 2 +- libraries/SITL/SIM_Webots_Python.h | 2 +- libraries/SITL/SIM_XPlane.cpp | 6 +++--- libraries/SITL/SIM_XPlane.h | 2 +- libraries/SITL/SIM_last_letter.h | 2 +- libraries/SITL/ServoModel.cpp | 2 +- 43 files changed, 58 insertions(+), 58 deletions(-) diff --git a/libraries/SITL/SIM_AirSim.h b/libraries/SITL/SIM_AirSim.h index 1e9b75c0e648ae..151a4fcb326edd 100644 --- a/libraries/SITL/SIM_AirSim.h +++ b/libraries/SITL/SIM_AirSim.h @@ -44,7 +44,7 @@ class AirSim : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new AirSim(frame_str); + return NEW_NOTHROW AirSim(frame_str); } /* Create and set in/out socket for Airsim simulator */ diff --git a/libraries/SITL/SIM_BalanceBot.h b/libraries/SITL/SIM_BalanceBot.h index be7e88ebb82eef..705edfd3b4a934 100644 --- a/libraries/SITL/SIM_BalanceBot.h +++ b/libraries/SITL/SIM_BalanceBot.h @@ -31,7 +31,7 @@ class BalanceBot : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new BalanceBot(frame_str); + return NEW_NOTHROW BalanceBot(frame_str); } private: diff --git a/libraries/SITL/SIM_Balloon.h b/libraries/SITL/SIM_Balloon.h index 081bb36be3a1fb..77e0d1820722da 100644 --- a/libraries/SITL/SIM_Balloon.h +++ b/libraries/SITL/SIM_Balloon.h @@ -34,7 +34,7 @@ class Balloon : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Balloon(frame_str); + return NEW_NOTHROW Balloon(frame_str); } private: diff --git a/libraries/SITL/SIM_Blimp.h b/libraries/SITL/SIM_Blimp.h index 1cdfc504df2c82..0a01cd3a743290 100644 --- a/libraries/SITL/SIM_Blimp.h +++ b/libraries/SITL/SIM_Blimp.h @@ -51,7 +51,7 @@ class Blimp : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Blimp(frame_str); + return NEW_NOTHROW Blimp(frame_str); } protected: diff --git a/libraries/SITL/SIM_CRRCSim.h b/libraries/SITL/SIM_CRRCSim.h index b3a5699f99156e..47e91ed020fa9d 100644 --- a/libraries/SITL/SIM_CRRCSim.h +++ b/libraries/SITL/SIM_CRRCSim.h @@ -44,7 +44,7 @@ class CRRCSim : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new CRRCSim(frame_str); + return NEW_NOTHROW CRRCSim(frame_str); } private: diff --git a/libraries/SITL/SIM_Calibration.h b/libraries/SITL/SIM_Calibration.h index f2ded133fb3376..a60d31826df3f2 100644 --- a/libraries/SITL/SIM_Calibration.h +++ b/libraries/SITL/SIM_Calibration.h @@ -69,7 +69,7 @@ class Calibration : public Aircraft { void update(const struct sitl_input &input) override; static Aircraft *create(const char *frame_str) { - return new Calibration(frame_str); + return NEW_NOTHROW Calibration(frame_str); } private: diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp index d60793c006dc6a..b2aff331f8d316 100644 --- a/libraries/SITL/SIM_FlightAxis.cpp +++ b/libraries/SITL/SIM_FlightAxis.cpp @@ -592,7 +592,7 @@ void FlightAxis::socket_creator(void) pthread_cond_wait(&sockcond2, &sockmtx); } pthread_mutex_unlock(&sockmtx); - auto *sck = new SocketAPM_native(false); + auto *sck = NEW_NOTHROW SocketAPM_native(false); if (sck == nullptr) { usleep(500); continue; diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h index 0567997e1fee5f..c8fcd97c19d525 100644 --- a/libraries/SITL/SIM_FlightAxis.h +++ b/libraries/SITL/SIM_FlightAxis.h @@ -44,7 +44,7 @@ class FlightAxis : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new FlightAxis(frame_str); + return NEW_NOTHROW FlightAxis(frame_str); } struct state { diff --git a/libraries/SITL/SIM_GPS.cpp b/libraries/SITL/SIM_GPS.cpp index 15eafb90b01c08..f95d5922c31dfe 100644 --- a/libraries/SITL/SIM_GPS.cpp +++ b/libraries/SITL/SIM_GPS.cpp @@ -234,49 +234,49 @@ void GPS::check_backend_allocation() #if AP_SIM_GPS_UBLOX_ENABLED case Type::UBLOX: - backend = new GPS_UBlox(*this, instance); + backend = NEW_NOTHROW GPS_UBlox(*this, instance); break; #endif #if AP_SIM_GPS_NMEA_ENABLED case Type::NMEA: - backend = new GPS_NMEA(*this, instance); + backend = NEW_NOTHROW GPS_NMEA(*this, instance); break; #endif #if AP_SIM_GPS_SBP_ENABLED case Type::SBP: - backend = new GPS_SBP(*this, instance); + backend = NEW_NOTHROW GPS_SBP(*this, instance); break; #endif #if AP_SIM_GPS_SBP2_ENABLED case Type::SBP2: - backend = new GPS_SBP2(*this, instance); + backend = NEW_NOTHROW GPS_SBP2(*this, instance); break; #endif #if AP_SIM_GPS_NOVA_ENABLED case Type::NOVA: - backend = new GPS_NOVA(*this, instance); + backend = NEW_NOTHROW GPS_NOVA(*this, instance); break; #endif #if AP_SIM_GPS_MSP_ENABLED case Type::MSP: - backend = new GPS_MSP(*this, instance); + backend = NEW_NOTHROW GPS_MSP(*this, instance); break; #endif #if AP_SIM_GPS_TRIMBLE_ENABLED case Type::TRIMBLE: - backend = new GPS_Trimble(*this, instance); + backend = NEW_NOTHROW GPS_Trimble(*this, instance); break; #endif #if AP_SIM_GPS_FILE_ENABLED case Type::FILE: - backend = new GPS_FILE(*this, instance); + backend = NEW_NOTHROW GPS_FILE(*this, instance); break; #endif }; diff --git a/libraries/SITL/SIM_GPS_FILE.cpp b/libraries/SITL/SIM_GPS_FILE.cpp index 60868d4355cb6a..94a970960bcc81 100644 --- a/libraries/SITL/SIM_GPS_FILE.cpp +++ b/libraries/SITL/SIM_GPS_FILE.cpp @@ -50,7 +50,7 @@ void GPS_FILE::publish(const GPS_Data *d) ::lseek(fd[instance], -sizeof(header), SEEK_CUR); return; } - buf = new uint8_t[header.n]; + buf = NEW_NOTHROW uint8_t[header.n]; if (buf != nullptr && ::read(fd[instance], buf, header.n) == ssize_t(header.n)) { write_to_autopilot((const char *)buf, header.n); delete[] buf; diff --git a/libraries/SITL/SIM_Gazebo.h b/libraries/SITL/SIM_Gazebo.h index 6a13d8b8e51441..9b76b3da23b6a4 100644 --- a/libraries/SITL/SIM_Gazebo.h +++ b/libraries/SITL/SIM_Gazebo.h @@ -43,7 +43,7 @@ class Gazebo : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Gazebo(frame_str); + return NEW_NOTHROW Gazebo(frame_str); } /* Create and set in/out socket for Gazebo simulator */ diff --git a/libraries/SITL/SIM_Glider.h b/libraries/SITL/SIM_Glider.h index 0c0aa3fa5e4300..8c373c2f9f3d50 100644 --- a/libraries/SITL/SIM_Glider.h +++ b/libraries/SITL/SIM_Glider.h @@ -39,7 +39,7 @@ class Glider : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Glider(frame_str); + return NEW_NOTHROW Glider(frame_str); } bool on_ground() const override; diff --git a/libraries/SITL/SIM_Helicopter.cpp b/libraries/SITL/SIM_Helicopter.cpp index 81143f3e3da9af..f1ba61dc5776bd 100644 --- a/libraries/SITL/SIM_Helicopter.cpp +++ b/libraries/SITL/SIM_Helicopter.cpp @@ -104,7 +104,7 @@ void Helicopter::update(const struct sitl_input &input) } } else if (servos_stored_buffer == nullptr) { uint16_t buffer_size = constrain_int16(_time_delay, 1, 100) * 0.001f / dt; - servos_stored_buffer = new ObjectBuffer(buffer_size); + servos_stored_buffer = NEW_NOTHROW ObjectBuffer(buffer_size); while (servos_stored_buffer->space() != 0) { push_to_buffer(input.servos); } diff --git a/libraries/SITL/SIM_Helicopter.h b/libraries/SITL/SIM_Helicopter.h index 4410b19dec903f..f1a445054310a2 100644 --- a/libraries/SITL/SIM_Helicopter.h +++ b/libraries/SITL/SIM_Helicopter.h @@ -34,7 +34,7 @@ class Helicopter : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Helicopter(frame_str); + return NEW_NOTHROW Helicopter(frame_str); } protected: diff --git a/libraries/SITL/SIM_JSBSim.h b/libraries/SITL/SIM_JSBSim.h index bbb2c1a46a0f4b..ca5fa9c099f293 100644 --- a/libraries/SITL/SIM_JSBSim.h +++ b/libraries/SITL/SIM_JSBSim.h @@ -44,7 +44,7 @@ class JSBSim : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new JSBSim(frame_str); + return NEW_NOTHROW JSBSim(frame_str); } private: diff --git a/libraries/SITL/SIM_JSON.h b/libraries/SITL/SIM_JSON.h index b168219d9d351f..048378eae69fac 100644 --- a/libraries/SITL/SIM_JSON.h +++ b/libraries/SITL/SIM_JSON.h @@ -36,7 +36,7 @@ class JSON : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new JSON(frame_str); + return NEW_NOTHROW JSON(frame_str); } /* Create and set in/out socket for JSON generic simulator */ diff --git a/libraries/SITL/SIM_JSON_Master.cpp b/libraries/SITL/SIM_JSON_Master.cpp index 0130a7067dc068..9b8c3b59060364 100644 --- a/libraries/SITL/SIM_JSON_Master.cpp +++ b/libraries/SITL/SIM_JSON_Master.cpp @@ -49,7 +49,7 @@ void JSON_Master::init(const int32_t num_slaves) } printf("Slave %u: listening on %u\n", list->instance, port); - list->next = new socket_list; + list->next = NEW_NOTHROW socket_list; list = list->next; initialized = true; diff --git a/libraries/SITL/SIM_LM2755.cpp b/libraries/SITL/SIM_LM2755.cpp index 719e5bd3922c07..f34b60789b4147 100644 --- a/libraries/SITL/SIM_LM2755.cpp +++ b/libraries/SITL/SIM_LM2755.cpp @@ -70,7 +70,7 @@ void LM2755::init() // create objects for each of the channels to handle the dynamics // of updating each. The channel gets references to the relevant // configuration bytes. - d1 = new LEDChannel( + d1 = NEW_NOTHROW LEDChannel( byte[(uint8_t)LM2755DevReg::D1_HIGH_LEVEL], byte[(uint8_t)LM2755DevReg::D1_LOW_LEVEL], byte[(uint8_t)LM2755DevReg::D1_DELAY], @@ -79,7 +79,7 @@ void LM2755::init() byte[(uint8_t)LM2755DevReg::D1_RAMP_DOWN_STEP_TIME], byte[(uint8_t)LM2755DevReg::D1_TIMING] ); - d2 = new LEDChannel( + d2 = NEW_NOTHROW LEDChannel( byte[(uint8_t)LM2755DevReg::D2_HIGH_LEVEL], byte[(uint8_t)LM2755DevReg::D2_LOW_LEVEL], byte[(uint8_t)LM2755DevReg::D2_DELAY], @@ -88,7 +88,7 @@ void LM2755::init() byte[(uint8_t)LM2755DevReg::D2_RAMP_DOWN_STEP_TIME], byte[(uint8_t)LM2755DevReg::D2_TIMING] ); - d3 = new LEDChannel( + d3 = NEW_NOTHROW LEDChannel( byte[(uint8_t)LM2755DevReg::D3_HIGH_LEVEL], byte[(uint8_t)LM2755DevReg::D3_LOW_LEVEL], byte[(uint8_t)LM2755DevReg::D3_DELAY], diff --git a/libraries/SITL/SIM_LP5562.cpp b/libraries/SITL/SIM_LP5562.cpp index 7d0e88087a5626..feb8e7eac43a63 100644 --- a/libraries/SITL/SIM_LP5562.cpp +++ b/libraries/SITL/SIM_LP5562.cpp @@ -34,13 +34,13 @@ void LP5562::init() // currently use this device but is a structure we use elsewhere. // Note that this assumed that the LED Map register is set to its // default value. - b = new LEDChannel( + b = NEW_NOTHROW LEDChannel( byte[(uint8_t)LP5562DevReg::B_PWM] ); - g = new LEDChannel( + g = NEW_NOTHROW LEDChannel( byte[(uint8_t)LP5562DevReg::G_PWM] ); - r = new LEDChannel( + r = NEW_NOTHROW LEDChannel( byte[(uint8_t)LP5562DevReg::R_PWM] ); diff --git a/libraries/SITL/SIM_Morse.cpp b/libraries/SITL/SIM_Morse.cpp index c680072ca3ef7d..5d530318c4102a 100644 --- a/libraries/SITL/SIM_Morse.cpp +++ b/libraries/SITL/SIM_Morse.cpp @@ -260,7 +260,7 @@ bool Morse::parse_sensors(const char *json) bool Morse::connect_sockets(void) { if (!sensors_sock) { - sensors_sock = new SocketAPM_native(false); + sensors_sock = NEW_NOTHROW SocketAPM_native(false); if (!sensors_sock) { AP_HAL::panic("Out of memory for sensors socket"); } @@ -279,7 +279,7 @@ bool Morse::connect_sockets(void) printf("Sensors connected\n"); } if (!control_sock) { - control_sock = new SocketAPM_native(false); + control_sock = NEW_NOTHROW SocketAPM_native(false); if (!control_sock) { AP_HAL::panic("Out of memory for control socket"); } diff --git a/libraries/SITL/SIM_Morse.h b/libraries/SITL/SIM_Morse.h index 9445c26d5817a3..10cff3eea2bceb 100644 --- a/libraries/SITL/SIM_Morse.h +++ b/libraries/SITL/SIM_Morse.h @@ -43,7 +43,7 @@ class Morse : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Morse(frame_str); + return NEW_NOTHROW Morse(frame_str); } private: diff --git a/libraries/SITL/SIM_MotorBoat.h b/libraries/SITL/SIM_MotorBoat.h index 66d979d3342a07..66c6367d11e022 100644 --- a/libraries/SITL/SIM_MotorBoat.h +++ b/libraries/SITL/SIM_MotorBoat.h @@ -34,7 +34,7 @@ class MotorBoat : public Sailboat { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new MotorBoat(frame_str); + return NEW_NOTHROW MotorBoat(frame_str); } }; diff --git a/libraries/SITL/SIM_Multicopter.h b/libraries/SITL/SIM_Multicopter.h index fa9a869358ac32..289aac318290f0 100644 --- a/libraries/SITL/SIM_Multicopter.h +++ b/libraries/SITL/SIM_Multicopter.h @@ -36,7 +36,7 @@ class MultiCopter : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new MultiCopter(frame_str); + return NEW_NOTHROW MultiCopter(frame_str); } protected: diff --git a/libraries/SITL/SIM_NoVehicle.h b/libraries/SITL/SIM_NoVehicle.h index 0d37392b0f9aed..3482a1ee9d0d85 100644 --- a/libraries/SITL/SIM_NoVehicle.h +++ b/libraries/SITL/SIM_NoVehicle.h @@ -33,7 +33,7 @@ class NoVehicle : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new NoVehicle(frame_str); + return NEW_NOTHROW NoVehicle(frame_str); } }; diff --git a/libraries/SITL/SIM_Plane.h b/libraries/SITL/SIM_Plane.h index 1779bff8ccb48c..2a49de12bea9fa 100644 --- a/libraries/SITL/SIM_Plane.h +++ b/libraries/SITL/SIM_Plane.h @@ -36,7 +36,7 @@ class Plane : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Plane(frame_str); + return NEW_NOTHROW Plane(frame_str); } protected: diff --git a/libraries/SITL/SIM_QuadPlane.h b/libraries/SITL/SIM_QuadPlane.h index f111b4040cefca..1915e5aa97c090 100644 --- a/libraries/SITL/SIM_QuadPlane.h +++ b/libraries/SITL/SIM_QuadPlane.h @@ -36,7 +36,7 @@ class QuadPlane : public Plane { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new QuadPlane(frame_str); + return NEW_NOTHROW QuadPlane(frame_str); } private: diff --git a/libraries/SITL/SIM_RGBLED.cpp b/libraries/SITL/SIM_RGBLED.cpp index 6e64c47c4b9281..a36ee06e064322 100644 --- a/libraries/SITL/SIM_RGBLED.cpp +++ b/libraries/SITL/SIM_RGBLED.cpp @@ -17,7 +17,7 @@ void SIM_RGBLED::update_thread(void) sf::RenderWindow *w = nullptr; { WITH_SEMAPHORE(AP::notify().sf_window_mutex); - w = new sf::RenderWindow(sf::VideoMode(width, height), name); + w = NEW_NOTHROW sf::RenderWindow(sf::VideoMode(width, height), name); } if (w == nullptr) { diff --git a/libraries/SITL/SIM_Rover.h b/libraries/SITL/SIM_Rover.h index ede3b3a732bd88..42009a48a177f7 100644 --- a/libraries/SITL/SIM_Rover.h +++ b/libraries/SITL/SIM_Rover.h @@ -34,7 +34,7 @@ class SimRover : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new SimRover(frame_str); + return NEW_NOTHROW SimRover(frame_str); } private: diff --git a/libraries/SITL/SIM_Sailboat.h b/libraries/SITL/SIM_Sailboat.h index 62d0b3781d7cd6..4cb70e0448309a 100644 --- a/libraries/SITL/SIM_Sailboat.h +++ b/libraries/SITL/SIM_Sailboat.h @@ -34,7 +34,7 @@ class Sailboat : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Sailboat(frame_str); + return NEW_NOTHROW Sailboat(frame_str); } bool on_ground() const override {return true;}; diff --git a/libraries/SITL/SIM_Scrimmage.h b/libraries/SITL/SIM_Scrimmage.h index 2fa8dfcbaf3ddd..c7bfbd972bd197 100644 --- a/libraries/SITL/SIM_Scrimmage.h +++ b/libraries/SITL/SIM_Scrimmage.h @@ -46,7 +46,7 @@ class Scrimmage : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Scrimmage(frame_str); + return NEW_NOTHROW Scrimmage(frame_str); } /* Create and set in/out socket for extenal simulator */ diff --git a/libraries/SITL/SIM_SerialDevice.cpp b/libraries/SITL/SIM_SerialDevice.cpp index 19065b7152de62..fe5943d5dee1d0 100644 --- a/libraries/SITL/SIM_SerialDevice.cpp +++ b/libraries/SITL/SIM_SerialDevice.cpp @@ -29,8 +29,8 @@ using namespace SITL; SerialDevice::SerialDevice(uint16_t tx_bufsize, uint16_t rx_bufsize) { - to_autopilot = new ByteBuffer{tx_bufsize}; - from_autopilot = new ByteBuffer{rx_bufsize}; + to_autopilot = NEW_NOTHROW ByteBuffer{tx_bufsize}; + from_autopilot = NEW_NOTHROW ByteBuffer{rx_bufsize}; } bool SerialDevice::init_sitl_pointer() diff --git a/libraries/SITL/SIM_SilentWings.h b/libraries/SITL/SIM_SilentWings.h index 75fdd3984fff32..161597eb49aa36 100644 --- a/libraries/SITL/SIM_SilentWings.h +++ b/libraries/SITL/SIM_SilentWings.h @@ -41,7 +41,7 @@ class SilentWings : public Aircraft { /* Static object creator */ static Aircraft *create(const char *frame_str) { - return new SilentWings(frame_str); + return NEW_NOTHROW SilentWings(frame_str); } private: diff --git a/libraries/SITL/SIM_SingleCopter.h b/libraries/SITL/SIM_SingleCopter.h index 1ab8fb202711df..a7ace87fd5a638 100644 --- a/libraries/SITL/SIM_SingleCopter.h +++ b/libraries/SITL/SIM_SingleCopter.h @@ -35,7 +35,7 @@ class SingleCopter : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new SingleCopter(frame_str); + return NEW_NOTHROW SingleCopter(frame_str); } private: diff --git a/libraries/SITL/SIM_StratoBlimp.h b/libraries/SITL/SIM_StratoBlimp.h index 9165770aa6f969..683e5679707248 100644 --- a/libraries/SITL/SIM_StratoBlimp.h +++ b/libraries/SITL/SIM_StratoBlimp.h @@ -40,7 +40,7 @@ class StratoBlimp : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new StratoBlimp(frame_str); + return NEW_NOTHROW StratoBlimp(frame_str); } static const struct AP_Param::GroupInfo var_info[]; diff --git a/libraries/SITL/SIM_Submarine.h b/libraries/SITL/SIM_Submarine.h index 6c562cd496ca1a..ea0e311760b216 100644 --- a/libraries/SITL/SIM_Submarine.h +++ b/libraries/SITL/SIM_Submarine.h @@ -51,7 +51,7 @@ class Submarine : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Submarine(frame_str); + return NEW_NOTHROW Submarine(frame_str); } diff --git a/libraries/SITL/SIM_Tracker.h b/libraries/SITL/SIM_Tracker.h index 028fee42178ddf..2ff7ecaba4594f 100644 --- a/libraries/SITL/SIM_Tracker.h +++ b/libraries/SITL/SIM_Tracker.h @@ -33,7 +33,7 @@ class Tracker : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Tracker(frame_str); + return NEW_NOTHROW Tracker(frame_str); } private: diff --git a/libraries/SITL/SIM_Webots.cpp b/libraries/SITL/SIM_Webots.cpp index 80a8583c410922..3e896d845a6835 100644 --- a/libraries/SITL/SIM_Webots.cpp +++ b/libraries/SITL/SIM_Webots.cpp @@ -290,7 +290,7 @@ bool Webots::parse_sensors(const char *json) bool Webots::connect_sockets(void) { if (!sim_sock) { - sim_sock = new SocketAPM_native(false); + sim_sock = NEW_NOTHROW SocketAPM_native(false); if (!sim_sock) { AP_HAL::panic("Out of memory for sensors socket"); } diff --git a/libraries/SITL/SIM_Webots.h b/libraries/SITL/SIM_Webots.h index 5457d6cd962a66..d82a9a36057e06 100644 --- a/libraries/SITL/SIM_Webots.h +++ b/libraries/SITL/SIM_Webots.h @@ -47,7 +47,7 @@ class Webots : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new Webots(frame_str); + return NEW_NOTHROW Webots(frame_str); } diff --git a/libraries/SITL/SIM_Webots_Python.h b/libraries/SITL/SIM_Webots_Python.h index ec3e8ba4b56274..e1fde3b63c5bd5 100644 --- a/libraries/SITL/SIM_Webots_Python.h +++ b/libraries/SITL/SIM_Webots_Python.h @@ -43,7 +43,7 @@ class WebotsPython : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new WebotsPython(frame_str); + return NEW_NOTHROW WebotsPython(frame_str); } /* Create and set in/out socket for Webots simulator */ diff --git a/libraries/SITL/SIM_XPlane.cpp b/libraries/SITL/SIM_XPlane.cpp index 24af0c6bab2fed..3633bb4b1a7394 100644 --- a/libraries/SITL/SIM_XPlane.cpp +++ b/libraries/SITL/SIM_XPlane.cpp @@ -125,7 +125,7 @@ XPlane::XPlane(const char *frame_str) : */ void XPlane::add_dref(const char *name, DRefType type, const AP_JSON::value &dref) { - struct DRef *d = new struct DRef; + struct DRef *d = NEW_NOTHROW struct DRef; if (d == nullptr) { AP_HAL::panic("out of memory for DRef %s", name); } @@ -151,7 +151,7 @@ void XPlane::add_dref(const char *name, DRefType type, const AP_JSON::value &dre void XPlane::add_joyinput(const char *label, JoyType type, const AP_JSON::value &d) { if (strncmp(label, "axis", 4) == 0) { - struct JoyInput *j = new struct JoyInput; + struct JoyInput *j = NEW_NOTHROW struct JoyInput; if (j == nullptr) { AP_HAL::panic("out of memory for JoyInput %s", label); } @@ -164,7 +164,7 @@ void XPlane::add_joyinput(const char *label, JoyType type, const AP_JSON::value joyinputs = j; } if (strncmp(label, "button", 6) == 0) { - struct JoyInput *j = new struct JoyInput; + struct JoyInput *j = NEW_NOTHROW struct JoyInput; if (j == nullptr) { AP_HAL::panic("out of memory for JoyInput %s", label); } diff --git a/libraries/SITL/SIM_XPlane.h b/libraries/SITL/SIM_XPlane.h index 2e711de5a1b5cf..4d4cd37724c72d 100644 --- a/libraries/SITL/SIM_XPlane.h +++ b/libraries/SITL/SIM_XPlane.h @@ -46,7 +46,7 @@ class XPlane : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new XPlane(frame_str); + return NEW_NOTHROW XPlane(frame_str); } private: diff --git a/libraries/SITL/SIM_last_letter.h b/libraries/SITL/SIM_last_letter.h index d8afa83ba0c694..a32fa79f727e87 100644 --- a/libraries/SITL/SIM_last_letter.h +++ b/libraries/SITL/SIM_last_letter.h @@ -44,7 +44,7 @@ class last_letter : public Aircraft { /* static object creator */ static Aircraft *create(const char *frame_str) { - return new last_letter(frame_str); + return NEW_NOTHROW last_letter(frame_str); } private: diff --git a/libraries/SITL/ServoModel.cpp b/libraries/SITL/ServoModel.cpp index deaff68b70ae9d..03d6bd0a22f718 100644 --- a/libraries/SITL/ServoModel.cpp +++ b/libraries/SITL/ServoModel.cpp @@ -81,7 +81,7 @@ float ServoModel::apply_filter(float v, float dt) if (sitl->servo.servo_delay > 0) { uint32_t delay_len = MAX(1,sitl->servo.servo_delay * sitl->loop_rate_hz); if (!delay) { - delay = new ObjectBuffer(); + delay = NEW_NOTHROW ObjectBuffer(); } if (delay->get_size() != delay_len) { delay->set_size(delay_len); From 3682e3aad3feb5bea86c4c5680b860e125a5e2f6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 105/282] SRV_Channel: use NEW_NOTHROW for new(std::nothrow) --- libraries/SRV_Channel/SRV_Channel_aux.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp index e6be2e6ef66ab1..2d297930e678a1 100644 --- a/libraries/SRV_Channel/SRV_Channel_aux.cpp +++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp @@ -794,7 +794,7 @@ void SRV_Channels::set_slew_rate(SRV_Channel::Aux_servo_function_t function, flo } // add new item - slew_list *new_slew = new slew_list(function); + slew_list *new_slew = NEW_NOTHROW slew_list(function); if (new_slew == nullptr) { return; } From 265e2a4d6b43ae11d8ac42461271968afb6556aa Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 106/282] StorageManager: use NEW_NOTHROW for new(std::nothrow) --- libraries/StorageManager/StorageManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/StorageManager/StorageManager.cpp b/libraries/StorageManager/StorageManager.cpp index c3bb826975a5ac..c9bb13e3e834ab 100644 --- a/libraries/StorageManager/StorageManager.cpp +++ b/libraries/StorageManager/StorageManager.cpp @@ -348,7 +348,7 @@ bool StorageAccess::attach_file(const char *filename, uint16_t size_kbyte) return false; } const uint32_t size = MIN(0xFFFFU, size_kbyte * 1024U); - auto *newfile = new FileStorage; + auto *newfile = NEW_NOTHROW FileStorage; if (newfile == nullptr) { AP_BoardConfig::allocation_error("StorageFile"); } @@ -358,7 +358,7 @@ bool StorageAccess::attach_file(const char *filename, uint16_t size_kbyte) if (newfile->fd == -1) { goto fail; } - newfile->buffer = new uint8_t[size]; + newfile->buffer = NEW_NOTHROW uint8_t[size]; if (newfile->buffer == nullptr) { AP_BoardConfig::allocation_error("StorageFile"); } From 32904d2dc0215ae69a89840ff979043c31881b60 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 107/282] AntennaTracker: use NEW_NOTHROW for new(std::nothrow) --- AntennaTracker/GCS_Tracker.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/AntennaTracker/GCS_Tracker.h b/AntennaTracker/GCS_Tracker.h index 4201cadde8cce4..30cfaef564991c 100644 --- a/AntennaTracker/GCS_Tracker.h +++ b/AntennaTracker/GCS_Tracker.h @@ -28,7 +28,7 @@ class GCS_Tracker : public GCS GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Tracker(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Tracker(params, uart); } private: From 7551236854c3ba5ef3bd91f4fa672fc77b0114ec Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 108/282] ArduCopter: use NEW_NOTHROW for new(std::nothrow) --- ArduCopter/GCS_Copter.h | 2 +- ArduCopter/system.cpp | 36 ++++++++++++++++++------------------ 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/ArduCopter/GCS_Copter.h b/ArduCopter/GCS_Copter.h index 4e419add63084b..423857fd6f3dc7 100644 --- a/ArduCopter/GCS_Copter.h +++ b/ArduCopter/GCS_Copter.h @@ -43,7 +43,7 @@ class GCS_Copter : public GCS GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Copter(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Copter(params, uart); } }; diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp index bb2d3bc2f67879..40534a68cc8bcf 100644 --- a/ArduCopter/system.cpp +++ b/ArduCopter/system.cpp @@ -361,54 +361,54 @@ void Copter::allocate_motors(void) case AP_Motors::MOTOR_FRAME_DECA: case AP_Motors::MOTOR_FRAME_SCRIPTING_MATRIX: default: - motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsMatrix::var_info; break; case AP_Motors::MOTOR_FRAME_TRI: - motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsTri(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsTri::var_info; AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER); break; case AP_Motors::MOTOR_FRAME_SINGLE: - motors = new AP_MotorsSingle(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsSingle(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsSingle::var_info; break; case AP_Motors::MOTOR_FRAME_COAX: - motors = new AP_MotorsCoax(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsCoax(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsCoax::var_info; break; case AP_Motors::MOTOR_FRAME_TAILSITTER: - motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsTailsitter::var_info; break; case AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING: #if AP_SCRIPTING_ENABLED - motors = new AP_MotorsMatrix_6DoF_Scripting(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsMatrix_6DoF_Scripting(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsMatrix_6DoF_Scripting::var_info; #endif // AP_SCRIPTING_ENABLED break; case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX: #if AP_SCRIPTING_ENABLED - motors = new AP_MotorsMatrix_Scripting_Dynamic(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsMatrix_Scripting_Dynamic(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info; #endif // AP_SCRIPTING_ENABLED break; #else // FRAME_CONFIG == HELI_FRAME case AP_Motors::MOTOR_FRAME_HELI_DUAL: - motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsHeli_Dual::var_info; AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); break; case AP_Motors::MOTOR_FRAME_HELI_QUAD: - motors = new AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsHeli_Quad::var_info; AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); break; case AP_Motors::MOTOR_FRAME_HELI: default: - motors = new AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsHeli_Single::var_info; AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); break; @@ -427,15 +427,15 @@ void Copter::allocate_motors(void) #if FRAME_CONFIG != HELI_FRAME if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) { #if AP_SCRIPTING_ENABLED - attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors); + attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors); attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info; #endif // AP_SCRIPTING_ENABLED } else { - attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors); + attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors); attitude_control_var_info = AC_AttitudeControl_Multi::var_info; } #else - attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors); + attitude_control = NEW_NOTHROW AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors); attitude_control_var_info = AC_AttitudeControl_Heli::var_info; #endif if (attitude_control == nullptr) { @@ -443,30 +443,30 @@ void Copter::allocate_motors(void) } AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info); - pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control); + pos_control = NEW_NOTHROW AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control); if (pos_control == nullptr) { AP_BoardConfig::allocation_error("PosControl"); } AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info); #if AP_OAPATHPLANNER_ENABLED - wp_nav = new AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control); + wp_nav = NEW_NOTHROW AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control); #else - wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control); + wp_nav = NEW_NOTHROW AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control); #endif if (wp_nav == nullptr) { AP_BoardConfig::allocation_error("WPNav"); } AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info); - loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control); + loiter_nav = NEW_NOTHROW AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control); if (loiter_nav == nullptr) { AP_BoardConfig::allocation_error("LoiterNav"); } AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info); #if MODE_CIRCLE_ENABLED == ENABLED - circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control); + circle_nav = NEW_NOTHROW AC_Circle(inertial_nav, *ahrs_view, *pos_control); if (circle_nav == nullptr) { AP_BoardConfig::allocation_error("CircleNav"); } From 2123458112825aa58ef36180814de0e778e3f6f2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 109/282] ArduPlane: use NEW_NOTHROW for new(std::nothrow) --- ArduPlane/GCS_Plane.h | 2 +- ArduPlane/quadplane.cpp | 20 ++++++++++---------- ArduPlane/tailsitter.cpp | 2 +- ArduPlane/tiltrotor.cpp | 2 +- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/ArduPlane/GCS_Plane.h b/ArduPlane/GCS_Plane.h index aa5d507b91de14..9d5ca814e51756 100644 --- a/ArduPlane/GCS_Plane.h +++ b/ArduPlane/GCS_Plane.h @@ -25,7 +25,7 @@ class GCS_Plane : public GCS GCS_MAVLINK_Plane *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Plane(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Plane(params, uart); } AP_GPS::GPS_Status min_status_for_gps_healthy() const override { diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 9a90a8f70c1791..03f7f78fb9c5ac 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -745,23 +745,23 @@ bool QuadPlane::setup(void) switch ((AP_Motors::motor_frame_class)frame_class) { case AP_Motors::MOTOR_FRAME_TRI: - motors = new AP_MotorsTri(rc_speed); + motors = NEW_NOTHROW AP_MotorsTri(rc_speed); motors_var_info = AP_MotorsTri::var_info; break; case AP_Motors::MOTOR_FRAME_TAILSITTER: // this is a duo-motor tailsitter - tailsitter.tailsitter_motors = new AP_MotorsTailsitter(rc_speed); + tailsitter.tailsitter_motors = NEW_NOTHROW AP_MotorsTailsitter(rc_speed); motors = tailsitter.tailsitter_motors; motors_var_info = AP_MotorsTailsitter::var_info; break; case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX: #if AP_SCRIPTING_ENABLED - motors = new AP_MotorsMatrix_Scripting_Dynamic(plane.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW AP_MotorsMatrix_Scripting_Dynamic(plane.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info; #endif // AP_SCRIPTING_ENABLED break; default: - motors = new AP_MotorsMatrix(rc_speed); + motors = NEW_NOTHROW AP_MotorsMatrix(rc_speed); motors_var_info = AP_MotorsMatrix::var_info; break; } @@ -778,30 +778,30 @@ bool QuadPlane::setup(void) AP_BoardConfig::allocation_error("ahrs_view"); } - attitude_control = new AC_AttitudeControl_TS(*ahrs_view, aparm, *motors); + attitude_control = NEW_NOTHROW AC_AttitudeControl_TS(*ahrs_view, aparm, *motors); if (!attitude_control) { AP_BoardConfig::allocation_error("attitude_control"); } AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info); - pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control); + pos_control = NEW_NOTHROW AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control); if (!pos_control) { AP_BoardConfig::allocation_error("pos_control"); } AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info); - wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control); + wp_nav = NEW_NOTHROW AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control); if (!wp_nav) { AP_BoardConfig::allocation_error("wp_nav"); } AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info); - loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control); + loiter_nav = NEW_NOTHROW AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control); if (!loiter_nav) { AP_BoardConfig::allocation_error("loiter_nav"); } AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info); - weathervane = new AC_WeatherVane(); + weathervane = NEW_NOTHROW AC_WeatherVane(); if (!weathervane) { AP_BoardConfig::allocation_error("weathervane"); } @@ -843,7 +843,7 @@ bool QuadPlane::setup(void) tiltrotor.setup(); if (!transition) { - transition = new SLT_Transition(*this, motors); + transition = NEW_NOTHROW SLT_Transition(*this, motors); } if (!transition) { AP_BoardConfig::allocation_error("transition"); diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp index bac8e4d9f7de3f..b530dacce55947 100644 --- a/ArduPlane/tailsitter.cpp +++ b/ArduPlane/tailsitter.cpp @@ -241,7 +241,7 @@ void Tailsitter::setup() quadplane.options.set(quadplane.options.get() | int32_t(QuadPlane::OPTION::ONLY_ARM_IN_QMODE_OR_AUTO)); } - transition = new Tailsitter_Transition(quadplane, motors, *this); + transition = NEW_NOTHROW Tailsitter_Transition(quadplane, motors, *this); if (!transition) { AP_BoardConfig::allocation_error("tailsitter transition"); } diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp index 7a8de87a72ed1b..9fd1f8a2cbd1ab 100644 --- a/ArduPlane/tiltrotor.cpp +++ b/ArduPlane/tiltrotor.cpp @@ -142,7 +142,7 @@ void Tiltrotor::setup() } } - transition = new Tiltrotor_Transition(quadplane, motors, *this); + transition = NEW_NOTHROW Tiltrotor_Transition(quadplane, motors, *this); if (!transition) { AP_BoardConfig::allocation_error("tiltrotor transition"); } From 74dc4f961c7c90fa7e6b9964db2f685e6fbbc49c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 110/282] ArduSub: use NEW_NOTHROW for new(std::nothrow) --- ArduSub/GCS_Sub.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduSub/GCS_Sub.h b/ArduSub/GCS_Sub.h index b0b6c373f55ecf..b99f2d4ec10df9 100644 --- a/ArduSub/GCS_Sub.h +++ b/ArduSub/GCS_Sub.h @@ -37,7 +37,7 @@ class GCS_Sub : public GCS GCS_MAVLINK_Sub *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Sub(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Sub(params, uart); } }; From 91ff1bc0289c32877da3c9af41e377f330521761 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 111/282] Blimp: use NEW_NOTHROW for new(std::nothrow) --- Blimp/GCS_Blimp.h | 2 +- Blimp/system.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Blimp/GCS_Blimp.h b/Blimp/GCS_Blimp.h index 830e0abc209431..315d1224984638 100644 --- a/Blimp/GCS_Blimp.h +++ b/Blimp/GCS_Blimp.h @@ -41,7 +41,7 @@ class GCS_Blimp : public GCS GCS_MAVLINK_Blimp *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Blimp(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Blimp(params, uart); } }; diff --git a/Blimp/system.cpp b/Blimp/system.cpp index 7370ebbcad865a..e32fa10a04c3d8 100644 --- a/Blimp/system.cpp +++ b/Blimp/system.cpp @@ -33,7 +33,7 @@ void Blimp::init_ardupilot() // allocate the motors class allocate_motors(); - loiter = new Loiter(blimp.scheduler.get_loop_rate_hz()); + loiter = NEW_NOTHROW Loiter(blimp.scheduler.get_loop_rate_hz()); // initialise rc channels including setting mode rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM); @@ -240,7 +240,7 @@ void Blimp::allocate_motors(void) switch ((Fins::motor_frame_class)g2.frame_class.get()) { case Fins::MOTOR_FRAME_AIRFISH: default: - motors = new Fins(blimp.scheduler.get_loop_rate_hz()); + motors = NEW_NOTHROW Fins(blimp.scheduler.get_loop_rate_hz()); break; } if (motors == nullptr) { From 5113b6af59f360352c29fe709d209c0a6b74605a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 112/282] Rover: use NEW_NOTHROW for new(std::nothrow) --- Rover/GCS_Rover.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Rover/GCS_Rover.h b/Rover/GCS_Rover.h index acd1dd24260d58..cbd6a9f79ae96c 100644 --- a/Rover/GCS_Rover.h +++ b/Rover/GCS_Rover.h @@ -32,7 +32,7 @@ class GCS_Rover : public GCS GCS_MAVLINK_Rover *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Rover(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Rover(params, uart); } }; From 94841dd6084daaedbfba78ac0e4d5fb4ead00bff Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 11:24:16 +1000 Subject: [PATCH 113/282] Tools: use NEW_NOTHROW for new(std::nothrow) --- Tools/AP_Bootloader/flash_from_sd.cpp | 4 +- Tools/AP_Bootloader/network.cpp | 6 +-- Tools/AP_Periph/AP_Periph.cpp | 2 +- Tools/AP_Periph/GCS_MAVLink.h | 2 +- Tools/AP_Periph/batt_balance.cpp | 6 +-- Tools/AP_Periph/battery.cpp | 4 +- Tools/AP_Periph/can.cpp | 6 +-- Tools/AP_Periph/serial_tunnel.cpp | 2 +- Tools/Replay/LogReader.cpp | 66 +++++++++++++-------------- Tools/Replay/Replay.cpp | 4 +- 10 files changed, 51 insertions(+), 51 deletions(-) diff --git a/Tools/AP_Bootloader/flash_from_sd.cpp b/Tools/AP_Bootloader/flash_from_sd.cpp index c053e48252558c..9c191a1ae80c3b 100644 --- a/Tools/AP_Bootloader/flash_from_sd.cpp +++ b/Tools/AP_Bootloader/flash_from_sd.cpp @@ -342,7 +342,7 @@ bool flash_from_sd() return false; } - verifier = new ABinVerifier{verify_abin_path}; + verifier = NEW_NOTHROW ABinVerifier{verify_abin_path}; if (!verifier->run()) { goto out; } @@ -354,7 +354,7 @@ bool flash_from_sd() return false; } - flasher = new ABinFlasher{flash_abin_path}; + flasher = NEW_NOTHROW ABinFlasher{flash_abin_path}; if (!flasher->run()) { goto out; } diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp index 2a78b199a96047..eb47c09ef80672 100644 --- a/Tools/AP_Bootloader/network.cpp +++ b/Tools/AP_Bootloader/network.cpp @@ -554,7 +554,7 @@ void BL_Network::net_request_trampoline(void *ctx) */ void BL_Network::web_server(void) { - auto *listen_socket = new SocketAPM(0); + auto *listen_socket = NEW_NOTHROW SocketAPM(0); listen_socket->bind("0.0.0.0", 80); listen_socket->listen(20); @@ -573,7 +573,7 @@ void BL_Network::web_server(void) continue; } // a new thread for each connection to allow for AJAX - auto *req = new req_context; + auto *req = NEW_NOTHROW req_context; req->driver = this; req->sock = sock; thread_create_alloc(THD_WORKING_AREA_SIZE(2048), @@ -601,7 +601,7 @@ void BL_Network::init() macInit(); - thisif = new netif; + thisif = NEW_NOTHROW netif; net_thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(2048), "network", diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp index be0d8c32d44584..976dbc5834bcbc 100644 --- a/Tools/AP_Periph/AP_Periph.cpp +++ b/Tools/AP_Periph/AP_Periph.cpp @@ -268,7 +268,7 @@ void AP_Periph_FW::init() for (uint8_t i = 0; i < ESC_NUMBERS; i++) { const uint8_t port = g.esc_serial_port[i]; if (port < SERIALMANAGER_NUM_PORTS) { // skip bad ports - apd_esc_telem[i] = new ESC_APD_Telem (hal.serial(port), g.pole_count[i]); + apd_esc_telem[i] = NEW_NOTHROW ESC_APD_Telem (hal.serial(port), g.pole_count[i]); } } #endif diff --git a/Tools/AP_Periph/GCS_MAVLink.h b/Tools/AP_Periph/GCS_MAVLink.h index edf5c5f619a63a..fa3366ed11ffd2 100644 --- a/Tools/AP_Periph/GCS_MAVLink.h +++ b/Tools/AP_Periph/GCS_MAVLink.h @@ -61,7 +61,7 @@ class GCS_Periph : public GCS GCS_MAVLINK_Periph *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { - return new GCS_MAVLINK_Periph(params, uart); + return NEW_NOTHROW GCS_MAVLINK_Periph(params, uart); } private: diff --git a/Tools/AP_Periph/batt_balance.cpp b/Tools/AP_Periph/batt_balance.cpp index 86c7c7a11cd7c4..e7869e01b4f008 100644 --- a/Tools/AP_Periph/batt_balance.cpp +++ b/Tools/AP_Periph/batt_balance.cpp @@ -80,7 +80,7 @@ void AP_Periph_FW::batt_balance_update() // allocate cell sources if needed if (battery_balance.cells == nullptr) { - battery_balance.cells = new AP_HAL::AnalogSource*[ncell]; + battery_balance.cells = NEW_NOTHROW AP_HAL::AnalogSource*[ncell]; if (battery_balance.cells == nullptr) { return; } @@ -98,8 +98,8 @@ void AP_Periph_FW::batt_balance_update() // allocate space for the packet. This is a large // packet that won't fit on the stack, so dynamically allocate - auto *pkt = new ardupilot_equipment_power_BatteryInfoAux; - uint8_t *buffer = new uint8_t[ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX_MAX_SIZE]; + auto *pkt = NEW_NOTHROW ardupilot_equipment_power_BatteryInfoAux; + uint8_t *buffer = NEW_NOTHROW uint8_t[ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX_MAX_SIZE]; if (pkt == nullptr || buffer == nullptr) { delete pkt; delete [] buffer; diff --git a/Tools/AP_Periph/battery.cpp b/Tools/AP_Periph/battery.cpp index 8f07834d22e66c..442109951f1aab 100644 --- a/Tools/AP_Periph/battery.cpp +++ b/Tools/AP_Periph/battery.cpp @@ -90,8 +90,8 @@ void AP_Periph_FW::can_battery_send_cells(uint8_t instance) { // allocate space for the packet. This is a large // packet that won't fit on the stack, so dynamically allocate - auto* pkt = new ardupilot_equipment_power_BatteryInfoAux; - uint8_t* buffer = new uint8_t[ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX_MAX_SIZE]; + auto* pkt = NEW_NOTHROW ardupilot_equipment_power_BatteryInfoAux; + uint8_t* buffer = NEW_NOTHROW uint8_t[ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX_MAX_SIZE]; if (pkt == nullptr || buffer == nullptr) { delete pkt; delete [] buffer; diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp index 1b5607cdab1600..110a482f2fc5c0 100644 --- a/Tools/AP_Periph/can.cpp +++ b/Tools/AP_Periph/can.cpp @@ -1622,15 +1622,15 @@ void AP_Periph_FW::can_start() for (uint8_t i=0; i (HAL_PERIPH_CAN_MIRROR_QUEUE_SIZE); + instances[i].mirror_queue = NEW_NOTHROW ObjectBuffer (HAL_PERIPH_CAN_MIRROR_QUEUE_SIZE); } #endif //HAL_PERIPH_CAN_MIRROR #if HAL_NUM_CAN_IFACES >= 2 diff --git a/Tools/AP_Periph/serial_tunnel.cpp b/Tools/AP_Periph/serial_tunnel.cpp index 6a99126980250e..758f51ca517650 100644 --- a/Tools/AP_Periph/serial_tunnel.cpp +++ b/Tools/AP_Periph/serial_tunnel.cpp @@ -79,7 +79,7 @@ void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* canard_ins, CanardRxT return; } if (uart_monitor.buffer == nullptr) { - uart_monitor.buffer = new ByteBuffer(1024); + uart_monitor.buffer = NEW_NOTHROW ByteBuffer(1024); if (uart_monitor.buffer == nullptr) { return; } diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp index 9a84053ab81ada..7c1b1a43948695 100644 --- a/Tools/Replay/LogReader.cpp +++ b/Tools/Replay/LogReader.cpp @@ -61,71 +61,71 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f) // map from format name to a parser subclass: if (streq(name, "PARM")) { - msgparser[f.type] = new LR_MsgHandler_PARM(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_PARM(formats[f.type]); } else if (streq(name, "RFRH")) { - msgparser[f.type] = new LR_MsgHandler_RFRH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRH(formats[f.type]); } else if (streq(name, "RFRF")) { - msgparser[f.type] = new LR_MsgHandler_RFRF(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRF(formats[f.type], ekf2, ekf3); } else if (streq(name, "RFRN")) { - msgparser[f.type] = new LR_MsgHandler_RFRN(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRN(formats[f.type]); } else if (streq(name, "REV2")) { - msgparser[f.type] = new LR_MsgHandler_REV2(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REV2(formats[f.type], ekf2, ekf3); } else if (streq(name, "RSO2")) { - msgparser[f.type] = new LR_MsgHandler_RSO2(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSO2(formats[f.type], ekf2, ekf3); } else if (streq(name, "RWA2")) { - msgparser[f.type] = new LR_MsgHandler_RWA2(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWA2(formats[f.type], ekf2, ekf3); } else if (streq(name, "REV3")) { - msgparser[f.type] = new LR_MsgHandler_REV3(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REV3(formats[f.type], ekf2, ekf3); } else if (streq(name, "RSO3")) { - msgparser[f.type] = new LR_MsgHandler_RSO3(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSO3(formats[f.type], ekf2, ekf3); } else if (streq(name, "RWA3")) { - msgparser[f.type] = new LR_MsgHandler_RWA3(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWA3(formats[f.type], ekf2, ekf3); } else if (streq(name, "REY3")) { - msgparser[f.type] = new LR_MsgHandler_REY3(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REY3(formats[f.type], ekf2, ekf3); } else if (streq(name, "RISH")) { - msgparser[f.type] = new LR_MsgHandler_RISH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RISH(formats[f.type]); } else if (streq(name, "RISI")) { - msgparser[f.type] = new LR_MsgHandler_RISI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RISI(formats[f.type]); } else if (streq(name, "RASH")) { - msgparser[f.type] = new LR_MsgHandler_RASH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RASH(formats[f.type]); } else if (streq(name, "RASI")) { - msgparser[f.type] = new LR_MsgHandler_RASI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RASI(formats[f.type]); } else if (streq(name, "RBRH")) { - msgparser[f.type] = new LR_MsgHandler_RBRH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBRH(formats[f.type]); } else if (streq(name, "RBRI")) { - msgparser[f.type] = new LR_MsgHandler_RBRI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBRI(formats[f.type]); } else if (streq(name, "RRNH")) { - msgparser[f.type] = new LR_MsgHandler_RRNH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RRNH(formats[f.type]); } else if (streq(name, "RRNI")) { - msgparser[f.type] = new LR_MsgHandler_RRNI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RRNI(formats[f.type]); } else if (streq(name, "RGPH")) { - msgparser[f.type] = new LR_MsgHandler_RGPH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RGPH(formats[f.type]); } else if (streq(name, "RGPI")) { - msgparser[f.type] = new LR_MsgHandler_RGPI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RGPI(formats[f.type]); } else if (streq(name, "RGPJ")) { - msgparser[f.type] = new LR_MsgHandler_RGPJ(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RGPJ(formats[f.type]); } else if (streq(name, "RMGH")) { - msgparser[f.type] = new LR_MsgHandler_RMGH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RMGH(formats[f.type]); } else if (streq(name, "RMGI")) { - msgparser[f.type] = new LR_MsgHandler_RMGI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RMGI(formats[f.type]); } else if (streq(name, "RBCH")) { - msgparser[f.type] = new LR_MsgHandler_RBCH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBCH(formats[f.type]); } else if (streq(name, "RBCI")) { - msgparser[f.type] = new LR_MsgHandler_RBCI(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBCI(formats[f.type]); } else if (streq(name, "RVOH")) { - msgparser[f.type] = new LR_MsgHandler_RVOH(formats[f.type]); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RVOH(formats[f.type]); } else if (streq(name, "ROFH")) { - msgparser[f.type] = new LR_MsgHandler_ROFH(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_ROFH(formats[f.type], ekf2, ekf3); } else if (streq(name, "REPH")) { - msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3); } else if (streq(name, "RSLL")) { - msgparser[f.type] = new LR_MsgHandler_RSLL(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSLL(formats[f.type], ekf2, ekf3); } else if (streq(name, "REVH")) { - msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3); } else if (streq(name, "RWOH")) { - msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3); } else if (streq(name, "RBOH")) { - msgparser[f.type] = new LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3); + msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3); } else { // debug(" No parser for (%s)\n", name); } diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp index d3dc5339798403..2166885e4d5b21 100644 --- a/Tools/Replay/Replay.cpp +++ b/Tools/Replay/Replay.cpp @@ -161,7 +161,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[]) ::printf("Usage: -p NAME=VALUE\n"); exit(1); } - struct user_parameter *u = new user_parameter; + struct user_parameter *u = NEW_NOTHROW user_parameter; strncpy(u->name, gopt.optarg, eq-gopt.optarg); u->value = atof(eq+1); u->next = user_parameters; @@ -310,7 +310,7 @@ void Replay::load_param_file(const char *pfilename) if (!parse_param_line(line, &pname, value)) { continue; } - struct user_parameter *u = new user_parameter; + struct user_parameter *u = NEW_NOTHROW user_parameter; strncpy_noterm(u->name, pname, sizeof(u->name)); u->value = value; u->next = user_parameters; From 35a8f6c7b2c965d1e015d787f0fce215931ed7bb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 12:35:57 +1000 Subject: [PATCH 114/282] AP_DroneCAN: use NEW_NOTHROW for new(std::nothrow) --- .../examples/DroneCAN_sniffer/DroneCAN_sniffer.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/DroneCAN_sniffer.cpp b/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/DroneCAN_sniffer.cpp index 949d52bfcf46dc..a76877d0d2eb84 100644 --- a/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/DroneCAN_sniffer.cpp +++ b/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/DroneCAN_sniffer.cpp @@ -120,7 +120,7 @@ void DroneCAN_sniffer::init(void) // we need to mutate the HAL to install new CAN interfaces AP_HAL::HAL& hal_mutable = AP_HAL::get_HAL_mutable(); - hal_mutable.can[driver_index] = new HAL_CANIface(driver_index); + hal_mutable.can[driver_index] = NEW_NOTHROW HAL_CANIface(driver_index); if (hal_mutable.can[driver_index] == nullptr) { AP_HAL::panic("Couldn't allocate CANManager, something is very wrong"); @@ -132,7 +132,7 @@ void DroneCAN_sniffer::init(void) debug_dronecan("Can not initialised\n"); return; } - _uavcan_iface_mgr = new CanardInterface{driver_index}; + _uavcan_iface_mgr = NEW_NOTHROW CanardInterface{driver_index}; if (_uavcan_iface_mgr == nullptr) { return; @@ -145,12 +145,12 @@ void DroneCAN_sniffer::init(void) _uavcan_iface_mgr->init(node_memory_pool, sizeof(node_memory_pool), 9); - node_status_pub = new Canard::Publisher{*_uavcan_iface_mgr}; + node_status_pub = NEW_NOTHROW Canard::Publisher{*_uavcan_iface_mgr}; if (node_status_pub == nullptr) { return; } - node_info_srv = new Canard::Server{*_uavcan_iface_mgr, *Canard::allocate_static_callback(cb_GetNodeInfoRequest)}; + node_info_srv = NEW_NOTHROW Canard::Server{*_uavcan_iface_mgr, *Canard::allocate_static_callback(cb_GetNodeInfoRequest)}; if (node_info_srv == nullptr) { return; } From e97a6c708925ed80e681cab5b08a5d98a6f34a90 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 12:35:57 +1000 Subject: [PATCH 115/282] AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp index 295f1ebccadbc8..df73ecb62fe04e 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp @@ -214,9 +214,9 @@ AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS1::probe(AP_InertialSensor &_ } AP_InertialSensor_LSM9DS1 *sensor = - new AP_InertialSensor_LSM9DS1(_imu,std::move(dev), - LSM9DS1_DRY_XG_PIN, - rotation); + NEW_NOTHROW AP_InertialSensor_LSM9DS1(_imu,std::move(dev), + LSM9DS1_DRY_XG_PIN, + rotation); if (!sensor || !sensor->_init_sensor()) { delete sensor; return nullptr; From ceac4969d50e112d04918a0d8c6ae9d376ac9ef8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 12:35:57 +1000 Subject: [PATCH 116/282] AP_Networking: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp index c84133a294bbd5..26747cdc85755e 100644 --- a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp +++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp @@ -85,7 +85,7 @@ class ThreadWrapper { sys_thread_t sys_thread_new(const char *name, lwip_thread_fn function, void *arg, int stacksize, int prio) { - auto *thread_data = new ThreadWrapper(function, arg); + auto *thread_data = NEW_NOTHROW ThreadWrapper(function, arg); if (!thread_data->create(name, stacksize, prio)) { AP_HAL::panic("lwip: Failed to start thread %s", name); } @@ -120,7 +120,7 @@ sys_mbox_new(struct sys_mbox **mb, int size) struct sys_mbox *mbox; LWIP_UNUSED_ARG(size); - mbox = new sys_mbox; + mbox = NEW_NOTHROW sys_mbox; if (mbox == NULL) { return ERR_MEM; } @@ -292,7 +292,7 @@ sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout_ms) err_t sys_sem_new(sys_sem_t *sem, u8_t count) { - *sem = (sys_sem_t)new HAL_BinarySemaphore(count); + *sem = (sys_sem_t)NEW_NOTHROW HAL_BinarySemaphore(count); if (*sem == NULL) { return ERR_MEM; } @@ -330,7 +330,7 @@ sys_sem_free(sys_sem_t *sem) err_t sys_mutex_new(sys_mutex_t *mutex) { - *mutex = (sys_mutex_t)new HAL_Semaphore; + *mutex = (sys_mutex_t)NEW_NOTHROW HAL_Semaphore; if (*mutex == nullptr) { return ERR_MEM; } From aff9175328fd55d7df761008c3c9ef9173dc93c5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 13:58:49 +1000 Subject: [PATCH 117/282] waf: moved elf symbol checking to ardupilotwaf not chibios specific --- Tools/ardupilotwaf/ardupilotwaf.py | 56 ++++++++++++++++++++++++++++-- Tools/ardupilotwaf/boards.py | 6 ++++ Tools/ardupilotwaf/chibios.py | 28 --------------- Tools/ardupilotwaf/toolchain.py | 2 ++ 4 files changed, 61 insertions(+), 31 deletions(-) diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py index d20eef7e50c606..1f5a628ff50d14 100644 --- a/Tools/ardupilotwaf/ardupilotwaf.py +++ b/Tools/ardupilotwaf/ardupilotwaf.py @@ -1,12 +1,13 @@ # encoding: utf-8 from __future__ import print_function -from waflib import Build, ConfigSet, Configure, Context, Errors, Logs, Options, Utils +from waflib import Build, ConfigSet, Configure, Context, Errors, Logs, Options, Utils, Task from waflib.Configure import conf from waflib.Scripting import run_command -from waflib.TaskGen import before_method, feature +from waflib.TaskGen import before_method, after_method, feature import os.path, os from collections import OrderedDict +import subprocess import ap_persistent @@ -258,6 +259,55 @@ def ap_common_vehicle_libraries(bld): _grouped_programs = {} +class check_elf_symbols(Task.Task): + color='CYAN' + always_run = True + def keyword(self): + return "checking symbols" + + def run(self): + ''' + check for disallowed symbols in elf file, such as C++ exceptions + ''' + elfpath = self.inputs[0].abspath() + + if not self.env.CHECK_SYMBOLS: + # checking symbols disabled on this build + return + + if not self.env.vehicle_binary or self.env.SIM_ENABLED: + # we only want to check symbols for vehicle binaries, allowing examples + # to use C++ exceptions. We also allow them in simulator builds + return + + # we use string find on these symbols, so this catches all types of throw + # calls this should catch all uses of exceptions unless the compiler + # manages to inline them + blacklist = ['std::__throw', + 'operator new[](unsigned int)', + 'operator new[](unsigned long)', + 'operator new(unsigned int)', + 'operator new(unsigned long)'] + + nmout = subprocess.getoutput("%s -C %s" % (self.env.get_flat('NM'), elfpath)) + for b in blacklist: + if nmout.find(b) != -1: + raise Errors.WafError("Disallowed symbol in %s: %s" % (elfpath, b)) + + +@feature('post_link') +@after_method('process_source') +def post_link(self): + ''' + setup tasks to run after link stage + ''' + self.link_task.always_run = True + + link_output = self.link_task.outputs[0] + + check_elf_task = self.create_task('check_elf_symbols', src=link_output) + check_elf_task.set_run_after(self.link_task) + @conf def ap_program(bld, program_groups='bin', @@ -279,7 +329,7 @@ def ap_program(bld, if use_legacy_defines: kw['defines'].extend(get_legacy_defines(bld.path.name, bld)) - kw['features'] = kw.get('features', []) + bld.env.AP_PROGRAM_FEATURES + kw['features'] = kw.get('features', []) + bld.env.AP_PROGRAM_FEATURES + ['post_link'] program_groups = Utils.to_list(program_groups) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 9c50faf4a332f1..8cb702ddcf7ae5 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -45,6 +45,9 @@ def configure(self, cfg): cfg.load('toolchain') cfg.load('cxx_checks') + # check elf symbols by default + cfg.env.CHECK_SYMBOLS = True + env = waflib.ConfigSet.ConfigSet() def srcpath(path): return cfg.srcnode.make_node(path).abspath() @@ -1284,6 +1287,9 @@ def configure_env(self, cfg, env): self.with_can = True super(linux, self).configure_env(cfg, env) + # can't do symbol checking on Linux due to exception usage in libc++ + env.CHECK_SYMBOLS = False + env.BOARD_CLASS = "LINUX" env.DEFINES.update( diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py index 1d1c5052cbcfa6..7e20f40fc58b26 100644 --- a/Tools/ardupilotwaf/chibios.py +++ b/Tools/ardupilotwaf/chibios.py @@ -148,31 +148,6 @@ def run(self): defaults.save() -def check_elf_symbols(task): - ''' - check for disallowed symbols in elf file, such as C++ exceptions - ''' - elfpath = task.inputs[0].abspath() - - if not task.env.vehicle_binary or task.env.SIM_ENABLED: - # we only want to check symbols for vehicle binaries, allowing examples - # to use C++ exceptions. We also allow them in simulator builds - return - - # we use string find on these symbols, so this catches all types of throw - # calls this should catch all uses of exceptions unless the compiler - # manages to inline them - blacklist = ['std::__throw', - 'operator new[](unsigned int)', - 'operator new[](unsigned long)', - 'operator new(unsigned int)', - 'operator new(unsigned long)'] - - nmout = subprocess.getoutput("%s -C %s" % (task.env.get_flat('NM'), elfpath)) - for b in blacklist: - if nmout.find(b) != -1: - raise Errors.WafError("Disallowed symbol in %s: %s" % (elfpath, b)) - class generate_bin(Task.Task): color='CYAN' # run_str="${OBJCOPY} -O binary ${SRC} ${TGT}" @@ -184,8 +159,6 @@ class generate_bin(Task.Task): def keyword(self): return "Generating" def run(self): - check_elf_symbols(self) - if self.env.HAS_EXTERNAL_FLASH_SECTIONS: ret = self.split_sections() if (ret < 0): @@ -569,7 +542,6 @@ def configure(cfg): cfg.find_program('make', var='MAKE') #cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True) cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY') - cfg.find_program('arm-none-eabi-nm', var='NM') env = cfg.env bldnode = cfg.bldnode.make_node(cfg.variant) def srcpath(path): diff --git a/Tools/ardupilotwaf/toolchain.py b/Tools/ardupilotwaf/toolchain.py index eb86084307cb29..9347876c1f4075 100644 --- a/Tools/ardupilotwaf/toolchain.py +++ b/Tools/ardupilotwaf/toolchain.py @@ -150,6 +150,8 @@ def configure(cfg): cfg.find_program('%s-ar' % cfg.env.TOOLCHAIN, var='AR', quiet=True) cfg.load('compiler_cxx compiler_c') + cfg.find_program('%s-nm' % cfg.env.TOOLCHAIN, var='NM') + if not cfg.options.disable_gccdeps: cfg.load('gccdeps') From 6233bc0e103c45061d1cfc452601054f6e9c4d88 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 14:33:27 +1000 Subject: [PATCH 118/282] HAL_Empty: use NEW_NOTHROW for new(std::nothrow) --- libraries/AP_HAL_Empty/SPIDevice.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_Empty/SPIDevice.h b/libraries/AP_HAL_Empty/SPIDevice.h index be25c2873c45db..62849e7de2d6bb 100644 --- a/libraries/AP_HAL_Empty/SPIDevice.h +++ b/libraries/AP_HAL_Empty/SPIDevice.h @@ -77,7 +77,7 @@ class SPIDeviceManager : public AP_HAL::SPIDeviceManager { SPIDeviceManager() { } AP_HAL::OwnPtr get_device(const char *name) override { - return AP_HAL::OwnPtr(new SPIDevice()); + return AP_HAL::OwnPtr(NEW_NOTHROW SPIDevice()); } }; From 1ad0c069ae4cec733981cb39ca5353762e24c1a3 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 14:35:34 +1000 Subject: [PATCH 119/282] waf: fixed cygwin build --- Tools/ardupilotwaf/boards.py | 2 ++ Tools/ardupilotwaf/toolchain.py | 5 ++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 8cb702ddcf7ae5..c32de12e3f9954 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -794,6 +794,8 @@ def configure_env(self, cfg, env): if Utils.unversioned_sys_platform() == 'cygwin': env.CXXFLAGS += ['-DCYGWIN_BUILD'] + # can't do symbol checking on cygwin due to exception usage in system libraries + env.CHECK_SYMBOLS = False if 'clang++' in cfg.env.COMPILER_CXX: print("Disabling SLP for clang++") diff --git a/Tools/ardupilotwaf/toolchain.py b/Tools/ardupilotwaf/toolchain.py index 9347876c1f4075..a01bbedc049a5e 100644 --- a/Tools/ardupilotwaf/toolchain.py +++ b/Tools/ardupilotwaf/toolchain.py @@ -150,7 +150,10 @@ def configure(cfg): cfg.find_program('%s-ar' % cfg.env.TOOLCHAIN, var='AR', quiet=True) cfg.load('compiler_cxx compiler_c') - cfg.find_program('%s-nm' % cfg.env.TOOLCHAIN, var='NM') + if sys.platform.startswith("cygwin"): + cfg.find_program('nm', var='NM') + else: + cfg.find_program('%s-nm' % cfg.env.TOOLCHAIN, var='NM') if not cfg.options.disable_gccdeps: cfg.load('gccdeps') From 4a5ca0114ba59e7b3458c8628c3b01101084f529 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 May 2024 15:45:07 +1000 Subject: [PATCH 120/282] AP_Booloader: link in AP_Common to get new overrides --- Tools/AP_Bootloader/wscript | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/AP_Bootloader/wscript b/Tools/AP_Bootloader/wscript index 19c29da5dfc9ea..172db176261234 100644 --- a/Tools/AP_Bootloader/wscript +++ b/Tools/AP_Bootloader/wscript @@ -21,6 +21,7 @@ def build(bld): 'AP_HAL', 'AP_Networking', 'AP_ROMFS', + 'AP_Common', ]) # build external libcanard library From 93f1bb576b803b2c82a8525a2daffa046d8ba841 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 1 Jun 2024 16:28:12 +1000 Subject: [PATCH 121/282] waf: added --enable-new-checking option this allows CI to check for violations of new, calling without NEW_NOTHROW --- Tools/ardupilotwaf/boards.py | 30 +++++++++++++++++++++++------- wscript | 5 +++++ 2 files changed, 28 insertions(+), 7 deletions(-) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index c32de12e3f9954..5f5ce5434b121b 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -4,6 +4,7 @@ import re import sys, os import fnmatch +import platform import waflib from waflib import Utils @@ -45,8 +46,8 @@ def configure(self, cfg): cfg.load('toolchain') cfg.load('cxx_checks') - # check elf symbols by default - cfg.env.CHECK_SYMBOLS = True + # don't check elf symbols by default + cfg.env.CHECK_SYMBOLS = False env = waflib.ConfigSet.ConfigSet() def srcpath(path): @@ -751,6 +752,11 @@ def configure_env(self, cfg, env): 'SITL', ] + # wrap malloc to ensure memory is zeroed + # don't do this on MacOS as ld doesn't support --wrap + if platform.system() != 'Darwin': + env.LINKFLAGS += ['-Wl,--wrap,malloc'] + if cfg.options.enable_sfml: if not cfg.check_SFML(env): cfg.fatal("Failed to find SFML libraries") @@ -794,8 +800,6 @@ def configure_env(self, cfg, env): if Utils.unversioned_sys_platform() == 'cygwin': env.CXXFLAGS += ['-DCYGWIN_BUILD'] - # can't do symbol checking on cygwin due to exception usage in system libraries - env.CHECK_SYMBOLS = False if 'clang++' in cfg.env.COMPILER_CXX: print("Disabling SLP for clang++") @@ -1007,6 +1011,8 @@ def expand_path(p): env.CXXFLAGS.remove('-Werror=undef') env.CXXFLAGS.remove('-Werror=shadow') + # wrap malloc to ensure memory is zeroed + env.LINKFLAGS += ['-Wl,--wrap,malloc'] env.INCLUDES += [ cfg.srcnode.find_dir('libraries/AP_HAL_ESP32/boards').abspath(), @@ -1260,6 +1266,16 @@ def configure_env(self, cfg, env): cfg.msg("Checking for intelhex module:", 'disabled', color='YELLOW') env.HAVE_INTEL_HEX = False + if cfg.options.enable_new_checking: + env.CHECK_SYMBOLS = True + else: + # disable new checking on ChibiOS by default to save flash + # we enable it in a CI test to catch incorrect usage + env.CXXFLAGS += [ + "-DNEW_NOTHROW=new", + "-fcheck-new", # rely on -fcheck-new ensuring nullptr checks + ] + def build(self, bld): super(chibios, self).build(bld) bld.ap_version_append_str('CHIBIOS_GIT_VERSION', bld.git_submodule_head_hash('ChibiOS', short=True)) @@ -1289,9 +1305,6 @@ def configure_env(self, cfg, env): self.with_can = True super(linux, self).configure_env(cfg, env) - # can't do symbol checking on Linux due to exception usage in libc++ - env.CHECK_SYMBOLS = False - env.BOARD_CLASS = "LINUX" env.DEFINES.update( @@ -1319,6 +1332,9 @@ def configure_env(self, cfg, env): 'AP_HAL_Linux', ] + # wrap malloc to ensure memory is zeroed + env.LINKFLAGS += ['-Wl,--wrap,malloc'] + if cfg.options.force_32bit: env.DEFINES.update( HAL_FORCE_32BIT = 1, diff --git a/wscript b/wscript index 0517655459219c..a6a18a3954102a 100644 --- a/wscript +++ b/wscript @@ -441,6 +441,11 @@ configuration in order to save typing. type='int', default=0, help='zero time on boot in microseconds') + + g.add_option('--enable-new-checking', + action='store_true', + default=False, + help='enables checking of new to ensure NEW_NOTHROW is used') def _collect_autoconfig_files(cfg): for m in sys.modules.values(): From 90ab6adebc3f9cc3b3e4c12757a770bcb8157a25 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 1 Jun 2024 16:28:28 +1000 Subject: [PATCH 122/282] CI: added test for new without NEW_NOTHROW --- .github/workflows/test_chibios.yml | 1 + Tools/scripts/build_ci.sh | 12 ++++++++++++ 2 files changed, 13 insertions(+) diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml index ed16e57e2cd404..9765e45c81976d 100644 --- a/.github/workflows/test_chibios.yml +++ b/.github/workflows/test_chibios.yml @@ -159,6 +159,7 @@ jobs: CubeOrange-PPP, SOHW, Pixhawk6X-PPPGW, + new-check, ] toolchain: [ chibios, diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh index 21fb6ee4c60f8e..e62b133914321a 100755 --- a/Tools/scripts/build_ci.sh +++ b/Tools/scripts/build_ci.sh @@ -345,6 +345,18 @@ for t in $CI_BUILD_TARGET; do $waf bootloader continue fi + + if [ "$t" == "new-check" ]; then + echo "Building Pixhawk6X with new check" + $waf configure --board Pixhawk6X --enable-new-checking + $waf clean + $waf + echo "Building Pixhawk6X-PPPGW with new check" + $waf configure --board Pixhawk6X-PPPGW --enable-new-checking + $waf clean + $waf AP_Periph + continue + fi if [ "$t" == "dds-stm32h7" ]; then echo "Building with DDS support on a STM32H7" From 887e4713e64c0a1f082faf8a3097d3549312c5ee Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Thu, 30 May 2024 15:51:41 -0500 Subject: [PATCH 123/282] AP_HAL_ChibiOS:remove fetaures to allow boards to build --- libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat | 7 ++++++- .../AP_HAL_ChibiOS/hwdef/MicoAir405v2/hwdef.dat | 15 +-------------- .../AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat | 3 +++ 3 files changed, 10 insertions(+), 15 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat index b0d9ea996a64b0..281f1ad3b4095d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat @@ -144,11 +144,16 @@ define HAL_PARACHUTE_ENABLED 0 # save FLASH, but leave above when flash issue is fixed include ../include/minimize_fpv_osd.inc include ../include/no_bootloader_DFU.inc +#only enable BMP280 Baro +define AP_BARO_BACKEND_DEFAULT_ENABLED 0 +undef define AP_BARO_BMP280_ENABLED +define AP_BARO_BMP280_ENABLED 1 # disable SMBUS battery monitors to save flash undef AP_BATTERY_SMBUS_ENABLED define AP_BATTERY_SMBUS_ENABLED 0 + # setup for OSD define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin @@ -159,6 +164,6 @@ define HAL_WITH_MSP_DISPLAYPORT 1 undef HAL_MSP_ENABLED define HAL_MSP_ENABLED 1 -# need to probe external baros even 'though we're minimised: +# need to probe external baros even 'though we're minimised to allow custom build options: undef AP_BARO_PROBE_EXTERNAL_I2C_BUSES define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405v2/hwdef.dat index 0b102a9a568579..211f0122da01c8 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405v2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405v2/hwdef.dat @@ -155,17 +155,4 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin define HAL_FRAME_TYPE_DEFAULT 12 # reduce flash usage -define HAL_MOUNT_ENABLED 0 -define HAL_SPRAYER_ENABLED 0 -define HAL_GENERATOR_ENABLED 0 -define HAL_VISUALODOM_ENABLED 0 -define AP_WINCH_ENABLED 0 -define AP_BEACON_ENABLED 0 -define AP_GRIPPER_ENABLED 0 -define AP_ICENGINE_ENABLED 0 -define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 0 -define OFFBOARD_GUIDED 0 -define QAUTOTUNE_ENABLED 0 -define EK3_FEATURE_EXTERNAL_NAV 0 -define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 0 -define AC_PAYLOAD_PLACE_ENABLED 0 +include ../include/minimize_fpv_osd.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat index d22ae701fddb04..0f13a42fdaeb23 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat @@ -129,6 +129,9 @@ define HAL_PARACHUTE_ENABLED 0 # save FLASH, but leave above when flash issue is fixed include ../include/minimize_fpv_osd.inc +#not useable for quadplane +define HAL_QUADPLANE_ENABLED 0 + # disable SMBUS monitors to save flash undef AP_BATTERY_SMBUS_ENABLED define AP_BATTERY_SMBUS_ENABLED 0 From 3b86c0527fa66a297f7de5297921d4c90ec05908 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Fri, 31 May 2024 21:21:05 -0500 Subject: [PATCH 124/282] AP_BLHeli:expand metadata of 3d and Reverse masks --- libraries/AP_BLHeli/AP_BLHeli.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp index 93cf7926f0d7bb..d5463af8c730e9 100644 --- a/libraries/AP_BLHeli/AP_BLHeli.cpp +++ b/libraries/AP_BLHeli/AP_BLHeli.cpp @@ -128,7 +128,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = { // @Param: 3DMASK // @DisplayName: BLHeli bitmask of 3D channels - // @Description: Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction + // @Description: Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK. // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 // @User: Advanced // @RebootRequired: True @@ -137,7 +137,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = { #if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT // @Param: BDMASK // @DisplayName: BLHeli bitmask of bi-directional dshot channels - // @Description: Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch. + // @Description: Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch. // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 // @User: Advanced // @RebootRequired: True @@ -145,7 +145,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = { #endif // @Param: RVMASK // @DisplayName: BLHeli bitmask of reversed channels - // @Description: Mask of channels which are reversed. This is used to configure ESCs in reversed mode + // @Description: Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation.Do not use for channels selected with SERVO_BLH_RVMASK.Do not use for channels selected with SERVO_BLH_3DMASK. // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 // @User: Advanced // @RebootRequired: True From c5cdc46fb766a7530cdf83d2f3d089387fa005df Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 2 Jun 2024 20:22:30 +0200 Subject: [PATCH 125/282] Tools: scripts: run_lua_language_check.py: allow running on a single file and error is no files are checked --- Tools/scripts/run_lua_language_check.py | 57 ++++++++++++++++++++++--- 1 file changed, 50 insertions(+), 7 deletions(-) diff --git a/Tools/scripts/run_lua_language_check.py b/Tools/scripts/run_lua_language_check.py index c680715efbefe7..5d67e49205425a 100755 --- a/Tools/scripts/run_lua_language_check.py +++ b/Tools/scripts/run_lua_language_check.py @@ -16,12 +16,17 @@ import shutil import platform from urllib.parse import unquote +import subprocess +import re -def print_failures(file_name, fails): +def print_failures(file_name, fails, original_name): file_name = unquote(file_name) file_path = pathlib.Path(file_name[5:]) + if (original_name is not None) and (original_name.name == file_path.name): + file_path = original_name + for fail in fails: start = fail['range']['start'] @@ -53,6 +58,7 @@ def print_failures(file_name, fails): check_path = "./" if len(args) > 0: check_path = args[0] + check_path = pathlib.Path(check_path) if not os.path.exists(check_path): raise Exception("Path invalid: %s" % check_path) @@ -78,7 +84,6 @@ def print_failures(file_name, fails): print("Install with: python3 -m pip install github-release-downloader") sys.exit(0) - import re asset_re = re.compile(r".*linux-x64\.tar\.gz") check_and_download_updates( GitHubRepo("LuaLS", "lua-language-server"), @@ -96,6 +101,16 @@ def print_failures(file_name, fails): # Try and use version from path run_path = "lua-language-server" + # If the target is a single script copy it to a new directory + tmp_check_dir = None + original_name = None + if os.path.isfile(check_path): + tmp_check_dir = (check_path / "../tmp_llc").resolve() + os.mkdir(tmp_check_dir) + shutil.copyfile(check_path, (tmp_check_dir / check_path.name).resolve()) + original_name = check_path + check_path = tmp_check_dir + # Can't get the lua-language-server to find docs outside of workspace, so just copy in and then delete docs_check_path = (pathlib.Path(os.getcwd()) / check_path).resolve() if os.path.isfile(docs_check_path): @@ -109,10 +124,32 @@ def print_failures(file_name, fails): # make copy of docs shutil.copyfile(docs, docs_copy) - # Run check - os.system("%s --configpath %s --logpath %s --check %s" % (run_path, setup, logs, check_path)) - - if docs_copy is not None: + # Run check, print output in real time for user and capture so we can confirm it has found at least one file + command = "%s --configpath %s --logpath %s --check %s" % (run_path, setup, logs, check_path) + p = subprocess.Popen(command, shell=True, text=True, stdout=subprocess.PIPE) + result = [] + while p.poll() is None: + l = p.stdout.readline() + result.append(l) + print(l, end="") + + # Make sure we checked at least one file + file_count_re = re.compile(r"^>*=* \d+/(\d+)") + checked_files = None + for line in result: + match = file_count_re.search(line) + if match is not None: + count = int(match.group(1)) + if checked_files is None: + checked_files = count + elif checked_files != count: + raise Exception("Checked files error expected: %i got: %i" % (checked_files, count)) + + if tmp_check_dir is not None: + # Remove test directory + shutil.rmtree(tmp_check_dir) + + elif docs_copy is not None: # remove copy of docs os.remove(docs_copy) @@ -128,7 +165,7 @@ def print_failures(file_name, fails): if len(data) > 0: # Print output if there are any errors for key, value in data.items(): - errors += print_failures(key, value) + errors += print_failures(key, value, original_name) # Remove output shutil.rmtree(logs) @@ -136,3 +173,9 @@ def print_failures(file_name, fails): # Rase error if detected if errors != 0: raise Exception("Detected %i errors" % errors) + + # Warn if no files were checked + if (checked_files is None) or (checked_files < 1): + raise Exception("No lua files found in: %s" % check_path) + + print("%i Files checked" % checked_files) From 93642026aabaa4bceb83427bd3f7dc259d200e79 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 2 Jun 2024 20:23:26 +0200 Subject: [PATCH 126/282] AP_Scripting: tests: check.json: check files it gitignore but not self --- libraries/AP_Scripting/tests/check.json | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Scripting/tests/check.json b/libraries/AP_Scripting/tests/check.json index a5091bc598ad8d..899d55a5a559e9 100644 --- a/libraries/AP_Scripting/tests/check.json +++ b/libraries/AP_Scripting/tests/check.json @@ -1,4 +1,5 @@ { // lua-language-server config for checking + "$schema": "https://raw.githubusercontent.com/LuaLS/vscode-lua/master/setting/schema.json", "runtime.version": "Lua 5.3", "runtime.builtin": { // Not all of the standard functionality is available @@ -10,6 +11,10 @@ "table.clear": "disable", "table.new": "disable" }, - // These lua scripts are not for running on AP - "workspace.ignoreDir": ["Tools/CHDK-Scripts/*", "modules/*", "libraries/AP_Scripting/tests/luacheck.lua" ], + "workspace": { + // These lua scripts are not for running on AP + "ignoreDir": ["Tools/CHDK-Scripts/*", "modules/*", "libraries/AP_Scripting/tests/luacheck.lua", "lua-language-server/*"], + // Dont use gitignore, it results in skipping checks for in progress scripts running in SITL + "useGitIgnore": false + } } From f54ca766df3108bd274de0e522a02026370a211c Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 2 Jun 2024 20:23:55 +0200 Subject: [PATCH 127/282] AP_Scripting: tests: luacheck.lua: ignore lua-language-server --- libraries/AP_Scripting/tests/luacheck.lua | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Scripting/tests/luacheck.lua b/libraries/AP_Scripting/tests/luacheck.lua index 2ae950e89f6ce9..c200da54b5d592 100644 --- a/libraries/AP_Scripting/tests/luacheck.lua +++ b/libraries/AP_Scripting/tests/luacheck.lua @@ -8,7 +8,7 @@ ignore = {"111", -- Setting an undefined global variable. "614"} -- Trailing whitespace in a comment. -- These lua scripts are not for running on AP -exclude_files = {"Tools/CHDK-Scripts/*", "modules/*", "libraries/AP_Scripting/tests/luacheck.lua"} +exclude_files = {"Tools/CHDK-Scripts/*", "modules/*", "libraries/AP_Scripting/tests/luacheck.lua", "lua-language-server/*"} -- Grab AP globals from docs file stds.ArduPilot = {} From 364419be81010d868db2d7dcbdd370b37b441c06 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 2 Jun 2024 21:25:48 +0200 Subject: [PATCH 128/282] AP_Scripting: docs: allow overload of manual bindings to allow documentation of optional arguments --- Tools/scripts/run_lua_language_check.py | 6 ++--- libraries/AP_Scripting/docs/docs.lua | 17 +++++++++----- .../generator/description/bindings.desc | 2 +- libraries/AP_Scripting/tests/docs_check.py | 22 ++++++++++++++----- 4 files changed, 33 insertions(+), 14 deletions(-) diff --git a/Tools/scripts/run_lua_language_check.py b/Tools/scripts/run_lua_language_check.py index 5d67e49205425a..7353f016374ee1 100755 --- a/Tools/scripts/run_lua_language_check.py +++ b/Tools/scripts/run_lua_language_check.py @@ -129,9 +129,9 @@ def print_failures(file_name, fails, original_name): p = subprocess.Popen(command, shell=True, text=True, stdout=subprocess.PIPE) result = [] while p.poll() is None: - l = p.stdout.readline() - result.append(l) - print(l, end="") + line = p.stdout.readline() + result.append(line) + print(line, end="") # Make sure we checked at least one file file_count_re = re.compile(r"^>*=* \d+/(\d+)") diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index 4db54caa043f15..dc45ddd06e09bc 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -69,14 +69,21 @@ function print(text) end -- data flash logging to SD card logger = {} --- write value to data flash log with given types and names, optional units and multipliers, timestamp will be automatically added +-- write value to data flash log with given types and names with units and multipliers, timestamp will be automatically added ---@param name string -- up to 4 characters ---@param labels string -- comma separated value labels, up to 58 characters ---@param format string -- type format string, see https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Logger/README.md ----@param units? string -- optional units string ----@param multipliers? string -- optional multipliers string ----@param data1 integer|number|uint32_t_ud|string -- data to be logged, type to match format string -function logger:write(name, labels, format, units, multipliers, data1, ...) end +---@param units string -- units string +---@param multipliers string -- multipliers string +---@param ... integer|number|uint32_t_ud|string -- data to be logged, type to match format string +function logger:write(name, labels, format, units, multipliers, ...) end + +-- write value to data flash log with given types and names, timestamp will be automatically added +---@param name string -- up to 4 characters +---@param labels string -- comma separated value labels, up to 58 characters +---@param format string -- type format string, see https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Logger/README.md +---@param ... integer|number|uint32_t_ud|string -- data to be logged, type to match format string +function logger:write(name, labels, format, ...) end -- log a files content to onboard log ---@param filename string -- file name diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index 0f3afd589a9aee..d3667745308e57 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -843,7 +843,7 @@ singleton AP_EFI method get_state void EFI_State'Ref include AP_Logger/AP_Logger.h singleton AP_Logger depends HAL_LOGGING_ENABLED singleton AP_Logger rename logger -singleton AP_Logger manual write AP_Logger_Write 7 0 +singleton AP_Logger manual write AP_Logger_Write 6 0 singleton AP_Logger method log_file_content void string singleton AP_Logger method log_file_content depends HAL_LOGGER_FILE_CONTENTS_ENABLED diff --git a/libraries/AP_Scripting/tests/docs_check.py b/libraries/AP_Scripting/tests/docs_check.py index f2c6b120b3da4d..455534e6899bd7 100644 --- a/libraries/AP_Scripting/tests/docs_check.py +++ b/libraries/AP_Scripting/tests/docs_check.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + ''' Reads two lua docs files and checks for differences @@ -16,6 +18,14 @@ def __init__(self, global_name, local_name, num_args, full_line, returns, params self.full_line = full_line self.returns = returns self.params = params + self.manual = False + for i in range(len(self.returns)): + if self.returns[i][0] == 'UNKNOWN': + self.manual = True + + for i in range(len(self.params)): + if self.params[i][0] == 'UNKNOWN': + self.manual = True def __str__(self): ret_str = "%s\n" % (self.full_line) @@ -74,6 +84,11 @@ def check_types(self, other): def __eq__(self, other): return (self.global_name == other.global_name) and (self.local_name == other.local_name) and (self.num_args == other.num_args) + def is_overload(self, other): + # Allow manual bindings to have fewer arguments + # this allows multiple function definitions with different params + return other.manual and (self.global_name == other.global_name) and (self.local_name == other.local_name) and (self.num_args < other.num_args) + def get_return_type(line): try: match = re.findall("^---@return (\w+(\|(\w+))*)", line) @@ -85,7 +100,7 @@ def get_return_type(line): def get_param_type(line): try: - match = re.findall("^---@param \w+\?? (\w+(\|(\w+))*)", line) + match = re.findall("^---@param (?:\w+\??|...) (\w+(\|(\w+))*)", line) all_types = match[0][0] return all_types.split("|") @@ -136,9 +151,6 @@ def parse_file(file_name): num_args = 0 else: num_args = args.count(",") + 1 - # ... shows up in arg list but not @param, add a unknown param - if args.endswith("..."): - params.append(["UNKNOWN"]) if num_args != len(params): raise Exception("Missing \"---@param\" for function: %s", line) @@ -194,7 +206,7 @@ def compare(expected_file_name, got_file_name): for got in got_methods: found = False for meth in expected_methods: - if got == meth: + if (got == meth) or got.is_overload(meth): found = True break if not found: From cb869ef7f08919dcfe779d033bb2053795128848 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 2 Jun 2024 09:08:51 +1000 Subject: [PATCH 129/282] ArduCopter: remove defaulting of OSD_ENABLED we do this in AP_OSD_config.h too so include ordering can break things badly --- ArduCopter/config.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index a789c6ddd6e768..6e177a4b86ab18 100644 --- a/ArduCopter/config.h +++ b/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 From 61a34d0edb274e9f62b1e7d0a8856aacaae3f8b8 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 2 Jun 2024 09:08:52 +1000 Subject: [PATCH 130/282] ArduPlane: remove defaulting of OSD_ENABLED we do this in AP_OSD_config.h too so include ordering can break things badly --- ArduPlane/config.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/ArduPlane/config.h b/ArduPlane/config.h index 254165a0027e60..08917cbe584869 100644 --- a/ArduPlane/config.h +++ b/ArduPlane/config.h @@ -219,10 +219,6 @@ #define PARACHUTE HAL_PARACHUTE_ENABLED #endif -#ifndef OSD_ENABLED - #define OSD_ENABLED DISABLED -#endif - #ifndef OFFBOARD_GUIDED #define OFFBOARD_GUIDED 1 #endif From f345ae792b3954a57cb86840573624f3d22ae8d6 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 2 Jun 2024 09:08:52 +1000 Subject: [PATCH 131/282] Rover: remove defaulting of OSD_ENABLED we do this in AP_OSD_config.h too so include ordering can break things badly --- Rover/config.h | 5 ----- 1 file changed, 5 deletions(-) diff --git a/Rover/config.h b/Rover/config.h index 03ddc70945998e..f1f07a71f0952c 100644 --- a/Rover/config.h +++ b/Rover/config.h @@ -75,8 +75,3 @@ #ifndef ADVANCED_FAILSAFE #define ADVANCED_FAILSAFE DISABLED #endif - -#ifndef OSD_ENABLED - #define OSD_ENABLED DISABLED -#endif - From 66138aed0ff15e7e74e20f247a2d08746c936e03 Mon Sep 17 00:00:00 2001 From: xue Date: Tue, 4 Jun 2024 17:17:39 +1000 Subject: [PATCH 132/282] Tools: reserve IDs for ZeroOne --- Tools/AP_Bootloader/board_types.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 95633acbf001ea..f16c4b20891685 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -347,6 +347,10 @@ AP_HW_Holybro-PERIPH-H7 5404 #IDs 5501-5599 reserved for MATEKSYS AP_HW_MATEKH743SE 5501 + +#IDs 5600-5699 reserved for ZeroOne +AP_HW_ZeroOne_X6 5600 + # IDs 6000-6099 reserved for SpektreWorks # IDs 6600-6699 reserved for Eagle Eye Drones From ad006de91471562d14caae1766a1077afde8fcff Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Mon, 3 Jun 2024 14:41:17 -0700 Subject: [PATCH 133/282] locations: add Madera and Peg --- Tools/autotest/locations.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/autotest/locations.txt b/Tools/autotest/locations.txt index 38e7c0ef2329d2..b225261a11eea0 100644 --- a/Tools/autotest/locations.txt +++ b/Tools/autotest/locations.txt @@ -96,6 +96,8 @@ RF_AirStadium=36.893328,-2.720371,1434,0 RF_BuenaVista=37.093686,-2.890969,2390,0 RF_Castle=37.090662,-3.074557,2736,0 RF_Garage=37.621798,-2.646596,788,0 +Madera=36.9287648,-119.8498046,82,290 +Peg=36.7099085,-119.4076592,141,289 SFO_Bay=37.62561973,-122.33235387,0.0,0 Egge=60.215720,10.324071,198,303 Gundaroo=-35.02349196,149.26496411,576.8,0 From be87aa5191d45c3af0d8c3a441e2f5aa24db3923 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Mon, 7 Mar 2022 20:43:09 -0300 Subject: [PATCH 134/282] Sub: set default streamrates --- ArduSub/GCS_Mavlink.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index dbea46d35ce448..8d13f63153ceb5 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -269,7 +269,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RAW_SENSORS], 0), + AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RAW_SENSORS], 2), // @Param: EXT_STAT // @DisplayName: Extended status stream rate to ground station @@ -279,7 +279,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTENDED_STATUS], 0), + AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTENDED_STATUS], 2), // @Param: RC_CHAN // @DisplayName: RC Channel stream rate to ground station @@ -289,7 +289,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RC_CHANNELS], 0), + AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RC_CHANNELS], 2), // @Param: POSITION // @DisplayName: Position stream rate to ground station @@ -299,7 +299,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_POSITION], 0), + AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_POSITION], 3), // @Param: EXTRA1 // @DisplayName: Extra data type 1 stream rate to ground station @@ -309,7 +309,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA1], 0), + AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA1], 10), // @Param: EXTRA2 // @DisplayName: Extra data type 2 stream rate to ground station @@ -319,7 +319,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA2], 0), + AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA2], 10), // @Param: EXTRA3 // @DisplayName: Extra data type 3 stream rate to ground station @@ -329,7 +329,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { // @Increment: 1 // @RebootRequired: True // @User: Advanced - AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA3], 0), + AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA3], 3), // @Param: PARAMS // @DisplayName: Parameter stream rate to ground station From 5538f6735f4fdae6ac4e1660dd2ff5819fc8297b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 29 May 2024 17:32:06 +1000 Subject: [PATCH 135/282] AP_Camera: move switch for sending camera messages into AP_Camera neatens GCS_Common a bit, reduces repetitive code --- libraries/AP_Camera/AP_Camera.cpp | 39 +++++++++++++++++++++++++++++++ libraries/AP_Camera/AP_Camera.h | 37 ++++++++++++++++------------- 2 files changed, 60 insertions(+), 16 deletions(-) diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp index 9a2deb8a186069..57302c8bde6ca3 100644 --- a/libraries/AP_Camera/AP_Camera.cpp +++ b/libraries/AP_Camera/AP_Camera.cpp @@ -2,6 +2,7 @@ #if AP_CAMERA_ENABLED +#include #include #include #include @@ -432,6 +433,44 @@ MAV_RESULT AP_Camera::handle_command(const mavlink_command_int_t &packet) } } +// send a mavlink message; returns false if there was not space to +// send the message, true otherwise +bool AP_Camera::send_mavlink_message(GCS_MAVLINK &link, const enum ap_message msg_id) +{ + const auto chan = link.get_chan(); + + switch (msg_id) { + case MSG_CAMERA_FEEDBACK: + CHECK_PAYLOAD_SIZE2(CAMERA_FEEDBACK); + send_feedback(chan); + break; + case MSG_CAMERA_INFORMATION: + CHECK_PAYLOAD_SIZE2(CAMERA_INFORMATION); + send_camera_information(chan); + break; + case MSG_CAMERA_SETTINGS: + CHECK_PAYLOAD_SIZE2(CAMERA_SETTINGS); + send_camera_settings(chan); + break; +#if AP_CAMERA_SEND_FOV_STATUS_ENABLED + case MSG_CAMERA_FOV_STATUS: + CHECK_PAYLOAD_SIZE2(CAMERA_FOV_STATUS); + send_camera_fov_status(chan); + break; +#endif + case MSG_CAMERA_CAPTURE_STATUS: + CHECK_PAYLOAD_SIZE2(CAMERA_CAPTURE_STATUS); + send_camera_capture_status(chan); + break; + + default: + // should not reach this; should only be called for specific IDs + break; + } + + return true; +} + // set camera trigger distance in a mission void AP_Camera::set_trigger_distance(uint8_t instance, float distance_m) { diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h index ee9f142cecbb92..dd9f4ddfde5654 100644 --- a/libraries/AP_Camera/AP_Camera.h +++ b/libraries/AP_Camera/AP_Camera.h @@ -8,6 +8,7 @@ #include #include +#include #include "AP_Camera_Params.h" #include "AP_Camera_shareddefs.h" @@ -86,22 +87,9 @@ class AP_Camera { // handle MAVLink command from GCS to control the camera MAV_RESULT handle_command(const mavlink_command_int_t &packet); - // send camera feedback message to GCS - void send_feedback(mavlink_channel_t chan); - - // send camera information message to GCS - void send_camera_information(mavlink_channel_t chan); - - // send camera settings message to GCS - void send_camera_settings(mavlink_channel_t chan); - -#if AP_CAMERA_SEND_FOV_STATUS_ENABLED - // send camera field of view status - void send_camera_fov_status(mavlink_channel_t chan); -#endif - - // send camera capture status message to GCS - void send_camera_capture_status(mavlink_channel_t chan); + // send a mavlink message; returns false if there was not space to + // send the message, true otherwise + bool send_mavlink_message(class GCS_MAVLINK &link, const enum ap_message id); // configure camera void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time); @@ -232,6 +220,23 @@ class AP_Camera { // perform any required parameter conversion void convert_params(); + // send camera feedback message to GCS + void send_feedback(mavlink_channel_t chan); + + // send camera information message to GCS + void send_camera_information(mavlink_channel_t chan); + + // send camera settings message to GCS + void send_camera_settings(mavlink_channel_t chan); + +#if AP_CAMERA_SEND_FOV_STATUS_ENABLED + // send camera field of view status + void send_camera_fov_status(mavlink_channel_t chan); +#endif + + // send camera capture status message to GCS + void send_camera_capture_status(mavlink_channel_t chan); + HAL_Semaphore _rsem; // semaphore for multi-thread access AP_Camera_Backend *primary; // primary camera backed bool _is_in_auto_mode; // true if in AUTO mode From 78fcf7057c6c23eb312a14b5d6f6599f87208827 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 29 May 2024 17:32:06 +1000 Subject: [PATCH 136/282] GCS_MAVLink: move switch for sending camera messages into AP_Camera neatens GCS_Common a bit, reduces repetitive code --- libraries/GCS_MAVLink/GCS_Common.cpp | 42 ++-------------------------- 1 file changed, 2 insertions(+), 40 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index ad782c46cad967..2c9dc7cc306a52 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -6014,46 +6014,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id) #if AP_CAMERA_ENABLED case MSG_CAMERA_FEEDBACK: - { - AP_Camera *camera = AP::camera(); - if (camera == nullptr) { - break; - } - CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK); - camera->send_feedback(chan); - } - break; case MSG_CAMERA_INFORMATION: - { - AP_Camera *camera = AP::camera(); - if (camera == nullptr) { - break; - } - CHECK_PAYLOAD_SIZE(CAMERA_INFORMATION); - camera->send_camera_information(chan); - } - break; case MSG_CAMERA_SETTINGS: - { - AP_Camera *camera = AP::camera(); - if (camera == nullptr) { - break; - } - CHECK_PAYLOAD_SIZE(CAMERA_SETTINGS); - camera->send_camera_settings(chan); - } - break; #if AP_CAMERA_SEND_FOV_STATUS_ENABLED case MSG_CAMERA_FOV_STATUS: - { - AP_Camera *camera = AP::camera(); - if (camera == nullptr) { - break; - } - CHECK_PAYLOAD_SIZE(CAMERA_FOV_STATUS); - camera->send_camera_fov_status(chan); - } - break; #endif case MSG_CAMERA_CAPTURE_STATUS: { @@ -6061,11 +6025,9 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id) if (camera == nullptr) { break; } - CHECK_PAYLOAD_SIZE(CAMERA_CAPTURE_STATUS); - camera->send_camera_capture_status(chan); + return camera->send_mavlink_message(*this, id); } - break; -#endif +#endif // AP_CAMERA_ENABLED case MSG_SYSTEM_TIME: CHECK_PAYLOAD_SIZE(SYSTEM_TIME); From d2901dc9c9b433b27277fd822bcd3da8e6a2ab8d Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 21 May 2024 19:22:45 +0200 Subject: [PATCH 137/282] SITL: Removed trailing underscore --- libraries/SITL/SITL.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index 98a5afa034c0b0..c9633291ce300f 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -208,7 +208,7 @@ const AP_Param::GroupInfo SIM::var_info2[] = { AP_GROUPINFO("TEMP_BFACTOR", 4, SIM, temp_baro_factor, 0), AP_GROUPINFO("WIND_DIR_Z", 10, SIM, wind_dir_z, 0), - // @Param: WIND_T_ + // @Param: WIND_T // @DisplayName: Wind Profile Type // @Description: Selects how wind varies from surface to WIND_T_ALT // @Values: 0:square law,1: none, 2:linear-see WIND_T_COEF From 396865223f78b57708635cdee6d6d9104dd12dbd Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Wed, 29 May 2024 13:29:37 +0200 Subject: [PATCH 138/282] autotest: Removed unnecessary parameter whitelist item --- Tools/autotest/vehicle_test_suite.py | 1 - 1 file changed, 1 deletion(-) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 8a65a60e9254ef..d057def1a881d5 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -2627,7 +2627,6 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_WAVE_LENGTH", "SIM_WAVE_SPEED", "SIM_WIND_DIR_Z", - "SIM_WIND_T", ]) vinfo_key = self.vehicleinfo_key() From dfc04cd53adf2c2f069d6d3ff88afac6fb857e2b Mon Sep 17 00:00:00 2001 From: muramura Date: Mon, 27 May 2024 03:25:47 +0900 Subject: [PATCH 139/282] AP_Notify: Convert the ENUM definition to a class --- libraries/AP_Notify/RGBLed.cpp | 16 ++++++++-------- libraries/AP_Notify/RGBLed.h | 4 ++-- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/libraries/AP_Notify/RGBLed.cpp b/libraries/AP_Notify/RGBLed.cpp index b00ebdff0fa001..29d15ba043c10c 100644 --- a/libraries/AP_Notify/RGBLed.cpp +++ b/libraries/AP_Notify/RGBLed.cpp @@ -47,15 +47,15 @@ void RGBLed::_set_rgb(uint8_t red, uint8_t green, uint8_t blue) } } -RGBLed::rgb_source_t RGBLed::rgb_source() const +RGBLed::Source RGBLed::rgb_source() const { - return rgb_source_t(pNotify->_rgb_led_override.get()); + return Source(pNotify->_rgb_led_override.get()); } // set_rgb - set color as a combination of red, green and blue values void RGBLed::set_rgb(uint8_t red, uint8_t green, uint8_t blue) { - if (rgb_source() == mavlink) { + if (rgb_source() == Source::mavlink) { // don't set if in override mode return; } @@ -196,16 +196,16 @@ void RGBLed::update() uint32_t current_colour_sequence = 0; switch (rgb_source()) { - case mavlink: + case Source::mavlink: update_override(); return; // note this is a return not a break! - case standard: + case Source::standard: current_colour_sequence = get_colour_sequence(); break; - case obc: + case Source::obc: current_colour_sequence = get_colour_sequence_obc(); break; - case traffic_light: + case Source::traffic_light: current_colour_sequence = get_colour_sequence_traffic_light(); break; } @@ -235,7 +235,7 @@ void RGBLed::update() */ void RGBLed::handle_led_control(const mavlink_message_t &msg) { - if (rgb_source() != mavlink) { + if (rgb_source() != Source::mavlink) { // ignore LED_CONTROL commands if not in LED_OVERRIDE mode return; } diff --git a/libraries/AP_Notify/RGBLed.h b/libraries/AP_Notify/RGBLed.h index 461db449ee9238..7366a6e2b12d75 100644 --- a/libraries/AP_Notify/RGBLed.h +++ b/libraries/AP_Notify/RGBLed.h @@ -105,12 +105,12 @@ class RGBLed: public NotifyDevice { const uint32_t sequence_disarmed_bad_gps = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE); uint8_t last_step; - enum rgb_source_t { + enum class Source { standard = 0, mavlink = 1, obc = 2, traffic_light = 3, }; - rgb_source_t rgb_source() const; + Source rgb_source() const; }; From cb22a6389d67f089afa1d319c44447d087f488c9 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 4 Jun 2024 14:32:32 +0200 Subject: [PATCH 140/282] AP_Scripting: add virtual class in docs to avoid need nil check warning --- libraries/AP_Scripting/docs/docs.lua | 53 +++++++++++++++---- .../generator/description/bindings.desc | 2 +- libraries/AP_Scripting/tests/docs_check.py | 21 ++++++-- 3 files changed, 61 insertions(+), 15 deletions(-) diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index dc45ddd06e09bc..ab0b0149a0b14e 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -669,38 +669,39 @@ function mavlink_mission_item_int_t_ud:param1() end function mavlink_mission_item_int_t_ud:param1(value) end --- desc +-- Parameter access helper. ---@class (exact) Parameter_ud local Parameter_ud = {} +-- Create a new parameter helper, init must be called with a parameter name. ---@return Parameter_ud ----@param name? string -function Parameter(name) end +function Parameter() end --- desc +-- Set the defualt value of this parameter, if the parameter has not been configured by the user its value will be updated to the new defualt. ---@param value number ---@return boolean function Parameter_ud:set_default(value) end --- desc +-- Return true if the parameter has been configured by the user. ---@return boolean function Parameter_ud:configured() end --- desc +-- Set the parameter to the given value and save. The value will be persistant after a reboot. ---@param value number ---@return boolean function Parameter_ud:set_and_save(value) end --- desc +-- Set the parameter to the given value. The value will not persist a reboot. ---@param value number ---@return boolean function Parameter_ud:set(value) end --- desc +-- Get the current value of a parameter. +-- Returns nil if the init has not been called and a valid parameter found. ---@return number|nil function Parameter_ud:get() end --- desc +-- Init the paramter from a key. This allows the script to load old parameter that have been removed from the main code. ---@param key integer ---@param group_element uint32_t_ud|integer|number ---@param type integer @@ -711,11 +712,43 @@ function Parameter_ud:get() end ---@return boolean function Parameter_ud:init_by_info(key, group_element, type) end --- desc +-- Init this parameter from a name. ---@param name string ---@return boolean function Parameter_ud:init(name) end +-- Parameter access helper +---@class (exact) Parameter_ud_const +local Parameter_ud_const = {} + +-- Create a new parameter helper with a parameter name. +-- This will error if no parameter with the given name is found. +---@return Parameter_ud_const +---@param name string +function Parameter(name) end + +-- Set the defualt value of this parameter, if the parameter has not been configured by the user its value will be updated to the new defualt. +---@param value number +---@return boolean +function Parameter_ud_const:set_default(value) end + +-- Retrun true if the parameter has been configured by the user. +---@return boolean +function Parameter_ud_const:configured() end + +-- Set the parameter to the given value and save. The value will be persistant after a reboot. +---@param value number +---@return boolean +function Parameter_ud_const:set_and_save(value) end + +-- Set the parameter to the given value. The value will not persist a reboot. +---@param value number +---@return boolean +function Parameter_ud_const:set(value) end + +-- Get the current value of a parameter. +---@return number +function Parameter_ud_const:get() end -- Vector2f is a userdata object that holds a 2D vector with x and y components. The components are stored as floating point numbers. -- To create a new Vector2f you can call Vector2f() to allocate a new one, or call a method that returns one to you. diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index d3667745308e57..f9ca18bb44a9ff 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -458,7 +458,7 @@ singleton AP_Param method add_param boolean uint8_t 0 200 uint8_t 1 63 string fl singleton AP_Param method add_param depends AP_PARAM_DYNAMIC_ENABLED include AP_Scripting/AP_Scripting_helpers.h -userdata Parameter creation lua_new_Parameter 1 +userdata Parameter creation lua_new_Parameter 0 userdata Parameter method init boolean string userdata Parameter method init_by_info boolean uint16_t'skip_check uint32_t'skip_check ap_var_type'enum AP_PARAM_INT8 AP_PARAM_FLOAT userdata Parameter method get boolean float'Null diff --git a/libraries/AP_Scripting/tests/docs_check.py b/libraries/AP_Scripting/tests/docs_check.py index 455534e6899bd7..376bd9f99a4339 100644 --- a/libraries/AP_Scripting/tests/docs_check.py +++ b/libraries/AP_Scripting/tests/docs_check.py @@ -85,13 +85,16 @@ def __eq__(self, other): return (self.global_name == other.global_name) and (self.local_name == other.local_name) and (self.num_args == other.num_args) def is_overload(self, other): - # Allow manual bindings to have fewer arguments # this allows multiple function definitions with different params - return other.manual and (self.global_name == other.global_name) and (self.local_name == other.local_name) and (self.num_args < other.num_args) + white_list = [ + "Parameter" + ] + allow_override = other.manual or (self.global_name in white_list) + return allow_override and (self.global_name == other.global_name) and (self.local_name == other.local_name) and (self.num_args != other.num_args) def get_return_type(line): try: - match = re.findall("^---@return (\w+(\|(\w+))*)", line) + match = re.findall(r"^---@return (\w+(\|(\w+))*)", line) all_types = match[0][0] return all_types.split("|") @@ -100,7 +103,7 @@ def get_return_type(line): def get_param_type(line): try: - match = re.findall("^---@param (?:\w+\??|...) (\w+(\|(\w+))*)", line) + match = re.findall(r"^---@param (?:\w+\??|...) (\w+(\|(\w+))*)", line) all_types = match[0][0] return all_types.split("|") @@ -202,8 +205,18 @@ def compare(expected_file_name, got_file_name): pass_check = False + # White list of classes that are allowed unexpected definitions + white_list = [ + # "virtual" class to bypass need for nil check when getting a parameter value, Parameter_ud is used internally, Parameter_ud_const exists only in the docs. + "Parameter_ud_const" + ] + # make sure no unexpected methods are included for got in got_methods: + if got.global_name in white_list: + # Dont check if in the white list + continue + found = False for meth in expected_methods: if (got == meth) or got.is_overload(meth): From e9d39d80f436f8fe10d9ea44eae377fc63344e9b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 7 Jun 2024 16:45:12 +1000 Subject: [PATCH 141/282] AP_InertialSensor: fixed ICM42670 highres sampling is not working on the ICM42670 on some versions of the Pixhawk6X. Disable for now. --- libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp index b1d4c520555e09..9a276171975281 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp @@ -294,13 +294,13 @@ void AP_InertialSensor_Invensensev3::start() switch (inv3_type) { case Invensensev3_Type::ICM42688: // HiRes 19bit case Invensensev3_Type::IIM42652: // HiRes 19bit - case Invensensev3_Type::ICM42670: // HiRes 19bit case Invensensev3_Type::ICM45686: // HiRes 20bit highres_sampling = dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI; break; case Invensensev3_Type::ICM40609: // No HiRes case Invensensev3_Type::ICM42605: case Invensensev3_Type::ICM40605: + case Invensensev3_Type::ICM42670: // HiRes 19bit (not working) break; } } From 1c5c80d244c171814c5facafc57435ee38d90ddb Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Fri, 7 Jun 2024 19:21:12 +0100 Subject: [PATCH 142/282] AP_Scripting: Docs: remove stray grave --- libraries/AP_Scripting/docs/docs.lua | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index ab0b0149a0b14e..f88cdeecae4731 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -2064,7 +2064,7 @@ function baro:healthy(instance) end -- Serial ports serial = {} --- Returns the UART instance that allows connections from scripts (those with SERIALx_PROTOCOL = 28`). +-- Returns the UART instance that allows connections from scripts (those with SERIALx_PROTOCOL = 28). -- For instance = 0, returns first such UART, second for instance = 1, and so on. -- If such an instance is not found, returns nil. ---@param instance integer -- the 0-based index of the UART instance to return. From c783f632c148336df60c6754ef9a33fba905cfeb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 7 Jun 2024 06:25:44 +1000 Subject: [PATCH 143/282] AP_Scription: added CANF logging to Halo6000 EFI driver allows for easier debugging --- .../AP_Scripting/drivers/EFI_Halo6000.lua | 31 ++++++++++++++++++- .../AP_Scripting/drivers/EFI_Halo6000.md | 10 ++++++ 2 files changed, 40 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua index b353ff2d5d206e..c739449f2620e2 100644 --- a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua +++ b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua @@ -55,7 +55,7 @@ end local efi_backend = nil -- Setup EFI Parameters -assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'could not add EFI_H6K param table') +assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 10), 'could not add EFI_H6K param table') --[[ // @Param: EFI_H6K_ENABLE @@ -102,6 +102,17 @@ local EFI_H6K_TELEM_RT = bind_add_param('TELEM_RT', 4, 2) --]] local EFI_H6K_FUELTOT = bind_add_param('FUELTOT', 5, 20) +--[[ + // @Param: EFI_H6K_OPTIONS + // @DisplayName: Halo6000 options + // @Description: Halo6000 options + // @Bitmask: 0:LogAllCanPackets + // @User: Standard +--]] +local EFI_H6K_OPTIONS = bind_add_param('OPTIONS', 6, 0) + +local OPTION_LOGALLFRAMES = 0x01 + if EFI_H6K_ENABLE:get() == 0 then return end @@ -121,6 +132,20 @@ if not driver1 then return end +local frame_count = 0 + +--[[ + frame logging - can be replayed with Tools/scripts/CAN/CAN_playback.py +--]] +local function log_can_frame(frame) + logger.write("CANF",'Id,DLC,FC,B0,B1,B2,B3,B4,B5,B6,B7','IBIBBBBBBBB', + frame:id(), + frame:dlc(), + frame_count, + frame:data(0), frame:data(1), frame:data(2), frame:data(3), + frame:data(4), frame:data(5), frame:data(6), frame:data(7)) + frame_count = frame_count + 1 +end --[[ EFI Engine Object @@ -158,6 +183,10 @@ local function engine_control() break end + if EFI_H6K_OPTIONS:get() & OPTION_LOGALLFRAMES ~= 0 then + log_can_frame(frame) + end + -- All Frame IDs for this EFI Engine are in the 11-bit address space if not frame:isExtended() then self.handle_packet(frame) diff --git a/libraries/AP_Scripting/drivers/EFI_Halo6000.md b/libraries/AP_Scripting/drivers/EFI_Halo6000.md index d27d304c1592ae..f31853d5d665e8 100644 --- a/libraries/AP_Scripting/drivers/EFI_Halo6000.md +++ b/libraries/AP_Scripting/drivers/EFI_Halo6000.md @@ -31,6 +31,16 @@ control. This is the rate in Hz at which NAMED_VALUE_FLOAT messages are used to send additional telemetry data to the GCS for display to the operator. +## EFI_H6K_FUELTOT + +This is the total fuel tank capacity in litres + +## EFI_H6K_OPTIONS + +This provides additional options. Currently just one option is +available. If you set EFI_H6K_OPTIONS to 1 then all CAN frames will be +logged in the message CANF. + # Operation This driver should be loaded by placing the lua script in the From eaf5767bfac5b670640ad8504064017fbbe7091d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 17:39:41 +1000 Subject: [PATCH 144/282] autotest: simplify AC_Avoidance_Proximity test take advantage of new infrastructure --- Tools/autotest/arducopter.py | 37 ++++++++++++++++-------------------- 1 file changed, 16 insertions(+), 21 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index fd9b8fa666be59..dd970845d83836 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -7386,33 +7386,28 @@ def OBSTACLE_DISTANCE_3D(self): def AC_Avoidance_Proximity(self): '''Test proximity avoidance slide behaviour''' + self.context_push() - ex = None - try: - self.load_fence("copter-avoidance-fence.txt") - self.set_parameters({ - "FENCE_ENABLE": 1, - "PRX1_TYPE": 10, - "PRX_LOG_RAW": 1, - "RC10_OPTION": 40, # proximity-enable - }) - self.reboot_sitl() - self.progress("Enabling proximity") - self.set_rc(10, 2000) - self.check_avoidance_corners() - self.assert_current_onboard_log_contains_message("PRX") - self.assert_current_onboard_log_contains_message("PRXR") + self.load_fence("copter-avoidance-fence.txt") + self.set_parameters({ + "FENCE_ENABLE": 1, + "PRX1_TYPE": 10, + "PRX_LOG_RAW": 1, + "RC10_OPTION": 40, # proximity-enable + }) + self.reboot_sitl() + self.progress("Enabling proximity") + self.set_rc(10, 2000) + self.check_avoidance_corners() + + self.assert_current_onboard_log_contains_message("PRX") + self.assert_current_onboard_log_contains_message("PRXR") - except Exception as e: - self.print_exception_caught(e) - ex = e self.context_pop() - self.clear_fence() + self.disarm_vehicle(force=True) self.reboot_sitl() - if ex is not None: - raise ex def ProximitySensors(self): '''ensure proximity sensors return appropriate data''' From 56a865147d415bb6e1dec68193d3e97703aa57f1 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 16:19:15 +1000 Subject: [PATCH 145/282] autotest: ModeFollow: correct relative altitude being fed to autopilot --- Tools/autotest/arducopter.py | 29 +++++++++++++---------------- 1 file changed, 13 insertions(+), 16 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index dd970845d83836..fde0a00c13e694 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -7568,19 +7568,6 @@ def AC_Avoidance_Fence(self): self.set_parameter("FENCE_ENABLE", 1) self.check_avoidance_corners() - def global_position_int_for_location(self, loc, time_boot, heading=0): - return self.mav.mav.global_position_int_encode( - int(time_boot * 1000), # time_boot_ms - int(loc.lat * 1e7), - int(loc.lng * 1e7), - int(loc.alt * 1000), # alt in mm - 20, # relative alt - urp. - vx=0, - vy=0, - vz=0, - hdg=heading - ) - def ModeFollow(self): '''Fly follow mode''' foll_ofs_x = 30 # metres @@ -7610,6 +7597,8 @@ def ModeFollow(self): (expected_loc.lat, expected_loc.lng)) self.progress("expected_loc: %s" % str(expected_loc)) + origin = self.poll_message('GPS_GLOBAL_ORIGIN') + last_sent = 0 tstart = self.get_sim_time() while True: @@ -7617,9 +7606,17 @@ def ModeFollow(self): if now - tstart > 60: raise NotAchievedException("Did not FOLLOW") if now - last_sent > 0.5: - gpi = self.global_position_int_for_location(new_loc, - now, - heading=heading) + gpi = self.mav.mav.global_position_int_encode( + int(now * 1000), # time_boot_ms + int(new_loc.lat * 1e7), + int(new_loc.lng * 1e7), + int(new_loc.alt * 1000), # alt in mm + int(new_loc.alt * 1000 - origin.altitude), # relative alt - urp. + vx=0, + vy=0, + vz=0, + hdg=heading + ) gpi.pack(self.mav.mav) self.mav.mav.send(gpi) self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) From 2c3594b8ff3ea82808afc74737a97f4b57cb11d9 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 13:37:46 +1000 Subject: [PATCH 146/282] autotest: revert SIM_SPEEDUP for RTL in follow test --- Tools/autotest/arducopter.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index fde0a00c13e694..f19ebfe899cd13 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -7578,6 +7578,7 @@ def ModeFollow(self): "FOLL_OFS_TYPE": 1, # relative to other vehicle heading }) self.takeoff(10, mode="LOITER") + self.context_push() self.set_parameter("SIM_SPEEDUP", 1) self.change_mode("FOLLOW") new_loc = self.mav.location() @@ -7626,6 +7627,7 @@ def ModeFollow(self): self.progress("position delta=%f (want <%f)" % (delta, max_delta)) if delta < max_delta: break + self.context_pop() self.do_RTL() def get_global_position_int(self, timeout=30): From 3ede599cfd0b40f0bd5b526a7f7fb7b16fe10b7a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 9 Jun 2024 07:19:57 +1000 Subject: [PATCH 147/282] autotest: clarify AutoTuneSwitch test --- Tools/autotest/arducopter.py | 107 ++++++++++++++++++--------- Tools/autotest/vehicle_test_suite.py | 4 +- 2 files changed, 74 insertions(+), 37 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index f19ebfe899cd13..6df913906b75ad 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -2585,16 +2585,39 @@ def AutoTuneSwitch(self): "RC8_OPTION": 17, "ATC_RAT_RLL_FLTT": 20, }) - rlld = self.get_parameter("ATC_RAT_RLL_D") - rlli = self.get_parameter("ATC_RAT_RLL_I") - rllp = self.get_parameter("ATC_RAT_RLL_P") - rllt = self.get_parameter("ATC_RAT_RLL_FLTT") - self.progress("AUTOTUNE pre-gains are P:%f I:%f D:%f" % - (self.get_parameter("ATC_RAT_RLL_P"), - self.get_parameter("ATC_RAT_RLL_I"), - self.get_parameter("ATC_RAT_RLL_D"))) + self.takeoff(10, mode='LOITER') + def print_gains(name, gains): + self.progress(f"AUTOTUNE {name} gains are P:%f I:%f D:%f" % ( + gains["ATC_RAT_RLL_P"], + gains["ATC_RAT_RLL_I"], + gains["ATC_RAT_RLL_D"] + )) + + def get_roll_gains(name): + ret = self.get_parameters([ + "ATC_RAT_RLL_D", + "ATC_RAT_RLL_I", + "ATC_RAT_RLL_P", + ], verbose=False) + print_gains(name, ret) + return ret + + def gains_same(gains1, gains2): + for c in 'P', 'I', 'D': + p_name = f"ATC_RAT_RLL_{c}" + if abs(gains1[p_name] - gains2[p_name]) > 0.00001: + return False + return True + + self.progress("Take a copy of original gains") + original_gains = get_roll_gains("pre-tuning") + scaled_original_gains = copy.copy(original_gains) + scaled_original_gains["ATC_RAT_RLL_I"] *= 0.1 + + pre_rllt = self.get_parameter("ATC_RAT_RLL_FLTT") + # hold position in loiter and run autotune self.set_rc(8, 1850) self.wait_mode('AUTOTUNE') @@ -2610,46 +2633,60 @@ def AutoTuneSwitch(self): if m is None: continue self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text)) + if "Determination Failed" in m.text: + break if "AutoTune: Success" in m.text: self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) - # Check original gains are re-instated + post_gains = get_roll_gains("post") + if gains_same(original_gains, post_gains): + raise NotAchievedException("AUTOTUNE gains not changed") + + # because of the way AutoTune works, once autotune is + # complete we return the original parameters via + # parameter-fetching, but fly on the tuned parameters + # (both sets with the I term scaled down). This test + # makes sure that's still the case. It would be nice + # if the PIDs parameters were `set` on success, but + # they aren't... Note that if we use the switch to + # restore the original gains and then start testing + # again (with the switch) then we see the new gains! + + # gains are scaled during the testing phase: + if not gains_same(scaled_original_gains, post_gains): + raise NotAchievedException("AUTOTUNE gains were reported as just original gains in test-mode. If you're fixing this, good!") # noqa + + self.progress("Check original gains are re-instated by switch") self.set_rc(8, 1100) self.delay_sim_time(1) - self.progress("AUTOTUNE original gains are P:%f I:%f D:%f" % - (self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"), - self.get_parameter("ATC_RAT_RLL_D"))) - if (rlld != self.get_parameter("ATC_RAT_RLL_D") or - rlli != self.get_parameter("ATC_RAT_RLL_I") or - rllp != self.get_parameter("ATC_RAT_RLL_P")): - raise NotAchievedException("AUTOTUNE gains still present") - # Use autotuned gains + current_gains = get_roll_gains("set-original") + if not gains_same(original_gains, current_gains): + raise NotAchievedException("AUTOTUNE original gains not restored") + + self.progress("Use autotuned gains") self.set_rc(8, 1850) self.delay_sim_time(1) - self.progress("AUTOTUNE testing gains are P:%f I:%f D:%f" % - (self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"), - self.get_parameter("ATC_RAT_RLL_D"))) - if (rlld == self.get_parameter("ATC_RAT_RLL_D") or - rlli == self.get_parameter("ATC_RAT_RLL_I") or - rllp == self.get_parameter("ATC_RAT_RLL_P")): - raise NotAchievedException("AUTOTUNE gains not present in pilot testing") - # land without changing mode + tuned_gains = get_roll_gains("tuned") + if gains_same(tuned_gains, original_gains): + raise NotAchievedException("AUTOTUNE tuned gains same as pre gains") + if gains_same(tuned_gains, scaled_original_gains): + raise NotAchievedException("AUTOTUNE tuned gains same as scaled pre gains") + + self.progress("land without changing mode") self.set_rc(3, 1000) self.wait_altitude(-1, 5, relative=True) self.wait_disarmed() - # Check gains are still there after disarm - if (rlld == self.get_parameter("ATC_RAT_RLL_D") or - rlli == self.get_parameter("ATC_RAT_RLL_I") or - rllp == self.get_parameter("ATC_RAT_RLL_P")): + self.progress("Check gains are still there after disarm") + disarmed_gains = get_roll_gains("post-disarm") + if not gains_same(tuned_gains, disarmed_gains): raise NotAchievedException("AUTOTUNE gains not present on disarm") self.reboot_sitl() - # Check gains are still there after reboot - if (rlld == self.get_parameter("ATC_RAT_RLL_D") or - rlli == self.get_parameter("ATC_RAT_RLL_I") or - rllp == self.get_parameter("ATC_RAT_RLL_P")): + self.progress("Check gains are still there after reboot") + reboot_gains = get_roll_gains("post-reboot") + if not gains_same(tuned_gains, reboot_gains): raise NotAchievedException("AUTOTUNE gains not present on reboot") - # Check FLTT is unchanged - if rllt != self.get_parameter("ATC_RAT_RLL_FLTT"): + self.progress("Check FLTT is unchanged") + if pre_rllt != self.get_parameter("ATC_RAT_RLL_FLTT"): raise NotAchievedException("AUTOTUNE FLTT was modified") return diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index d057def1a881d5..9d03c0c5d3c1ea 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -6026,11 +6026,11 @@ def get_parameter_mavproxy(self, mavproxy, name, attempts=1, timeout=60): pass raise NotAchievedException("Failed to retrieve parameter (%s)" % name) - def get_parameters(self, some_list): + def get_parameters(self, some_list, **kwargs): ret = {} for n in some_list: - ret[n] = self.get_parameter(n) + ret[n] = self.get_parameter(n, **kwargs) return ret From 5784abde1f1ff2948d49fe5715bb68845e9c0752 Mon Sep 17 00:00:00 2001 From: MattKear Date: Mon, 3 Jun 2024 20:13:43 +0100 Subject: [PATCH 148/282] AP_Motors: Heli dual: Constrain cyclic roll for intermeshing --- libraries/AP_Motors/AP_MotorsHeli_Dual.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp index 3bc2ab84e7d171..f2cc35f224f6df 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp @@ -404,7 +404,8 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c pitch_out = _cyclic_max/4500.0f; limit.pitch = true; } - } else { + } + if (_dual_mode != AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE) { if (roll_out < -_cyclic_max/4500.0f) { roll_out = -_cyclic_max/4500.0f; limit.roll = true; From e53416e77bc51eb42829f426ffc2a25192c9a0f5 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 21 Feb 2023 11:31:38 +1100 Subject: [PATCH 149/282] AP_NavEKF3: Apply GPS quality checks following loss of 3D fix if velocity error is bounded --- libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 6 ++++-- libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 14 ++++++++++++++ libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 5 +++-- libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp | 4 ++++ libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 2 ++ libraries/AP_NavEKF3/AP_NavEKF3_core.h | 2 ++ 6 files changed, 29 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp index c886f48ab6328e..0489aee688579a 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp @@ -337,8 +337,10 @@ void NavEKF3_core::setAidingMode() // Check if attitude drift has been constrained by a measurement source bool attAiding = posUsed || gpsVelUsed || optFlowUsed || airSpdUsed || dragUsed || rngBcnUsed || bodyOdmUsed; - // check if velocity drift has been constrained by a measurement source - bool velAiding = gpsVelUsed || airSpdUsed || dragUsed || optFlowUsed || bodyOdmUsed; + // Check if velocity drift has been constrained by a measurement source + // Currently these are all the same source as will stabilise attitude because we do not currently have + // a sensor that only observes attitude + velAiding = posUsed || gpsVelUsed || optFlowUsed || airSpdUsed || dragUsed || rngBcnUsed || bodyOdmUsed; // check if position drift has been constrained by a measurement source bool posAiding = posUsed || rngBcnUsed; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index 1440a18a498285..1b25e84e655bfc 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -542,6 +542,20 @@ void NavEKF3_core::readGpsData() // check for new GPS data const auto &gps = dal.gps(); + if (gps.status(selected_gps) < AP_DAL_GPS::GPS_OK_FIX_3D) { + // The GPS has dropped lock so force quality checks to restart + gpsGoodToAlign = false; + lastGpsVelFail_ms = imuSampleTime_ms; + lastGpsVelPass_ms = 0; + if (filterStatus.flags.horiz_pos_rel && !filterStatus.flags.horiz_pos_abs) { + // If we can do dead reckoning with a data source other than GPS there is time to wait + // for GPS alignment checks to pass before using GPS inside the EKF. + waitingForGpsChecks = true; + } else { + waitingForGpsChecks = false; + } + } + // limit update rate to avoid overflowing the FIFO buffer if (gps.last_message_time_ms(selected_gps) - lastTimeGpsReceived_ms <= frontend->sensorIntervalMin_ms) { return; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp index d8a28e15ad4f8a..13e086e0d54565 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp @@ -494,7 +494,8 @@ void NavEKF3_core::SelectVelPosFusion() readGpsYawData(); // get data that has now fallen behind the fusion time horizon - gpsDataToFuse = storedGPS.recall(gpsDataDelayed,imuDataDelayed.time_ms); + gpsDataToFuse = storedGPS.recall(gpsDataDelayed,imuDataDelayed.time_ms) && !waitingForGpsChecks; + if (gpsDataToFuse) { CorrectGPSForAntennaOffset(gpsDataDelayed); // calculate innovations and variances for reporting purposes only @@ -794,7 +795,7 @@ void NavEKF3_core::FuseVelPosNED() // if timed out or outside the specified uncertainty radius, reset to the external sensor // if velocity drift is being constrained, dont reset until gps passes quality checks const bool posVarianceIsTooLarge = (frontend->_gpsGlitchRadiusMax > 0) && (P[8][8] + P[7][7]) > sq(ftype(frontend->_gpsGlitchRadiusMax)); - if (posTimeout || posVarianceIsTooLarge) { + if ((posTimeout || posVarianceIsTooLarge) && (!velAiding || gpsGoodToAlign)) { // reset the position to the current external sensor position ResetPosition(resetDataSource::DEFAULT); diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp index 47e42773613fff..cb9a8598d60975 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp @@ -230,6 +230,10 @@ void NavEKF3_core::calcGpsGoodToAlign(void) } else if (gpsGoodToAlign && imuSampleTime_ms - lastGpsVelPass_ms > 5000) { gpsGoodToAlign = false; } + + if (gpsGoodToAlign && waitingForGpsChecks) { + waitingForGpsChecks = false; + } } // update inflight calculaton that determines if GPS data is good enough for reliable navigation diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 6c750ff63a8914..d1b4ba86c8e1fd 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -258,6 +258,8 @@ void NavEKF3_core::InitialiseVariables() PV_AidingModePrev = AID_NONE; posTimeout = true; velTimeout = true; + velAiding = false; + waitingForGpsChecks = false; memset(&faultStatus, 0, sizeof(faultStatus)); hgtRate = 0.0f; onGround = true; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index eef68881dd4a63..8f3fd2d0570665 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1037,6 +1037,8 @@ class NavEKF3_core : public NavEKF_core_common bool tasTimeout; // boolean true if true airspeed measurements have failed for too long and have timed out bool dragTimeout; // boolean true if drag measurements have failed for too long and have timed out bool badIMUdata; // boolean true if the bad IMU data is detected + bool velAiding; // boolean true if the velocity drift is constrained by observations + bool waitingForGpsChecks; // boolean true if the EKF should not retrieve GPS data from the buffer until quality checks have passed uint32_t badIMUdata_ms; // time stamp bad IMU data was last detected uint32_t goodIMUdata_ms; // time stamp good IMU data was last detected uint32_t vertVelVarClipCounter; // counter used to control reset of vertical velocity variance following collapse against the lower limit From 324d5da81129baa896d35dd9f8478d2ab8dedd9f Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 6 Mar 2023 08:39:40 +1100 Subject: [PATCH 150/282] AP_NavEKF3: Use last observed wind states to enable dead reckoning These changes enable the EKF to use the last observable wind velocity vector estimate to synthesise an airspeed measurement if operating without an airspeed sensor and when all other measurement types that can constrain velocoty drift are lost. This enables the EKF to use dead reckoning to continue after loss of GPS when there is no air speed sensor fitted and without the need to set a default airspeed value. The logic used to fuse a default airspeed value has also been cleaned up and the call to FuseAirSpeed() from inside SelectBetaDragFusion() has been removed. AP_NavEKF3: Fix error in default airspeed observation variance AP_NavEKF3: Enable shadow fusion of airspeed when sensor is disabled --- .../AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 4 --- libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 12 ++++++- .../AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 35 ++++++++++++------- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 3 ++ libraries/AP_NavEKF3/AP_NavEKF3_core.h | 4 ++- 5 files changed, 40 insertions(+), 18 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp index 38508e44a9a15c..79e18027acefe4 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp @@ -256,10 +256,6 @@ void NavEKF3_core::SelectBetaDragFusion() // we are required to correct only wind states airDataFusionWindOnly = true; } - // Fuse estimated airspeed to aid wind estimation - if (usingDefaultAirspeed) { - FuseAirspeed(); - } FuseSideslip(); prevBetaDragStep_ms = imuSampleTime_ms; } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp index 0489aee688579a..c76d650aae1abb 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp @@ -64,6 +64,7 @@ void NavEKF3_core::setWindMagStateLearningMode() PV_AidingMode != AID_NONE; if (!inhibitWindStates && !canEstimateWind) { inhibitWindStates = true; + windStateLastObsIsValid = false; updateStateIndexLim(); } else if (inhibitWindStates && canEstimateWind && (sq(stateStruct.velocity.x) + sq(stateStruct.velocity.y) > sq(5.0f) || dragFusionEnabled)) { @@ -77,7 +78,7 @@ void NavEKF3_core::setWindMagStateLearningMode() Vector3F tempEuler; stateStruct.quat.to_euler(tempEuler.x, tempEuler.y, tempEuler.z); ftype trueAirspeedVariance; - const bool haveAirspeedMeasurement = usingDefaultAirspeed || (tasDataDelayed.allowFusion && (imuDataDelayed.time_ms - tasDataDelayed.time_ms < 500) && useAirspeed()); + const bool haveAirspeedMeasurement = (tasDataDelayed.allowFusion && (imuDataDelayed.time_ms - tasDataDelayed.time_ms < 500) && useAirspeed()); if (haveAirspeedMeasurement) { trueAirspeedVariance = constrain_ftype(tasDataDelayed.tasVariance, WIND_VEL_VARIANCE_MIN, WIND_VEL_VARIANCE_MAX); const ftype windSpeed = sqrtF(sq(stateStruct.velocity.x) + sq(stateStruct.velocity.y)) - tasDataDelayed.tas; @@ -342,6 +343,15 @@ void NavEKF3_core::setAidingMode() // a sensor that only observes attitude velAiding = posUsed || gpsVelUsed || optFlowUsed || airSpdUsed || dragUsed || rngBcnUsed || bodyOdmUsed; + // Store the last wind states whose errors were constrained by measurements + // This will be used to synthesise an airspeed measurement to enable dead reckoning + bool newWindStateIsObservable = !inhibitWindStates && (posUsed || gpsVelUsed || optFlowUsed || rngBcnUsed || bodyOdmUsed); + if (!inhibitWindStates && !newWindStateIsObservable && windStateIsObservable) { + windStateLastObs = stateStruct.wind_vel; + windStateLastObsIsValid = true; + } + windStateIsObservable = newWindStateIsObservable; + // check if position drift has been constrained by a measurement source bool posAiding = posUsed || rngBcnUsed; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index 1b25e84e655bfc..85334904437880 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -861,18 +861,29 @@ void NavEKF3_core::readAirSpdData() // Check the buffer for measurements that have been overtaken by the fusion time horizon and need to be fused tasDataToFuse = storedTAS.recall(tasDataDelayed,imuDataDelayed.time_ms); - float easErrVar = sq(MAX(frontend->_easNoise, 0.5f)); - // Allow use of a default value if enabled - if (!useAirspeed() && - imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200 && - is_positive(defaultAirSpeed)) { - tasDataDelayed.tas = defaultAirSpeed * EAS2TAS; - tasDataDelayed.tasVariance = sq(MAX(defaultAirSpeedVariance, easErrVar)); - tasDataDelayed.allowFusion = true; - tasDataDelayed.time_ms = 0; - usingDefaultAirspeed = true; - } else { - usingDefaultAirspeed = false; + // Allow use of a default value or a value synthesised from a stored wind velocity vector + if (!useAirspeed()) { + if (is_positive(defaultAirSpeed)) { + if (imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200) { + tasDataDelayed.tas = defaultAirSpeed * EAS2TAS; + tasDataDelayed.tasVariance = MAX(defaultAirSpeedVariance, sq(MAX(frontend->_easNoise, 0.5f))); + tasDataToFuse = true; + tasDataDelayed.allowFusion = true; + } else { + tasDataToFuse = false; + } + } else if (windStateLastObsIsValid && !windStateIsObservable) { + if (imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200) { + // use stored wind state to synthesise an airspeed measurement + const Vector3F windRelVel = stateStruct.velocity - Vector3F(windStateLastObs.x, windStateLastObs.y, 0.0F); + tasDataDelayed.tas = windRelVel.length(); + tasDataDelayed.tasVariance = sq(MAX(frontend->_easNoise, 0.5f)); + tasDataToFuse = true; + tasDataDelayed.allowFusion = true; + } else { + tasDataToFuse = false; + } + } } } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index d1b4ba86c8e1fd..f608f6d4d2cc01 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -268,6 +268,9 @@ void NavEKF3_core::InitialiseVariables() prevInFlight = false; manoeuvring = false; inhibitWindStates = true; + windStateLastObs.zero(); + windStateIsObservable = false; + windStateLastObsIsValid = false; windStatesAligned = false; inhibitDelVelBiasStates = true; inhibitDelAngBiasStates = true; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 8f3fd2d0570665..69cbfb5acf7a10 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1110,6 +1110,9 @@ class NavEKF3_core : public NavEKF_core_common Vector3F magTestRatio; // sum of squares of magnetometer innovations divided by fail threshold ftype tasTestRatio; // sum of squares of true airspeed innovation divided by fail threshold bool inhibitWindStates; // true when wind states and covariances are to remain constant + Vector2F windStateLastObs; // wind states from the last time wind states were constrained using observations (m/s) + bool windStateLastObsIsValid; + bool windStateIsObservable; // true when wind states are observable from measurements. bool windStatesAligned; // true when wind states have been aligned bool inhibitMagStates; // true when magnetic field states are inactive bool lastInhibitMagStates; // previous inhibitMagStates @@ -1145,7 +1148,6 @@ class NavEKF3_core : public NavEKF_core_common range_elements rangeDataDelayed;// Range finder data at the fusion time horizon tas_elements tasDataNew; // TAS data at the current time horizon tas_elements tasDataDelayed; // TAS data at the fusion time horizon - bool usingDefaultAirspeed; // true when a default airspeed is being used instead of a measured value mag_elements magDataDelayed; // Magnetometer data at the fusion time horizon gps_elements gpsDataNew; // GPS data at the current time horizon gps_elements gpsDataDelayed; // GPS data at the fusion time horizon From 2c3174b77b0942fef442c1e9e6f0729f81a41866 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 21 Mar 2023 20:03:58 +1100 Subject: [PATCH 151/282] AP_NavEKF3: Strengthen protection against GPS jamming These changes prevent the EKF from consuming GPS data too soon when it is recovering from jamming if the EKF is able to navigate using dead reckoning. --- libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index 85334904437880..dbb60d9bac1e31 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -547,7 +547,11 @@ void NavEKF3_core::readGpsData() gpsGoodToAlign = false; lastGpsVelFail_ms = imuSampleTime_ms; lastGpsVelPass_ms = 0; - if (filterStatus.flags.horiz_pos_rel && !filterStatus.flags.horiz_pos_abs) { + const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000); + const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);; + const bool doingWindRelNav = (!tasTimeout && assume_zero_sideslip()); + const bool canDeadReckon = ((doingFlowNav && gndOffsetValid) || doingWindRelNav || doingBodyVelNav); + if (canDeadReckon) { // If we can do dead reckoning with a data source other than GPS there is time to wait // for GPS alignment checks to pass before using GPS inside the EKF. waitingForGpsChecks = true; From 2b027a7265ea4d0f09951490b86ea538a42ab683 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 21 Feb 2023 11:34:14 +1100 Subject: [PATCH 152/282] Tools: re-work copter and plane loss of GPS auto tests Explicitly test time taken to reset to GPS loss and regain of lock for copter without and plane with dead reckoning assistance. --- Tools/autotest/arducopter.py | 16 ++++++++++++++++ Tools/autotest/arduplane.py | 20 ++++++++++++++++++++ 2 files changed, 36 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 6df913906b75ad..b646f909a7fb63 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -1922,6 +1922,22 @@ def GPSGlitchAuto(self, timeout=180): self.show_gps_and_sim_positions(False) raise e + # stop and test loss of GPS for a short time - it should resume GPS use without falling back into a non aiding mode + self.change_mode("LOITER") + self.set_parameters({ + "SIM_GPS_DISABLE": 1, + }) + self.delay_sim_time(2) + self.set_parameters({ + "SIM_GPS_DISABLE": 0, + }) + # regaining GPS should not result in it falling back to a non-navigation mode + self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1) + # It should still be navigating after enougnh time has passed for any pending timeouts to activate. + self.delay_sim_time(10) + self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1) + self.change_mode("AUTO") + # record time and position tstart = self.get_sim_time() diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index ba7a2eed20db4a..c92a57f2154706 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2195,8 +2195,28 @@ def validate_global_position_int_against_simstate(mav, m): self.delay_sim_time(20) self.change_mode("RTL") self.wait_distance_to_home(100, 200, timeout=200) + # go into LOITER to create additonal time for a GPS re-enable test + self.change_mode("LOITER") self.set_parameter("SIM_GPS_DISABLE", 0) + t_enabled = self.get_sim_time() + # The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning + # to prevent bad GPS being used when coming back after loss of lock due to interence. + self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15) + if self.get_sim_time() < (t_enabled+9): + raise NotAchievedException("GPS use re-started too quickly") + # wait for EKF and vehicle position to stabilise, then test response to jamming + self.delay_sim_time(20) + + self.set_parameter("AHRS_OPTIONS", 1) + self.set_parameter("SIM_GPS_JAM", 1) self.delay_sim_time(10) + self.set_parameter("SIM_GPS_JAM", 0) + t_enabled = self.get_sim_time() + # The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning + # to prevent bad GPS being used when coming back after loss of lock due to interence. + self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15) + if self.get_sim_time() < (t_enabled+9): + raise NotAchievedException("GPS use re-started too quickly after jamming") self.set_rc(3, 1000) self.fly_home_land_and_disarm() self.progress("max-divergence: %fm" % (self.max_divergence,)) From 568972c0f09a704d0fbbd8f35c667e12c2caa479 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 26 Sep 2023 19:36:39 +1000 Subject: [PATCH 153/282] AP_NavEKF3: Fix bug preventing use of default or synthetic airspeed --- libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index dbb60d9bac1e31..ef465549afee0c 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -868,7 +868,7 @@ void NavEKF3_core::readAirSpdData() // Allow use of a default value or a value synthesised from a stored wind velocity vector if (!useAirspeed()) { if (is_positive(defaultAirSpeed)) { - if (imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200) { + if (imuDataDelayed.time_ms - lastTasPassTime_ms > 200) { tasDataDelayed.tas = defaultAirSpeed * EAS2TAS; tasDataDelayed.tasVariance = MAX(defaultAirSpeedVariance, sq(MAX(frontend->_easNoise, 0.5f))); tasDataToFuse = true; @@ -877,7 +877,7 @@ void NavEKF3_core::readAirSpdData() tasDataToFuse = false; } } else if (windStateLastObsIsValid && !windStateIsObservable) { - if (imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200) { + if (imuDataDelayed.time_ms - lastTasPassTime_ms > 200) { // use stored wind state to synthesise an airspeed measurement const Vector3F windRelVel = stateStruct.velocity - Vector3F(windStateLastObs.x, windStateLastObs.y, 0.0F); tasDataDelayed.tas = windRelVel.length(); From 87bf8d9997e3f11a16f8af14edaa4c8298257495 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 08:18:07 +1000 Subject: [PATCH 154/282] AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor --- libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 4 ++-- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 8 ++++---- libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp | 4 ++-- libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 8 ++++---- libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 11 ++++++++--- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 3 ++- 7 files changed, 23 insertions(+), 17 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp index 79e18027acefe4..dab013b5e690cf 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp @@ -120,7 +120,7 @@ void NavEKF3_core::FuseAirspeed() zero_range(&Kfusion[0], 16, 21); } - if (tasDataDelayed.allowFusion && !inhibitWindStates) { + if (tasDataDelayed.allowFusion && !inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = SK_TAS[0]*(P[22][4]*SH_TAS[2] - P[22][22]*SH_TAS[2] + P[22][5]*SK_TAS[1] - P[22][23]*SK_TAS[1] + P[22][6]*vd*SH_TAS[0]); Kfusion[23] = SK_TAS[0]*(P[23][4]*SH_TAS[2] - P[23][22]*SH_TAS[2] + P[23][5]*SK_TAS[1] - P[23][23]*SK_TAS[1] + P[23][6]*vd*SH_TAS[0]); } else { @@ -420,7 +420,7 @@ void NavEKF3_core::FuseSideslip() zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = SK_BETA[0]*(P[22][0]*SK_BETA[5] + P[22][1]*SK_BETA[4] - P[22][4]*SK_BETA[1] + P[22][5]*SK_BETA[2] + P[22][2]*SK_BETA[6] + P[22][6]*SK_BETA[3] - P[22][3]*SK_BETA[7] + P[22][22]*SK_BETA[1] - P[22][23]*SK_BETA[2]); Kfusion[23] = SK_BETA[0]*(P[23][0]*SK_BETA[5] + P[23][1]*SK_BETA[4] - P[23][4]*SK_BETA[1] + P[23][5]*SK_BETA[2] + P[23][2]*SK_BETA[6] + P[23][6]*SK_BETA[3] - P[23][3]*SK_BETA[7] + P[23][22]*SK_BETA[1] - P[23][23]*SK_BETA[2]); } else { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index e8b635e560fed1..19dfd91b1f8f0b 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -642,7 +642,7 @@ void NavEKF3_core::FuseMagnetometer() } // zero Kalman gains to inhibit wind state estimation - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] - P[22][2]*SH_MAG[1] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[4] - P[22][18]*SK_MX[3]); Kfusion[23] = SK_MX[0]*(P[23][19] + P[23][1]*SH_MAG[0] - P[23][2]*SH_MAG[1] + P[23][3]*SH_MAG[2] + P[23][0]*SK_MX[2] - P[23][16]*SK_MX[1] + P[23][17]*SK_MX[4] - P[23][18]*SK_MX[3]); } else { @@ -725,7 +725,7 @@ void NavEKF3_core::FuseMagnetometer() } // zero Kalman gains to inhibit wind state estimation - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]); Kfusion[23] = SK_MY[0]*(P[23][20] + P[23][0]*SH_MAG[2] + P[23][1]*SH_MAG[1] + P[23][2]*SH_MAG[0] - P[23][3]*SK_MY[2] - P[23][17]*SK_MY[1] - P[23][16]*SK_MY[3] + P[23][18]*SK_MY[4]); } else { @@ -809,7 +809,7 @@ void NavEKF3_core::FuseMagnetometer() } // zero Kalman gains to inhibit wind state estimation - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] - P[22][1]*SH_MAG[2] + P[22][3]*SH_MAG[0] + P[22][2]*SK_MZ[2] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[4] - P[22][17]*SK_MZ[3]); Kfusion[23] = SK_MZ[0]*(P[23][21] + P[23][0]*SH_MAG[1] - P[23][1]*SH_MAG[2] + P[23][3]*SH_MAG[0] + P[23][2]*SK_MZ[2] + P[23][18]*SK_MZ[1] + P[23][16]*SK_MZ[4] - P[23][17]*SK_MZ[3]); } else { @@ -1345,7 +1345,7 @@ void NavEKF3_core::FuseDeclination(ftype declErr) zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = -t4*t13*(P[22][16]*magE-P[22][17]*magN); Kfusion[23] = -t4*t13*(P[23][16]*magE-P[23][17]*magN); } else { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp index e457bf7a03e524..84dd164bac161a 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp @@ -491,7 +491,7 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed, bool really_fus zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = t78*(P[22][0]*t2*t5-P[22][4]*t2*t7+P[22][1]*t2*t15+P[22][6]*t2*t10+P[22][2]*t2*t19-P[22][3]*t2*t22+P[22][5]*t2*t27); Kfusion[23] = t78*(P[23][0]*t2*t5-P[23][4]*t2*t7+P[23][1]*t2*t15+P[23][6]*t2*t10+P[23][2]*t2*t19-P[23][3]*t2*t22+P[23][5]*t2*t27); } else { @@ -668,7 +668,7 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed, bool really_fus zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = -t78*(P[22][0]*t2*t5+P[22][5]*t2*t8-P[22][6]*t2*t10+P[22][1]*t2*t16-P[22][2]*t2*t19+P[22][3]*t2*t22+P[22][4]*t2*t27); Kfusion[23] = -t78*(P[23][0]*t2*t5+P[23][5]*t2*t8-P[23][6]*t2*t10+P[23][1]*t2*t16-P[23][2]*t2*t19+P[23][3]*t2*t22+P[23][4]*t2*t27); } else { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp index 13e086e0d54565..e995a9e30c76ba 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp @@ -1046,7 +1046,7 @@ void NavEKF3_core::FuseVelPosNED() } // inhibit wind state estimation by setting Kalman gains to zero - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = P[22][stateIndex]*SK; Kfusion[23] = P[23][stateIndex]*SK; } else { @@ -1563,7 +1563,7 @@ void NavEKF3_core::FuseBodyVel() zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = t77*(P[22][5]*t4+P[22][4]*t9+P[22][0]*t14-P[22][6]*t11+P[22][1]*t18-P[22][2]*t21+P[22][3]*t24); Kfusion[23] = t77*(P[23][5]*t4+P[23][4]*t9+P[23][0]*t14-P[23][6]*t11+P[23][1]*t18-P[23][2]*t21+P[23][3]*t24); } else { @@ -1740,7 +1740,7 @@ void NavEKF3_core::FuseBodyVel() zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = t77*(-P[22][4]*t3+P[22][5]*t8+P[22][0]*t15+P[22][6]*t12+P[22][1]*t18+P[22][2]*t22-P[22][3]*t25); Kfusion[23] = t77*(-P[23][4]*t3+P[23][5]*t8+P[23][0]*t15+P[23][6]*t12+P[23][1]*t18+P[23][2]*t22-P[23][3]*t25); } else { @@ -1918,7 +1918,7 @@ void NavEKF3_core::FuseBodyVel() zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = t77*(P[22][4]*t4+P[22][0]*t14+P[22][6]*t9-P[22][5]*t11-P[22][1]*t17+P[22][2]*t20+P[22][3]*t24); Kfusion[23] = t77*(P[23][4]*t4+P[23][0]*t14+P[23][6]*t9-P[23][5]*t11-P[23][1]*t17+P[23][2]*t20+P[23][3]*t24); } else { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp index 92a2ba4eeca5fa..f3b332dbf1e8a0 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp @@ -234,7 +234,7 @@ void NavEKF3_core::FuseRngBcn() zero_range(&Kfusion[0], 16, 21); } - if (!inhibitWindStates) { + if (!inhibitWindStates && !treatWindStatesAsTruth) { Kfusion[22] = -t26*(P[22][7]*t4*t9+P[22][8]*t3*t9+P[22][9]*t2*t9); Kfusion[23] = -t26*(P[23][7]*t4*t9+P[23][8]*t3*t9+P[23][9]*t2*t9); } else { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index f608f6d4d2cc01..428130028fdeb8 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -270,6 +270,7 @@ void NavEKF3_core::InitialiseVariables() inhibitWindStates = true; windStateLastObs.zero(); windStateIsObservable = false; + treatWindStatesAsTruth = false; windStateLastObsIsValid = false; windStatesAligned = false; inhibitDelVelBiasStates = true; @@ -1085,8 +1086,8 @@ void NavEKF3_core::CovariancePrediction(Vector3F *rotVarVecPtr) if (!inhibitWindStates) { const bool isDragFusionDeadReckoning = filterStatus.flags.dead_reckoning && !dragTimeout; - if (isDragFusionDeadReckoning) { - // when dead reckoning using drag fusion stop learning wind states to provide a more stable velocity estimate + treatWindStatesAsTruth = isDragFusionDeadReckoning || !windStateIsObservable; + if (treatWindStatesAsTruth) { P[23][23] = P[22][22] = 0.0f; } else { ftype windVelVar = sq(dt * constrain_ftype(frontend->_windVelProcessNoise, 0.0f, 1.0f) * (1.0f + constrain_ftype(frontend->_wndVarHgtRateScale, 0.0f, 1.0f) * fabsF(hgtRate))); @@ -1946,7 +1947,11 @@ void NavEKF3_core::ConstrainVariances() } if (!inhibitWindStates) { - for (uint8_t i=22; i<=23; i++) P[i][i] = constrain_ftype(P[i][i],0.0f,WIND_VEL_VARIANCE_MAX); + if (treatWindStatesAsTruth) { + P[23][23] = P[22][22] = 0.0f; + } else { + for (uint8_t i=22; i<=23; i++) P[i][i] = constrain_ftype(P[i][i],0.0f,WIND_VEL_VARIANCE_MAX); + } } else { zeroCols(P,22,23); zeroRows(P,22,23); diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 69cbfb5acf7a10..1282dd73f1514f 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1109,10 +1109,11 @@ class NavEKF3_core : public NavEKF_core_common ftype hgtTestRatio; // sum of squares of baro height innovation divided by fail threshold Vector3F magTestRatio; // sum of squares of magnetometer innovations divided by fail threshold ftype tasTestRatio; // sum of squares of true airspeed innovation divided by fail threshold - bool inhibitWindStates; // true when wind states and covariances are to remain constant + bool inhibitWindStates; // true when wind states and covariances should not be used Vector2F windStateLastObs; // wind states from the last time wind states were constrained using observations (m/s) bool windStateLastObsIsValid; bool windStateIsObservable; // true when wind states are observable from measurements. + bool treatWindStatesAsTruth; // true when wind states should be used as a truth reference bool windStatesAligned; // true when wind states have been aligned bool inhibitMagStates; // true when magnetic field states are inactive bool lastInhibitMagStates; // previous inhibitMagStates From 8639543cdd85f91d4cebc6636d33ba7f2f07a1f4 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 08:21:06 +1000 Subject: [PATCH 155/282] Tools: Allow dead reckoning test longer to learn wind if no aspd sensor --- Tools/autotest/arduplane.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index c92a57f2154706..90d99719190755 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2188,10 +2188,14 @@ def validate_global_position_int_against_simstate(mav, m): frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, ) self.wait_location(loc, accuracy=100) - self.progress("Stewing") - self.delay_sim_time(20) + self.progress("Orbit with GPS and learn wind") + # allow longer to learn wind if there is no airspeed sensor + if disable_airspeed_sensor: + self.delay_sim_time(60) + else: + self.delay_sim_time(20) self.set_parameter("SIM_GPS_DISABLE", 1) - self.progress("Roasting") + self.progress("Continue orbit without GPS") self.delay_sim_time(20) self.change_mode("RTL") self.wait_distance_to_home(100, 200, timeout=200) From ffde7f815c7f097d791ac3651df40d4ab930f732 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 09:01:58 +1000 Subject: [PATCH 156/282] AP_NavEKF3: Allow wind to relearn rapidly when GPS is re-enabled --- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 428130028fdeb8..435ba04dcb7019 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -1086,10 +1086,18 @@ void NavEKF3_core::CovariancePrediction(Vector3F *rotVarVecPtr) if (!inhibitWindStates) { const bool isDragFusionDeadReckoning = filterStatus.flags.dead_reckoning && !dragTimeout; - treatWindStatesAsTruth = isDragFusionDeadReckoning || !windStateIsObservable; - if (treatWindStatesAsTruth) { + const bool newTreatWindStatesAsTruth = isDragFusionDeadReckoning || !windStateIsObservable; + if (newTreatWindStatesAsTruth) { + treatWindStatesAsTruth = true; P[23][23] = P[22][22] = 0.0f; } else { + if (treatWindStatesAsTruth) { + treatWindStatesAsTruth = false; + if (windStateIsObservable) { + // allow EKF to relearn wind states rapidly + P[23][23] = P[22][22] = sq(WIND_VEL_VARIANCE_MAX); + } + } ftype windVelVar = sq(dt * constrain_ftype(frontend->_windVelProcessNoise, 0.0f, 1.0f) * (1.0f + constrain_ftype(frontend->_wndVarHgtRateScale, 0.0f, 1.0f) * fabsF(hgtRate))); if (!tasDataDelayed.allowFusion) { // Allow wind states to recover faster when using sideslip fusion with a failed airspeed sesnor From 6baeb1cd9d8f8cc4d0c91c4b790fd45a9df43a42 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 10:33:01 +1000 Subject: [PATCH 157/282] AP_NavEKF3: Fix bug causing in flight yaw align to not complete --- libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 6 ++-- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 32 +++++++++---------- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 4 +-- 3 files changed, 21 insertions(+), 21 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp index c76d650aae1abb..430be502a8c60a 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp @@ -696,9 +696,11 @@ bool NavEKF3_core::setOrigin(const Location &loc) return true; } -// record a yaw reset event -void NavEKF3_core::recordYawReset() +// record all requested yaw resets completed +void NavEKF3_core::recordYawResetsCompleted() { + gpsYawResetRequest = false; + magYawResetRequest = false; yawAlignComplete = true; if (inFlight) { finalInflightYawInit = true; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index 19dfd91b1f8f0b..402cfd97867bc6 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -154,6 +154,15 @@ void NavEKF3_core::realignYawGPS(bool emergency_reset) // If the angles disagree by more than 45 degrees and GPS innovations are large or no previous yaw alignment, we declare the magnetic yaw as bad bool badMagYaw = ((yawErr > 0.7854f) && (velTestRatio > 1.0f) && (PV_AidingMode == AID_ABSOLUTE)) || !yawAlignComplete; + // get yaw variance from GPS speed uncertainty + const ftype gpsVelAcc = fmaxF(gpsSpdAccuracy, ftype(frontend->_gpsHorizVelNoise)); + const ftype gps_yaw_variance = sq(asinF(constrain_float(gpsVelAcc/gpsDataDelayed.vel.xy().length(), -1.0F, 1.0F))); + if (gps_yaw_variance < sq(radians(GPS_VEL_YAW_ALIGN_MAX_ANG_ERR))) { + yawAlignGpsValidCount++; + } else { + yawAlignGpsValidCount = 0; + } + // correct yaw angle using GPS ground course if compass yaw bad if (badMagYaw) { // attempt to use EKF-GSF estimate if available as it is more robust to GPS glitches @@ -163,16 +172,6 @@ void NavEKF3_core::realignYawGPS(bool emergency_reset) return; } - // get yaw variance from GPS speed uncertainty - const ftype gpsVelAcc = fmaxF(gpsSpdAccuracy, ftype(frontend->_gpsHorizVelNoise)); - const ftype gps_yaw_variance = sq(asinF(constrain_float(gpsVelAcc/gpsDataDelayed.vel.xy().length(), -1.0F, 1.0F))); - - if (gps_yaw_variance < sq(radians(GPS_VEL_YAW_ALIGN_MAX_ANG_ERR))) { - yawAlignGpsValidCount++; - } else { - yawAlignGpsValidCount = 0; - } - if (yawAlignGpsValidCount >= GPS_VEL_YAW_ALIGN_COUNT_THRESHOLD) { yawAlignGpsValidCount = 0; // keep roll and pitch and reset yaw @@ -194,6 +193,10 @@ void NavEKF3_core::realignYawGPS(bool emergency_reset) allMagSensorsFailed = false; } } + } else if (yawAlignGpsValidCount >= GPS_VEL_YAW_ALIGN_COUNT_THRESHOLD) { + // There is no need to do a yaw reset + yawAlignGpsValidCount = 0; + recordYawResetsCompleted(); } } else { yawAlignGpsValidCount = 0; @@ -1579,7 +1582,7 @@ bool NavEKF3_core::EKFGSF_resetMainFilterYaw(bool emergency_reset) } // record the yaw reset event - recordYawReset(); + recordYawResetsCompleted(); // reset velocity and position states to GPS - if yaw is fixed then the filter should start to operate correctly ResetVelocity(resetDataSource::DEFAULT); @@ -1655,10 +1658,5 @@ void NavEKF3_core::resetQuatStateYawOnly(ftype yaw, ftype yawVariance, rotationO lastYawReset_ms = imuSampleTime_ms; // record the yaw reset event - recordYawReset(); - - // clear all pending yaw reset requests - gpsYawResetRequest = false; - magYawResetRequest = false; - + recordYawResetsCompleted(); } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 1282dd73f1514f..29d631851b9987 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -957,8 +957,8 @@ class NavEKF3_core : public NavEKF_core_common // zero attitude state covariances, but preserve variances void zeroAttCovOnly(); - // record a yaw reset event - void recordYawReset(); + // record all requested yaw resets completed + void recordYawResetsCompleted(); // record a magnetic field state reset event void recordMagReset(); From eb2ff2192d5553c711a31afc25f9d2ffb453a849 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 11:04:35 +1000 Subject: [PATCH 158/282] AP_NavEKF3: Don't block no compass planes from running GPS alignment checks --- libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp index cb9a8598d60975..e6876b07a44844 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp @@ -12,7 +12,7 @@ */ void NavEKF3_core::calcGpsGoodToAlign(void) { - if (inFlight && assume_zero_sideslip() && !use_compass()) { + if (inFlight && !finalInflightYawInit && assume_zero_sideslip() && !use_compass()) { // this is a special case where a plane has launched without magnetometer // is now in the air and needs to align yaw to the GPS and start navigating as soon as possible gpsGoodToAlign = true; From 996bf7d4dfa36b4365129e5a360fb30f766d4f68 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 13:26:59 +1000 Subject: [PATCH 159/282] AP_NavEKF3: Log gpsGoodToAlign --- libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp | 3 ++- libraries/AP_NavEKF3/LogStructure.h | 6 ++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp index 93e3db98d5b905..062bd4a637ebb3 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp @@ -100,7 +100,8 @@ void NavEKF3_core::Log_Write_XKFS(uint64_t time_us) const baro_index : selected_baro, gps_index : selected_gps, airspeed_index : getActiveAirspeed(), - source_set : frontend->sources.getPosVelYawSourceSet() + source_set : frontend->sources.getPosVelYawSourceSet(), + gps_good_to_align : gpsGoodToAlign }; AP::logger().WriteBlock(&pkt, sizeof(pkt)); } diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h index 8e124462fcf0db..0ecf37dd13debb 100644 --- a/libraries/AP_NavEKF3/LogStructure.h +++ b/libraries/AP_NavEKF3/LogStructure.h @@ -344,6 +344,7 @@ struct PACKED log_XKQ { // @Field: GI: GPS selection index // @Field: AI: airspeed selection index // @Field: SS: Source Set (primary=0/secondary=1/tertiary=2) +// @Field: GPS_GTA: GPS good to align struct PACKED log_XKFS { LOG_PACKET_HEADER; uint64_t time_us; @@ -353,6 +354,7 @@ struct PACKED log_XKFS { uint8_t gps_index; uint8_t airspeed_index; uint8_t source_set; + uint8_t gps_good_to_align; }; // @LoggerMessage: XKTV @@ -439,8 +441,8 @@ struct PACKED log_XKV { { LOG_XKFM_MSG, sizeof(log_XKFM), \ "XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s#-----", "F------", true }, \ { LOG_XKFS_MSG, sizeof(log_XKFS), \ - "XKFS","QBBBBBB","TimeUS,C,MI,BI,GI,AI,SS", "s#-----", "F------" , true }, \ - { LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#----", "F-0000" , true }, \ + "XKFS","QBBBBBBB","TimeUS,C,MI,BI,GI,AI,SS,GPS_GTA", "s#------", "F-------" , true }, \ + { LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" , true }, \ { LOG_XKT_MSG, sizeof(log_XKT), \ "XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000", true }, \ { LOG_XKTV_MSG, sizeof(log_XKTV), \ From 720c2da807929746d25360505a722e8aa9ec4ef6 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 15:35:31 +1000 Subject: [PATCH 160/282] AP_NavEKF3: Rework GPS jamming resiliency Make it user selectable. Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks. Log the waitingForGpsChecks class variable --- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 7 ++++ libraries/AP_NavEKF3/AP_NavEKF3.h | 7 ++++ libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp | 3 +- .../AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 42 ++++++++++--------- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 2 +- libraries/AP_NavEKF3/LogStructure.h | 4 +- 6 files changed, 43 insertions(+), 22 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index 6b26791589446f..2021b69ba2195d 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -734,6 +734,13 @@ const AP_Param::GroupInfo NavEKF3::var_info2[] = { // @Units: m AP_GROUPINFO("GPS_VACC_MAX", 10, NavEKF3, _gpsVAccThreshold, 0.0f), + // @Param: OPTIONS + // @DisplayName: Optional EKF behaviour + // @Description: This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + // @Bitmask: 0:JammingExpected + // @User: Advanced + AP_GROUPINFO("OPTIONS", 11, NavEKF3, _options, 0), + AP_GROUPEND }; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h index 9d3303b40df2a3..f47f96e8ac157f 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3.h @@ -448,6 +448,12 @@ class NavEKF3 { AP_Int8 _primary_core; // initial core number AP_Enum _log_level; // log verbosity level AP_Float _gpsVAccThreshold; // vertical accuracy threshold to use GPS as an altitude source + AP_Int32 _options; // bit mask of processing options + + // enum for processing options + enum class Options { + JammingExpected = (1<<0), + }; // Possible values for _flowUse #define FLOW_USE_NONE 0 @@ -487,6 +493,7 @@ class NavEKF3 { const uint8_t extNavIntervalMin_ms = 20; // The minimum allowed time between measurements from external navigation sensors (msec) const float maxYawEstVelInnov = 2.0f; // Maximum acceptable length of the velocity innovation returned by the EKF-GSF yaw estimator (m/s) const uint16_t deadReckonDeclare_ms = 1000; // Time without equivalent position or velocity observation to constrain drift before dead reckoning is declared (msec) + const uint16_t gpsNoFixTimeout_ms = 2000; // Time without a fix required to reset GPS alignment checks when EK3_OPTIONS bit 0 is set (msec) // time at start of current filter update uint64_t imuSampleTime_us; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp index 062bd4a637ebb3..726b091b3e71b5 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp @@ -101,7 +101,8 @@ void NavEKF3_core::Log_Write_XKFS(uint64_t time_us) const gps_index : selected_gps, airspeed_index : getActiveAirspeed(), source_set : frontend->sources.getPosVelYawSourceSet(), - gps_good_to_align : gpsGoodToAlign + gps_good_to_align : gpsGoodToAlign, + wait_for_gps_checks : waitingForGpsChecks }; AP::logger().WriteBlock(&pkt, sizeof(pkt)); } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index ef465549afee0c..107c71db335541 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -542,24 +542,6 @@ void NavEKF3_core::readGpsData() // check for new GPS data const auto &gps = dal.gps(); - if (gps.status(selected_gps) < AP_DAL_GPS::GPS_OK_FIX_3D) { - // The GPS has dropped lock so force quality checks to restart - gpsGoodToAlign = false; - lastGpsVelFail_ms = imuSampleTime_ms; - lastGpsVelPass_ms = 0; - const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000); - const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);; - const bool doingWindRelNav = (!tasTimeout && assume_zero_sideslip()); - const bool canDeadReckon = ((doingFlowNav && gndOffsetValid) || doingWindRelNav || doingBodyVelNav); - if (canDeadReckon) { - // If we can do dead reckoning with a data source other than GPS there is time to wait - // for GPS alignment checks to pass before using GPS inside the EKF. - waitingForGpsChecks = true; - } else { - waitingForGpsChecks = false; - } - } - // limit update rate to avoid overflowing the FIFO buffer if (gps.last_message_time_ms(selected_gps) - lastTimeGpsReceived_ms <= frontend->sensorIntervalMin_ms) { return; @@ -651,6 +633,27 @@ void NavEKF3_core::readGpsData() useGpsVertVel = false; } + if ((frontend->_options & (int32_t)NavEKF3::Options::JammingExpected) && + (lastTimeGpsReceived_ms - secondLastGpsTime_ms) > frontend->gpsNoFixTimeout_ms) { + const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000); + const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);; + const bool canDoWindRelNav = assume_zero_sideslip(); + const bool canDeadReckon = ((doingFlowNav && gndOffsetValid) || canDoWindRelNav || doingBodyVelNav); + if (canDeadReckon) { + // If we can do dead reckoning with a data source other than GPS there is time to wait + // for GPS alignment checks to pass before using GPS inside the EKF. + // this gets set back to false in calcGpsGoodToAlign() when GPS checks pass + waitingForGpsChecks = true; + // force GPS checks to restart + lastPreAlignGpsCheckTime_ms = 0; + lastGpsVelFail_ms = imuSampleTime_ms; + lastGpsVelPass_ms = 0; + gpsGoodToAlign = false; + } else { + waitingForGpsChecks = false; + } + } + // Monitor quality of the GPS velocity data before and after alignment calcGpsGoodToAlign(); @@ -699,7 +702,8 @@ void NavEKF3_core::readGpsData() } // convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin - if (validOrigin) { + // and are not waiting for GPs checks to pass + if (validOrigin && !waitingForGpsChecks) { gpsDataNew.lat = gpsloc.lat; gpsDataNew.lng = gpsloc.lng; if ((frontend->_originHgtMode & (1<<2)) == 0) { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 29d631851b9987..985882373fc41f 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1038,7 +1038,7 @@ class NavEKF3_core : public NavEKF_core_common bool dragTimeout; // boolean true if drag measurements have failed for too long and have timed out bool badIMUdata; // boolean true if the bad IMU data is detected bool velAiding; // boolean true if the velocity drift is constrained by observations - bool waitingForGpsChecks; // boolean true if the EKF should not retrieve GPS data from the buffer until quality checks have passed + bool waitingForGpsChecks; // boolean true if the EKF should write GPS data to the buffer until quality checks have passed uint32_t badIMUdata_ms; // time stamp bad IMU data was last detected uint32_t goodIMUdata_ms; // time stamp good IMU data was last detected uint32_t vertVelVarClipCounter; // counter used to control reset of vertical velocity variance following collapse against the lower limit diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h index 0ecf37dd13debb..59ea98f9e42b5b 100644 --- a/libraries/AP_NavEKF3/LogStructure.h +++ b/libraries/AP_NavEKF3/LogStructure.h @@ -345,6 +345,7 @@ struct PACKED log_XKQ { // @Field: AI: airspeed selection index // @Field: SS: Source Set (primary=0/secondary=1/tertiary=2) // @Field: GPS_GTA: GPS good to align +// @Field: GPS_CHK_WAIT: Waiting for GPS checks to pass struct PACKED log_XKFS { LOG_PACKET_HEADER; uint64_t time_us; @@ -355,6 +356,7 @@ struct PACKED log_XKFS { uint8_t airspeed_index; uint8_t source_set; uint8_t gps_good_to_align; + uint8_t wait_for_gps_checks; }; // @LoggerMessage: XKTV @@ -441,7 +443,7 @@ struct PACKED log_XKV { { LOG_XKFM_MSG, sizeof(log_XKFM), \ "XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s#-----", "F------", true }, \ { LOG_XKFS_MSG, sizeof(log_XKFS), \ - "XKFS","QBBBBBBB","TimeUS,C,MI,BI,GI,AI,SS,GPS_GTA", "s#------", "F-------" , true }, \ + "XKFS","QBBBBBBBB","TimeUS,C,MI,BI,GI,AI,SS,GPS_GTA,GPS_CHK_WAIT", "s#-------", "F--------" , true }, \ { LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" , true }, \ { LOG_XKT_MSG, sizeof(log_XKT), \ "XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000", true }, \ From 87a867ee2e35394e0fe6e27fa756c42cd1d9cebc Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 27 Sep 2023 15:48:59 +1000 Subject: [PATCH 161/282] Tools: Use GPS jamming option in EKF dead reckoning autotests --- Tools/autotest/arduplane.py | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 90d99719190755..7fbffdd6e6dd80 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2136,6 +2136,7 @@ def AIRSPEED_AUTOCAL(self): self.fly_home_land_and_disarm() def deadreckoning_main(self, disable_airspeed_sensor=False): + self.set_parameter("EK3_OPTIONS", 1) self.reboot_sitl() self.wait_ready_to_arm() self.gpi = None From 61874da020101ec07bfeb328d67b4b22a77199ba Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 28 Sep 2023 07:57:34 +1000 Subject: [PATCH 162/282] AP_NavEKF3: Rework method of synthesising airspeed for dead reckoning The previous method resulted in data incest and fusion of predicted airspeed on every EKF internal time step. This was not apparent during flight where the vehicle was turning, but during long straight legs did not constrain along track drift. --- .../AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 2 + libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 14 ++--- .../AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 60 ++++++++++--------- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 3 +- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 4 +- 5 files changed, 43 insertions(+), 40 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp index dab013b5e690cf..a6b71e4a034077 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp @@ -212,8 +212,10 @@ void NavEKF3_core::SelectTasFusion() readAirSpdData(); // if the filter is initialised, wind states are not inhibited and we have data to fuse, then perform TAS fusion + if (tasDataToFuse && statesInitialised && !inhibitWindStates) { FuseAirspeed(); + tasDataToFuse = false; prevTasStep_ms = imuSampleTime_ms; } } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp index 430be502a8c60a..2f858548721ca8 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp @@ -64,7 +64,7 @@ void NavEKF3_core::setWindMagStateLearningMode() PV_AidingMode != AID_NONE; if (!inhibitWindStates && !canEstimateWind) { inhibitWindStates = true; - windStateLastObsIsValid = false; + lastAspdEstIsValid = false; updateStateIndexLim(); } else if (inhibitWindStates && canEstimateWind && (sq(stateStruct.velocity.x) + sq(stateStruct.velocity.y) > sq(5.0f) || dragFusionEnabled)) { @@ -343,14 +343,12 @@ void NavEKF3_core::setAidingMode() // a sensor that only observes attitude velAiding = posUsed || gpsVelUsed || optFlowUsed || airSpdUsed || dragUsed || rngBcnUsed || bodyOdmUsed; - // Store the last wind states whose errors were constrained by measurements - // This will be used to synthesise an airspeed measurement to enable dead reckoning - bool newWindStateIsObservable = !inhibitWindStates && (posUsed || gpsVelUsed || optFlowUsed || rngBcnUsed || bodyOdmUsed); - if (!inhibitWindStates && !newWindStateIsObservable && windStateIsObservable) { - windStateLastObs = stateStruct.wind_vel; - windStateLastObsIsValid = true; + // Store the last valid airspeed estimate + windStateIsObservable = !inhibitWindStates && (posUsed || gpsVelUsed || optFlowUsed || rngBcnUsed || bodyOdmUsed); + if (windStateIsObservable) { + lastAirspeedEstimate = (stateStruct.velocity - Vector3F(stateStruct.wind_vel.x, stateStruct.wind_vel.y, 0.0F)).length(); + lastAspdEstIsValid = true; } - windStateIsObservable = newWindStateIsObservable; // check if position drift has been constrained by a measurement source bool posAiding = posUsed || rngBcnUsed; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index 107c71db335541..b5a933645c7909 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -850,46 +850,50 @@ void NavEKF3_core::readAirSpdData() // we take a new reading, convert from EAS to TAS and set the flag letting other functions // know a new measurement is available - const auto *airspeed = dal.airspeed(); - if (airspeed && - (airspeed->last_update_ms(selected_airspeed) - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) { - tasDataNew.tas = airspeed->get_airspeed(selected_airspeed) * EAS2TAS; - timeTasReceived_ms = airspeed->last_update_ms(selected_airspeed); - tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms; - tasDataNew.tasVariance = sq(MAX(frontend->_easNoise * EAS2TAS, 0.5f)); - tasDataNew.allowFusion = airspeed->healthy(selected_airspeed) && airspeed->use(selected_airspeed); - - // Correct for the average intersampling delay due to the filter update rate - tasDataNew.time_ms -= localFilterTimeStep_ms/2; - - // Save data into the buffer to be fused when the fusion time horizon catches up with it - storedTAS.push(tasDataNew); - } - - // Check the buffer for measurements that have been overtaken by the fusion time horizon and need to be fused - tasDataToFuse = storedTAS.recall(tasDataDelayed,imuDataDelayed.time_ms); - - // Allow use of a default value or a value synthesised from a stored wind velocity vector - if (!useAirspeed()) { + if (useAirspeed()) { + const auto *airspeed = dal.airspeed(); + if (airspeed && + (airspeed->last_update_ms(selected_airspeed) - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) { + tasDataNew.allowFusion = airspeed->healthy(selected_airspeed) && airspeed->use(selected_airspeed); + if (tasDataNew.allowFusion) { + tasDataNew.tas = airspeed->get_airspeed(selected_airspeed) * EAS2TAS; + timeTasReceived_ms = airspeed->last_update_ms(selected_airspeed); + tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms; + tasDataNew.tasVariance = sq(MAX(frontend->_easNoise * EAS2TAS, 0.5f)); + // Correct for the average intersampling delay due to the filter update rate + tasDataNew.time_ms -= localFilterTimeStep_ms/2; + // Save data into the buffer to be fused when the fusion time horizon catches up with it + storedTAS.push(tasDataNew); + } + } + // Check the buffer for measurements that have been overtaken by the fusion time horizon and need to be fused + tasDataToFuse = storedTAS.recall(tasDataDelayed,imuDataDelayed.time_ms); + } else { if (is_positive(defaultAirSpeed)) { - if (imuDataDelayed.time_ms - lastTasPassTime_ms > 200) { + // this is the preferred method with the autopilot providing a model based airspeed estimate + if (imuDataDelayed.time_ms - prevTasStep_ms > 200 ) { tasDataDelayed.tas = defaultAirSpeed * EAS2TAS; tasDataDelayed.tasVariance = MAX(defaultAirSpeedVariance, sq(MAX(frontend->_easNoise, 0.5f))); tasDataToFuse = true; tasDataDelayed.allowFusion = true; + tasDataDelayed.time_ms = imuDataDelayed.time_ms; } else { tasDataToFuse = false; + tasDataDelayed.allowFusion = false; } - } else if (windStateLastObsIsValid && !windStateIsObservable) { - if (imuDataDelayed.time_ms - lastTasPassTime_ms > 200) { - // use stored wind state to synthesise an airspeed measurement - const Vector3F windRelVel = stateStruct.velocity - Vector3F(windStateLastObs.x, windStateLastObs.y, 0.0F); - tasDataDelayed.tas = windRelVel.length(); - tasDataDelayed.tasVariance = sq(MAX(frontend->_easNoise, 0.5f)); + } else if (lastAspdEstIsValid && !windStateIsObservable) { + // this uses the last airspeed estimated before dead reckoning started and + // wind states became unobservable + if (lastAspdEstIsValid && imuDataDelayed.time_ms - prevTasStep_ms > 200) { + tasDataDelayed.tas = lastAirspeedEstimate; + // this airspeed estimate has a lot of uncertainty + tasDataDelayed.tasVariance = sq(MAX(MAX(frontend->_easNoise, 0.5f), 0.5f * lastAirspeedEstimate)); tasDataToFuse = true; tasDataDelayed.allowFusion = true; + tasDataDelayed.time_ms = imuDataDelayed.time_ms; } else { tasDataToFuse = false; + tasDataDelayed.allowFusion = false; } } } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 435ba04dcb7019..008c9e2c01c7e5 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -268,10 +268,9 @@ void NavEKF3_core::InitialiseVariables() prevInFlight = false; manoeuvring = false; inhibitWindStates = true; - windStateLastObs.zero(); windStateIsObservable = false; treatWindStatesAsTruth = false; - windStateLastObsIsValid = false; + lastAspdEstIsValid = false; windStatesAligned = false; inhibitDelVelBiasStates = true; inhibitDelAngBiasStates = true; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 985882373fc41f..2049e7278fad65 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1110,8 +1110,8 @@ class NavEKF3_core : public NavEKF_core_common Vector3F magTestRatio; // sum of squares of magnetometer innovations divided by fail threshold ftype tasTestRatio; // sum of squares of true airspeed innovation divided by fail threshold bool inhibitWindStates; // true when wind states and covariances should not be used - Vector2F windStateLastObs; // wind states from the last time wind states were constrained using observations (m/s) - bool windStateLastObsIsValid; + ftype lastAirspeedEstimate; // last true airspeed estimate (m/s) + bool lastAspdEstIsValid; // true when the last true airspeed estimate is valid (m/s) bool windStateIsObservable; // true when wind states are observable from measurements. bool treatWindStatesAsTruth; // true when wind states should be used as a truth reference bool windStatesAligned; // true when wind states have been aligned From 9d2b05840bf643eba1398ae8187ad2ccaa9902c0 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 28 Sep 2023 09:25:22 +1000 Subject: [PATCH 163/282] Tools: Disable DCM fallback for plane dead reckoning tests --- Tools/autotest/arduplane.py | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 7fbffdd6e6dd80..adce4c66d83b95 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2137,6 +2137,7 @@ def AIRSPEED_AUTOCAL(self): def deadreckoning_main(self, disable_airspeed_sensor=False): self.set_parameter("EK3_OPTIONS", 1) + self.set_parameter("AHRS_OPTIONS",1) self.reboot_sitl() self.wait_ready_to_arm() self.gpi = None From 19f6b2d6d644fadafcbb87dd6490d62c6d956047 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 28 Sep 2023 09:26:10 +1000 Subject: [PATCH 164/282] Tools: relax req accuracy for plane dead reckoning when not using airspeed --- Tools/autotest/arduplane.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index adce4c66d83b95..8601f6b1714863 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2155,7 +2155,10 @@ def validate_global_position_int_against_simstate(mav, m): if self.simstate is None: return divergence = self.get_distance_int(self.gpi, self.simstate) - max_allowed_divergence = 200 + if disable_airspeed_sensor: + max_allowed_divergence = 300 + else: + max_allowed_divergence = 150 if (time.time() - self.last_print > 1 or divergence > self.max_divergence): self.progress("position-estimate-divergence=%fm" % (divergence,)) From b17e1894730d2b686d70e94ec1a4bd7107d5af08 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 29 Sep 2023 19:42:19 +1000 Subject: [PATCH 165/282] Tools: update AHRS_OPTIONS for dead reckoning test --- Tools/autotest/arduplane.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 8601f6b1714863..40ccbeca818326 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2137,7 +2137,7 @@ def AIRSPEED_AUTOCAL(self): def deadreckoning_main(self, disable_airspeed_sensor=False): self.set_parameter("EK3_OPTIONS", 1) - self.set_parameter("AHRS_OPTIONS",1) + self.set_parameter("AHRS_OPTIONS", 3) self.reboot_sitl() self.wait_ready_to_arm() self.gpi = None From 09623f46e8b52401c5b21451072f3182c2da858c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 4 Nov 2023 18:10:24 +1100 Subject: [PATCH 166/282] autotest: enable LOG_REPLAY in deadreckoning test --- Tools/autotest/arduplane.py | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 40ccbeca818326..62578e06cad3b8 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2138,6 +2138,7 @@ def AIRSPEED_AUTOCAL(self): def deadreckoning_main(self, disable_airspeed_sensor=False): self.set_parameter("EK3_OPTIONS", 1) self.set_parameter("AHRS_OPTIONS", 3) + self.set_parameter("LOG_REPLAY", 1) self.reboot_sitl() self.wait_ready_to_arm() self.gpi = None From 5c76e77c11bec10601cc49511a1068bf6c1def79 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 29 May 2024 10:02:04 +1000 Subject: [PATCH 167/282] autotest: Reduce time threshold used in plane deadreckoning test --- Tools/autotest/arduplane.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 62578e06cad3b8..3f714260b008fa 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2224,9 +2224,12 @@ def validate_global_position_int_against_simstate(mav, m): t_enabled = self.get_sim_time() # The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning # to prevent bad GPS being used when coming back after loss of lock due to interence. + # The EKF_STATUS_REPORT does not tell us when the good to align check passes, so the minimum time + # value of 3.0 seconds is an arbitrary value set on inspection of dataflash logs from this test self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15) - if self.get_sim_time() < (t_enabled+9): - raise NotAchievedException("GPS use re-started too quickly after jamming") + time_since_jamming_stopped = self.get_sim_time() - t_enabled + if time_since_jamming_stopped < 3: + raise NotAchievedException("GPS use re-started %f sec after jamming stopped" % time_since_jamming_stopped) self.set_rc(3, 1000) self.fly_home_land_and_disarm() self.progress("max-divergence: %fm" % (self.max_divergence,)) From 3a311a9d6972385da1742aef7a0cb7f5ff818311 Mon Sep 17 00:00:00 2001 From: MattKear Date: Tue, 4 Jun 2024 00:10:44 +0100 Subject: [PATCH 168/282] AP_Motors: Heli: Fix SWSH logging for reversed collectives --- libraries/AP_Motors/AP_MotorsHeli_Swash.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp b/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp index 5a93212739d912..d04312752a8c93 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp @@ -211,16 +211,17 @@ void AP_MotorsHeli_Swash::add_servo_raw(uint8_t num, float roll, float pitch, fl // calculates servo output void AP_MotorsHeli_Swash::calculate(float roll, float pitch, float collective) { - // Collective control direction. Swash moves up for negative collective pitch, down for positive collective pitch - if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED){ - collective = 1 - collective; - } - // Store inputs for logging + // Store inputs for logging, store col before col reversal to ensure logging comes out with the correct sign (+/-) _roll_input = roll; _pitch_input = pitch; _collective_input_scaled = collective; + // Collective control direction. Swash moves up for negative collective pitch, down for positive collective pitch + if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED){ + collective = 1 - collective; + } + for (uint8_t i = 0; i < _max_num_servos; i++) { if (!_enabled[i]) { // This servo is not enabled From c77f688032bb65e23b50f7dc7604c80b03035140 Mon Sep 17 00:00:00 2001 From: Bill Geyer Date: Sat, 8 Jun 2024 23:17:06 -0400 Subject: [PATCH 169/282] AP_Motors: fix spacing Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com> --- libraries/AP_Motors/AP_MotorsHeli_Swash.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp b/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp index d04312752a8c93..b5293de186a10b 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp @@ -218,7 +218,7 @@ void AP_MotorsHeli_Swash::calculate(float roll, float pitch, float collective) _collective_input_scaled = collective; // Collective control direction. Swash moves up for negative collective pitch, down for positive collective pitch - if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED){ + if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED) { collective = 1 - collective; } From a9dc7b440f7a5b9418733c7b88743767c38623d4 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 29 Apr 2024 15:46:53 +0100 Subject: [PATCH 170/282] AP_GPS: support GPSx_GNSS_MODE for F9P support detecting F9P hardware variant fix bug in extension buffer management support NEO-F9P GNSS configuration allow multiple configuration values to be set in one go phase F9 configuration to account for GNSS reset --- libraries/AP_GPS/AP_GPS_UBLOX.cpp | 199 +++++++++++++++++++++++++++++- libraries/AP_GPS/AP_GPS_UBLOX.h | 49 ++++++-- 2 files changed, 232 insertions(+), 16 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index 6f98b115b9acb2..fb32e0bf2ff35e 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -273,6 +273,8 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] { {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 0}, }; +AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3] {}; + void AP_GPS_UBLOX::_request_next_config(void) { @@ -334,6 +336,12 @@ AP_GPS_UBLOX::_request_next_config(void) } break; case STEP_POLL_GNSS: + if (supports_F9_config()) { + if (last_configured_gnss != params.gnss_mode) { + _unconfigured_messages |= CONFIG_F9; + } + break; + } if (!_send_message(CLASS_CFG, MSG_CFG_GNSS, nullptr, 0)) { _next_message--; } @@ -455,7 +463,42 @@ AP_GPS_UBLOX::_request_next_config(void) #endif break; + case STEP_F9: { + if (_hardware_generation == UBLOX_F9) { + uint8_t cfg_count = populate_F9_gnss(); + // special handling of F9 config + if (cfg_count > 0) { + CFG_Debug("Sending F9 settings, GNSS=%u", params.gnss_mode); + if (!_configure_list_valset(config_GNSS, cfg_count, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) { + _next_message--; + break; + } + _f9_config_time = AP_HAL::millis(); + } + } + break; + } + case STEP_F9_VALIDATE: { + if (_hardware_generation == UBLOX_F9) { + // GNSS takes 0.5s to reset + if (AP_HAL::millis() - _f9_config_time < 500) { + _next_message--; + break; + } + _f9_config_time = 0; + uint8_t cfg_count = populate_F9_gnss(); + // special handling of F9 config + if (cfg_count > 0) { + CFG_Debug("Validating F9 settings, GNSS=%u", params.gnss_mode); + // now validate all of the settings, this is a no-op if the first call succeeded + if (!_configure_config_set(config_GNSS, cfg_count, CONFIG_F9, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) { + _next_message--; + } + } + } + break; + } case STEP_M10: { if (_hardware_generation == UBLOX_M10) { // special handling of M10 config @@ -1029,6 +1072,7 @@ AP_GPS_UBLOX::_parse_gps(void) _unconfigured_messages &= ~CONFIG_TP5; break; } + break; case CLASS_MON: switch(_buffer.ack.msgID) { @@ -1046,6 +1090,7 @@ AP_GPS_UBLOX::_parse_gps(void) case CLASS_CFG: switch(_buffer.nack.msgID) { case MSG_CFG_VALGET: + CFG_Debug("NACK VALGET 0x%x", (unsigned)_buffer.nack.msgID); if (active_config.list != nullptr) { /* likely this device does not support fetching multiple keys at once, go one at a time @@ -1072,6 +1117,15 @@ AP_GPS_UBLOX::_parse_gps(void) } } break; + case MSG_CFG_VALSET: + CFG_Debug("NACK VALSET 0x%x 0x%x", (unsigned)_buffer.nack.msgID, + unsigned(active_config.list[active_config.set_index].key)); + if (is_gnss_key(active_config.list[active_config.set_index].key)) { + GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "GPS %u: unable to configure band 0x%02x", + unsigned(state.instance + 1), unsigned(active_config.list[active_config.set_index].key)); + + } + break; } } } @@ -1114,7 +1168,7 @@ AP_GPS_UBLOX::_parse_gps(void) #if UBLOX_GNSS_SETTINGS case MSG_CFG_GNSS: - if (params.gnss_mode != 0) { + if (params.gnss_mode != 0 && !supports_F9_config()) { struct ubx_cfg_gnss start_gnss = _buffer.gnss; uint8_t gnssCount = 0; Debug("Got GNSS Settings %u %u %u %u:\n", @@ -1290,12 +1344,16 @@ AP_GPS_UBLOX::_parse_gps(void) // see if it is in active config list int8_t cfg_idx = find_active_config_index(id); if (cfg_idx >= 0) { + CFG_Debug("valset(0x%lx): %u", uint32_t(id), (*cfg_data) & 0x1); const uint8_t key_size = config_key_size(id); - if (cfg_len < key_size || - memcmp(&active_config.list[cfg_idx].value, cfg_data, key_size) != 0) { + if (cfg_len < key_size + // for keys of length 1 only the LSB is significant + || (key_size == 1 && (active_config.list[cfg_idx].value & 0x1) != (*cfg_data & 0x1)) + || memcmp(&active_config.list[cfg_idx].value, cfg_data, key_size) != 0) { _configure_valset(id, &active_config.list[cfg_idx].value, active_config.layers); _unconfigured_messages |= active_config.unconfig_bit; active_config.done_mask &= ~(1U << cfg_idx); + active_config.set_index = cfg_idx; _cfg_needs_save = true; } else { active_config.done_mask |= (1U << cfg_idx); @@ -1318,6 +1376,8 @@ AP_GPS_UBLOX::_parse_gps(void) unsigned(active_config.list[active_config.fetch_index].key)); } } + } else { + CFG_Debug("valget no active config for 0x%lx", (uint32_t)id); } // step over the value @@ -1349,8 +1409,14 @@ AP_GPS_UBLOX::_parse_gps(void) _have_version = true; strncpy(_version.hwVersion, _buffer.mon_ver.hwVersion, sizeof(_version.hwVersion)); strncpy(_version.swVersion, _buffer.mon_ver.swVersion, sizeof(_version.swVersion)); + void* mod = memmem(_buffer.mon_ver.extension, sizeof(_buffer.mon_ver.extension), "MOD=", 4); + if (mod != nullptr) { + strncpy(_module, (char*)mod+4, UBLOX_MODULE_LEN-1); + } + GCS_SEND_TEXT(MAV_SEVERITY_INFO, - "u-blox %d HW: %s SW: %s", + "u-blox %s%s%d HW: %s SW: %s", + _module, mod != nullptr ? " " : "", state.instance + 1, _version.hwVersion, _version.swVersion); @@ -1364,6 +1430,13 @@ AP_GPS_UBLOX::_parse_gps(void) _unconfigured_messages |= CONFIG_TMODE_MODE; } _hardware_generation = UBLOX_F9; + _unconfigured_messages |= CONFIG_F9; + _unconfigured_messages &= ~CONFIG_GNSS; + if (strncmp(_module, "ZED-F9P", UBLOX_MODULE_LEN) == 0) { + _hardware_variant = UBLOX_F9_ZED; + } else if (strncmp(_module, "NEO-F9P", UBLOX_MODULE_LEN) == 0) { + _hardware_variant = UBLOX_F9_NEO; + } } if (strncmp(_version.swVersion, "EXT CORE 4", 10) == 0) { // a M9 @@ -1866,6 +1939,7 @@ AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value, uint8_t layers if (!supports_F9_config()) { return false; } + const uint8_t len = config_key_size(key); struct ubx_cfg_valset msg {}; uint8_t buf[sizeof(msg)+len]; @@ -1939,6 +2013,48 @@ AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint return _send_message(CLASS_CFG, MSG_CFG_VALGET, buf, sizeof(buf)); } +/* + * configure F9 based key/value pair for a complete configuration set + * + * this method sends all the key/value pairs in a block, but makes no attempt to check + * the results. Sending in a block is necessary for updates such as GNSS where certain + * combinations are invalid and setting one at a time will not produce the correct result + * if the result needs to be validated then a subsequent _configure_config_set() can be + * issued which will get all the values and reset those that are not properly updated. + */ +bool +AP_GPS_UBLOX::_configure_list_valset(const config_list *list, uint8_t count, uint8_t layers) +{ + if (!supports_F9_config()) { + return false; + } + + struct ubx_cfg_valset msg {}; + uint8_t buf[sizeof(msg)+sizeof(config_list)*count]; + if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+sizeof(buf)+2)) { + return false; + } + msg.version = 1; + msg.layers = layers; + msg.transaction = 0; + uint32_t msg_len = sizeof(msg) - sizeof(msg.key); + memcpy(buf, &msg, msg_len); + + uint8_t* payload = &buf[msg_len]; + for (uint8_t i=0; i1024) @@ -68,6 +69,7 @@ #define UBX_TIMEGPS_VALID_WEEK_MASK 0x2 #define UBLOX_MAX_PORTS 6 +#define UBLOX_MODULE_LEN 9 #define RATE_POSLLH 1 #define RATE_STATUS 1 @@ -99,9 +101,10 @@ #define CONFIG_TMODE_MODE (1<<16) #define CONFIG_RTK_MOVBASE (1<<17) #define CONFIG_TIM_TM2 (1<<18) -#define CONFIG_M10 (1<<19) -#define CONFIG_L5 (1<<20) -#define CONFIG_LAST (1<<21) // this must always be the last bit +#define CONFIG_F9 (1<<19) +#define CONFIG_M10 (1<<20) +#define CONFIG_L5 (1<<21) +#define CONFIG_LAST (1<<22) // this must always be the last bit #define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED) @@ -518,7 +521,7 @@ class AP_GPS_UBLOX : public AP_GPS_Backend struct PACKED ubx_mon_ver { char swVersion[30]; char hwVersion[10]; - char extension[50]; // extensions are not enabled + char extension[30*UBLOX_MAX_EXTENSIONS]; // extensions are not enabled }; struct PACKED ubx_nav_svinfo_header { uint32_t itow; @@ -719,6 +722,12 @@ class AP_GPS_UBLOX : public AP_GPS_Backend // flagging state in the driver }; + enum ubx_hardware_variant { + UBLOX_F9_ZED, // comes from MON_VER extension strings + UBLOX_F9_NEO, // comes from MON_VER extension strings + UBLOX_UNKNOWN_HARDWARE_VARIANT = 0xff + }; + enum config_step { STEP_PVT = 0, STEP_NAV_RATE, // poll NAV rate @@ -742,6 +751,8 @@ class AP_GPS_UBLOX : public AP_GPS_Backend STEP_VERSION, STEP_RTK_MOVBASE, // setup moving baseline STEP_TIM_TM2, + STEP_F9, + STEP_F9_VALIDATE, STEP_M10, STEP_L5, STEP_LAST @@ -765,13 +776,16 @@ class AP_GPS_UBLOX : public AP_GPS_Backend uint32_t _last_cfg_sent_time; uint8_t _num_cfg_save_tries; uint32_t _last_config_time; + uint32_t _f9_config_time; uint16_t _delay_time; uint8_t _next_message; uint8_t _ublox_port; bool _have_version; struct ubx_mon_ver _version; + char _module[UBLOX_MODULE_LEN]; uint32_t _unconfigured_messages; uint8_t _hardware_generation; + uint8_t _hardware_variant; uint32_t _last_pvt_itow; uint32_t _last_relposned_itow; uint32_t _last_relposned_ms; @@ -798,8 +812,17 @@ class AP_GPS_UBLOX : public AP_GPS_Backend bool havePvtMsg; + // structure for list of config key/value pairs for + // specific configurations + struct PACKED config_list { + ConfigKey key; + // support up to 4 byte values, assumes little-endian + uint32_t value; + }; + bool _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); bool _configure_valset(ConfigKey key, const void *value, uint8_t layers=UBX_VALSET_LAYER_ALL); + bool _configure_list_valset(const config_list *list, uint8_t count, uint8_t layers=UBX_VALSET_LAYER_ALL); bool _configure_valget(ConfigKey key); void _configure_rate(void); void _configure_sbas(bool enable); @@ -828,14 +851,6 @@ class AP_GPS_UBLOX : public AP_GPS_Backend } #endif - // structure for list of config key/value pairs for - // specific configurations - struct PACKED config_list { - ConfigKey key; - // support up to 4 byte values, assumes little-endian - uint32_t value; - }; - // return size of a config key payload uint8_t config_key_size(ConfigKey key) const; @@ -849,6 +864,13 @@ class AP_GPS_UBLOX : public AP_GPS_Backend // return true if GPS is capable of F9 config bool supports_F9_config(void) const; + // is the config key a GNSS key + bool is_gnss_key(ConfigKey key) const; + + // populate config_GNSS for F9P + uint8_t populate_F9_gnss(void); + uint8_t last_configured_gnss; + uint8_t _pps_freq = 1; #ifdef HAL_GPIO_PPS void pps_interrupt(uint8_t pin, bool high, uint32_t timestamp_us); @@ -863,6 +885,7 @@ class AP_GPS_UBLOX : public AP_GPS_Backend uint32_t unconfig_bit; uint8_t layers; int8_t fetch_index; + int8_t set_index; } active_config; #if GPS_MOVING_BASELINE @@ -882,6 +905,8 @@ class AP_GPS_UBLOX : public AP_GPS_Backend static const config_list config_M10[]; static const config_list config_L5_ovrd_ena[]; static const config_list config_L5_ovrd_dis[]; + // scratch space for GNSS config + static config_list config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3]; }; #endif From 90f7222f981621033dd372c9d3f6c98ab27fa94b Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 22 May 2024 11:51:00 +0100 Subject: [PATCH 171/282] AP_HAL_ChibiOS: enable LEDs on Here4AP --- libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat index bfc89616e307dd..3a2959b13352cd 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat @@ -110,7 +110,6 @@ BARO MS56XX SPI:ms5611 PB8 TIM4_CH3 TIM4 PWM(1) PB9 TIM4_CH4 TIM4 PWM(2) - define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 @@ -132,6 +131,7 @@ define HAL_PERIPH_GPS_PORT_DEFAULT 3 # for ProfiLed we need RC out and notify define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY +define AP_SERIALLED_ENABLED 1 define HAL_SERIAL_ESC_COMM_ENABLED 1 define HAL_RCIN_THREAD_ENABLED 1 From 2af6358c07fbab0b0d8ded90b73844bc00962114 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 30 May 2024 20:30:29 +0100 Subject: [PATCH 172/282] AP_GPS: dynamically allocate config_GNSS --- libraries/AP_GPS/AP_GPS_UBLOX.cpp | 11 +++++++++-- libraries/AP_GPS/AP_GPS_UBLOX.h | 2 +- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index fb32e0bf2ff35e..f9308b8fc3cdcc 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -273,8 +273,6 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] { {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 0}, }; -AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3] {}; - void AP_GPS_UBLOX::_request_next_config(void) { @@ -469,6 +467,7 @@ AP_GPS_UBLOX::_request_next_config(void) // special handling of F9 config if (cfg_count > 0) { CFG_Debug("Sending F9 settings, GNSS=%u", params.gnss_mode); + if (!_configure_list_valset(config_GNSS, cfg_count, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) { _next_message--; break; @@ -2314,6 +2313,14 @@ uint8_t AP_GPS_UBLOX::populate_F9_gnss(void) // GPS and QZSS should be enabled/disabled together, but we will leave them alone // QZSS and SBAS can only be enabled if GPS is enabled + if (config_GNSS == nullptr) { + config_GNSS = (config_list*)calloc(UBLOX_MAX_GNSS_CONFIG_BLOCKS*3, sizeof(config_list)); + } + + if (config_GNSS == nullptr) { + return 0; + } + uint8_t gnss_mode = params.gnss_mode; gnss_mode |= 1U< Date: Mon, 3 Jun 2024 18:26:36 +1000 Subject: [PATCH 173/282] autotest: copy message hooks while iterating over them for removal won't remove a number of entries from the end of the list if others have been removed --- Tools/autotest/vehicle_test_suite.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 9d03c0c5d3c1ea..ae1684d6f007fd 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -8456,7 +8456,7 @@ def run_one_test_attempt(self, test, interact=False, attempt=1, suppress_stdout= ex = e # reset the message hooks; we've failed-via-exception and # can't expect the hooks to have been cleaned up - for h in self.mav.message_hooks: + for h in copy.copy(self.mav.message_hooks): if h not in start_message_hooks: self.mav.message_hooks.remove(h) hooks_removed = True From 7cf96fb0a1e8451ae8942c7079540356c068227b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 3 Jun 2024 18:28:03 +1000 Subject: [PATCH 174/282] autotest: add a lineno method allows for debug like this: print(f"{self.lineno()} {self.mav.message_hooks=}") --- Tools/autotest/vehicle_test_suite.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index ae1684d6f007fd..28f761e2ff82c4 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -34,6 +34,7 @@ import tempfile import threading import enum +from inspect import currentframe, getframeinfo from pathlib import Path from MAVProxy.modules.lib import mp_util @@ -6417,6 +6418,12 @@ def verify_parameter_values(self, parameter_stuff, max_delta=0.0): ################################################# # UTILITIES ################################################# + def lineno(self): + '''return line number''' + frameinfo = getframeinfo(currentframe().f_back) + # print(frameinfo.filename, frameinfo.lineno) + return frameinfo.lineno + @staticmethod def longitude_scale(lat): ret = math.cos(lat * (math.radians(1))) From 7e59b8c5a0fcd28e1fcf90713f67371421e3cb6e Mon Sep 17 00:00:00 2001 From: subashchandar Date: Mon, 27 May 2024 16:17:50 +0530 Subject: [PATCH 175/282] hwdef: update PixFlamingo_f767 README --- .../hwdef/PixFlamingo-F767/README.md | 21 +++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixFlamingo-F767/README.md b/libraries/AP_HAL_ChibiOS/hwdef/PixFlamingo-F767/README.md index 495eca8f9b9b98..8030bd8d2ef14e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/PixFlamingo-F767/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/PixFlamingo-F767/README.md @@ -55,8 +55,8 @@ Contact dheeranlabs@gmail.com for sales | 1 | VCC | +5V | | 2 | UART_TX6 | +3.3V | | 3 | UART_RX6 | +3.3V | -| 4 | CTS | +3.3V | -| 5 | RTS | +3.3V | +| 4 | X | X | +| 5 | X | X | | 6 | GND | GND | **GPS1** @@ -70,7 +70,7 @@ Contact dheeranlabs@gmail.com for sales | 5 | I2C2_SDA | +3.3V | | 6 | GND | GND | -**GPS2** +**SERIAL5** | Pin | Signal | Volt | | :--: | :-----: | :---: | @@ -78,8 +78,17 @@ Contact dheeranlabs@gmail.com for sales | 2 | UART_TX7 | +3.3V | | 3 | UART_RX7 | +3.3V | | 4 | X | X | -| 5 | X | X | -| 6 | GND | GND | +| 5 | GND | GND | + +**SERIAL6, GPIO** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | USART_TX2| +3.3V | +| 3 | USART_RX2| +3.3V | +| 4 | GPIO | +3.3V | +| 5 | GND | GND | **SAFETY** @@ -103,7 +112,7 @@ receive pin for UARTn. The Tn pin is the transmit pin for UARTn. - SERIAL2 -> UART6 (TELEM2) with DMA Enabled - SERIAL3 -> UART1 (GPS1) Tx(NODMA), Rx(DMA Enabled) - SERIAL4 -> EMPTY - - SERIAL5 -> UART7 (GPS2) NODMA + - SERIAL5 -> UART7 (User) NODMA - SERIAL6 -> USART2 (User) NODMA ## RC Input From 6ae0b5ec5b823058e188ff5d70c19990251739e2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 8 Jun 2024 17:42:26 +1000 Subject: [PATCH 176/282] AP_HAL_SITL: log number of times sim paused on serial0 buffer SITL pauses the simulation if we do not have a minimum amount of space in its out queue. Log the number of times we do this. --- libraries/AP_HAL_SITL/HAL_SITL_Class.cpp | 5 +++++ libraries/AP_HAL_SITL/HAL_SITL_Class.h | 2 ++ libraries/AP_HAL_SITL/SITL_State.cpp | 1 + libraries/AP_HAL_SITL/SITL_State_common.h | 4 ++++ 4 files changed, 12 insertions(+) diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp index ab4a67dd83fe26..be72972e269d4e 100644 --- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp +++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp @@ -206,6 +206,11 @@ bool HAL_SITL::run_in_maintenance_mode() const } #endif +uint32_t HAL_SITL::get_uart_output_full_queue_count() const +{ + return _sitl_state->_serial_0_outqueue_full_count; +} + void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const { assert(callbacks); diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.h b/libraries/AP_HAL_SITL/HAL_SITL_Class.h index 4ddc20b2cb6663..495405c62bfa47 100644 --- a/libraries/AP_HAL_SITL/HAL_SITL_Class.h +++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.h @@ -41,6 +41,8 @@ class HAL_SITL : public AP_HAL::HAL { bool run_in_maintenance_mode() const; #endif + uint32_t get_uart_output_full_queue_count() const; + private: HALSITL::SITL_State *_sitl_state; diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp index 627b7c6c80c079..2d49bb606b07cd 100644 --- a/libraries/AP_HAL_SITL/SITL_State.cpp +++ b/libraries/AP_HAL_SITL/SITL_State.cpp @@ -188,6 +188,7 @@ void SITL_State::wait_clock(uint64_t wait_time_usec) if (queue_length < 1024) { break; } + _serial_0_outqueue_full_count++; usleep(1000); } } diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h index de3d75d657ac46..7bb4c04348f556 100644 --- a/libraries/AP_HAL_SITL/SITL_State_common.h +++ b/libraries/AP_HAL_SITL/SITL_State_common.h @@ -247,6 +247,10 @@ class HALSITL::SITL_State_Common { void multicast_state_open(void); void multicast_state_send(void); + // number of times we have paused the simulation for 1ms because + // the TCP queue is full: + uint32_t _serial_0_outqueue_full_count; + protected: enum vehicle_type _vehicle; From 6751bce0fc2dd9c43361934d0fa89eafb7b55df2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 8 Jun 2024 17:42:26 +1000 Subject: [PATCH 177/282] SITL: log number of times sim paused on serial0 buffer SITL pauses the simulation if we do not have a minimum amount of space in its out queue. Log the number of times we do this. --- libraries/SITL/SIM_Aircraft.cpp | 33 ++++++++++++++++++++++++++------- 1 file changed, 26 insertions(+), 7 deletions(-) diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp index fe074e9b454bab..6669643f1af74d 100644 --- a/libraries/SITL/SIM_Aircraft.cpp +++ b/libraries/SITL/SIM_Aircraft.cpp @@ -32,11 +32,17 @@ #include #include #include +#include using namespace SITL; extern const AP_HAL::HAL& hal; +// the SITL HAL can add information about pausing the simulation and its effect on the UART. Not present when we're compiling for simulation-on-hardware +#if CONFIG_HAL_BOARD == HAL_BOARD_SITL +extern const HAL_SITL& hal_sitl; +#endif + /* parent class for all simulator types */ @@ -452,6 +458,14 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm) } #if HAL_LOGGING_ENABLED +#if CONFIG_HAL_BOARD == HAL_BOARD_SITL + // the SITL HAL can add information about pausing the simulation + // and its effect on the UART. Not present when we're compiling + // for simulation-on-hardware + const uint32_t full_count = hal_sitl.get_uart_output_full_queue_count(); +#else + const uint32_t full_count = 0; +#endif // for EKF comparison log relhome pos and velocity at loop rate static uint16_t last_ticks; uint16_t ticks = AP::scheduler().ticks(); @@ -468,15 +482,20 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm) // @Field: VD: Velocity down // @Field: As: Airspeed // @Field: ASpdU: Achieved simulation speedup value +// @Field: UFC: Number of times simulation paused for serial0 output Vector3d pos = get_position_relhome(); Vector3f vel = get_velocity_ef(); - AP::logger().WriteStreaming("SIM2", "TimeUS,PN,PE,PD,VN,VE,VD,As,ASpdU", - "Qdddfffff", - AP_HAL::micros64(), - pos.x, pos.y, pos.z, - vel.x, vel.y, vel.z, - airspeed_pitot, - achieved_rate_hz/rate_hz); + AP::logger().WriteStreaming( + "SIM2", + "TimeUS,PN,PE,PD,VN,VE,VD,As,ASpdU,UFC", + "QdddfffffI", + AP_HAL::micros64(), + pos.x, pos.y, pos.z, + vel.x, vel.y, vel.z, + airspeed_pitot, + achieved_rate_hz/rate_hz, + full_count + ); } #endif } From 3201622d38e535943d763f8d004f655ad2b21ab7 Mon Sep 17 00:00:00 2001 From: Martin Luessi Date: Mon, 21 Aug 2023 15:58:34 -0700 Subject: [PATCH 178/282] AP_HAL_ChibiOS: Update readme for RADIX2HD --- .../AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md | 61 +++++++++++++++---- 1 file changed, 48 insertions(+), 13 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md index 7b5b1eeacc02c5..d77638e315fbb1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md @@ -43,7 +43,7 @@ and how to use the "PWR:VBAT" jumper. - SERIAL1 -> UART1 (DMA-enabled, MSP DisplayPort OSD) - SERIAL2 -> UART2 (DMA-enabled, GPS) - SERIAL3 -> UART3 (DMA-enabled, RCin) - - SERIAL4 -> UART4 (spare) + - SERIAL4 -> UART4 (ESC telemetry) - SERIAL5 -> UART5 (spare) - SERIAL6 -> UART6 (spare, PWM 9 and 10 by default, use BRD_ALT_CONFIG = 1 for UART) - SERIAL7 -> UART7 (spare, RX is on HD connector for RC input, TX is not connected to external pad) @@ -87,29 +87,64 @@ In addition to voltage sensing, the board also has an input for an external curr ## Loading Firmware -The RADIX 2 HD uses a proprietary bootloader. To load firmware, download the firmware binary file -from the [BrainFPV website](https://www.brainfpv.com/firmware) and copy it to the USB drive -that appears when connecting the RADIX 2 HD to your computer when it is in bootloader mode -(hold the BOOT button and release when connecting to USB). +The RADIX 2 HD uses a proprietary bootloader which needs a firmware file in a custom +file format. There are several ways of obtaining the firmware file, as explained below. +Once you have obtained the file, copy it to the USB drive that appears when connecting +the RADIX 2 HD to your computer when it is in bootloader mode (hold the BOOT button and +release when connecting to USB). Once it finishes copying, safely remove the drive. +At this point the RADIX 2 HD will reboot and run the ArduPilot firmware. -Note: When using Ardupilot, it is necessary to have a microSD card inserted, without it +Note: When using ArduPilot, it is necessary to have a microSD card inserted, without it the firmware won't run. -Alternatively, you can create your own firmware file using the [BrainFPV Firmware Packer](https://github.com/BrainFPV/brainfpv_fw_packer). -To create a file for Ardupilot, install the BrainFPV Firmware Packer: +### Option 1: Download the Firmware File the BrainFPV Website - pip install git+https://github.com/BrainFPV/brainfpv_fw_packer.git +The easiest way to get firmware files for your RADIX 2 HD is to download them from the +BrainFPV website. You can do so [here](https://www.brainfpv.com/firmware). -After that, build the Copter firmware: +### Option 2: Download the Firmware From the ArduPilot Build Server + +Download the ELF file from the [ArduPilot Build Server](https://firmware.ardupilot.org/). +Make sure you download the file for the "RADIX2HD" target. For example, the ELF file for ArduCopter +is called "arducopter.elf". + +In order to use the ELF file with your RADIX 2 HD, it needs to be converted using the +[BrainFPV Firmware Packer](https://github.com/BrainFPV/brainfpv_fw_packer). This utility +is implemented in Python, so you will need a Python installation. + +If you are using Linux, use your package manager to install Python 3. If you are using +Windows, download the Python 3 installer from the [Python Website](https://www.python.org/downloads/) +and run it. When installing, make sure to select "Add Python to PATH", so you will +be able to use Python from the Windows Command Prompt. + +After installing Python, start the Command Prompt and install the BrainFPV Firmware Packer +using the following command: + + pip install https://github.com/BrainFPV/brainfpv_fw_packer/archive/main.zip + +After installing it, you can use the following command to convert the "arducopter.elf" (or other vehicle elf file) +file to a "arducopter.bin" file that can be used with the RADIX 2 HD: + + brainfpv_fw_packer.py --name arducopter --in arducopter.elf --out arducopter.bin ^ + --dev radix2hd -t firmware -b 0x90400000 -z --noheader + +### Option 3: Compile the Firmware Yourself + +If you have a working [ArduPilot build environment](https://ardupilot.org/dev/docs/building-the-code.html), +you can compile the firmware yourself and then convert it to the format needed by the BrainFPV +bootloader. You will also need the [BrainFPV Firmware Packer](https://github.com/BrainFPV/brainfpv_fw_packer) +to do so. Install it using the "pip install" command shown above. + +For Copter, build the firmware as follows: ./waf configure --board RADIX2HD ./waf copter -Finally, use the firmware packer script to create the firmware file that can be used with the +other vehicles can be built, but the RADIX 2 HD is used primarily for copter applications. +Then use the firmware packer script to create the firmware file that can be used with the BrainFPV bootloader: ./libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh copter To use it, copy the resulting `arducopter_{VERSION}_brainfpv.bin` to the USB drive that appears -when the RADIX 2 HD is in bootloader mode. Once it finishes copying, safely remove the drive. -At this point the RADIX 2 HD will reboot and run the Copter firmware. +when the RADIX 2 HD is in bootloader mode. From 5107cb495a08b3a34c1a6e5c81bd0d29743627b2 Mon Sep 17 00:00:00 2001 From: muramura Date: Mon, 29 Apr 2024 02:30:30 +0900 Subject: [PATCH 179/282] Copter: Change the sub-mode description --- ArduCopter/mode_guided.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp index 8ea52985fd17ec..35df242985faf2 100644 --- a/ArduCopter/mode_guided.cpp +++ b/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 @@ -515,7 +515,7 @@ 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 +547,7 @@ 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 +589,7 @@ 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(); } From f7cc7eea9095bbc12f6f587b4a33de17c13440c7 Mon Sep 17 00:00:00 2001 From: muramura Date: Fri, 3 May 2024 19:02:37 +0900 Subject: [PATCH 180/282] Rover: Use common variables --- Rover/Log.cpp | 6 +++--- Rover/mode.cpp | 14 +++++++------- Rover/mode_acro.cpp | 8 ++++---- Rover/mode_auto.cpp | 20 ++++++++++---------- Rover/mode_circle.cpp | 8 ++++---- Rover/mode_guided.cpp | 2 +- Rover/mode_loiter.cpp | 6 +++--- 7 files changed, 32 insertions(+), 32 deletions(-) diff --git a/Rover/Log.cpp b/Rover/Log.cpp index 99fd471dccee4d..97bee976dfd283 100644 --- a/Rover/Log.cpp +++ b/Rover/Log.cpp @@ -24,7 +24,7 @@ void Rover::Log_Write_Attitude() } // log heel to sail control for sailboats - if (rover.g2.sailboat.sail_enabled()) { + if (g2.sailboat.sail_enabled()) { logger.Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info()); } } @@ -142,13 +142,13 @@ void Rover::Log_Write_Nav_Tuning() void Rover::Log_Write_Sail() { // only log sail if present - if (!rover.g2.sailboat.sail_enabled()) { + if (!g2.sailboat.sail_enabled()) { return; } float wind_dir_tack = logger.quiet_nanf(); uint8_t current_tack = 0; - if (rover.g2.windvane.enabled()) { + if (g2.windvane.enabled()) { wind_dir_tack = degrees(g2.windvane.get_tack_threshold_wind_dir_rad()); current_tack = uint8_t(g2.windvane.get_current_tack()); } diff --git a/Rover/mode.cpp b/Rover/mode.cpp index f4bd7dfc309298..866b7a5397ce82 100644 --- a/Rover/mode.cpp +++ b/Rover/mode.cpp @@ -10,7 +10,7 @@ Mode::Mode() : channel_roll(rover.channel_roll), channel_pitch(rover.channel_pitch), channel_walking_height(rover.channel_walking_height), - attitude_control(rover.g2.attitude_control) + attitude_control(g2.attitude_control) { } void Mode::exit() @@ -47,7 +47,7 @@ bool Mode::enter() set_reversed(false); // clear sailboat tacking flags - rover.g2.sailboat.clear_tack(); + g2.sailboat.clear_tack(); } return ret; @@ -66,7 +66,7 @@ void Mode::get_pilot_input(float &steering_out, float &throttle_out) const } // apply RC skid steer mixing - switch ((enum pilot_steer_type_t)rover.g.pilot_steer_type.get()) + switch ((enum pilot_steer_type_t)g.pilot_steer_type.get()) { case PILOT_STEER_TYPE_DEFAULT: case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING: @@ -166,7 +166,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_ float desired_throttle = constrain_float(rover.channel_throttle->norm_input_dz(), -1.0f, 1.0f); // handle two paddle input - if ((enum pilot_steer_type_t)rover.g.pilot_steer_type.get() == PILOT_STEER_TYPE_TWO_PADDLES) { + if ((enum pilot_steer_type_t)g.pilot_steer_type.get() == PILOT_STEER_TYPE_TWO_PADDLES) { const float left_paddle = desired_steering; const float right_paddle = desired_throttle; desired_steering = (left_paddle - right_paddle) * 0.5f; @@ -279,7 +279,7 @@ void Mode::handle_tack_request() { // autopilot modes handle tacking if (is_autopilot_mode()) { - rover.g2.sailboat.handle_tack_request_auto(); + g2.sailboat.handle_tack_request_auto(); } } @@ -304,9 +304,9 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled) // call throttle controller and convert output to -100 to +100 range float throttle_out = 0.0f; - if (rover.g2.sailboat.sail_enabled()) { + if (g2.sailboat.sail_enabled()) { // sailboats use special throttle and mainsail controller - rover.g2.sailboat.get_throttle_and_set_mainsail(target_speed, throttle_out); + g2.sailboat.get_throttle_and_set_mainsail(target_speed, throttle_out); } else { // call speed or stop controller if (is_zero(target_speed) && !rover.is_balancebot()) { diff --git a/Rover/mode_acro.cpp b/Rover/mode_acro.cpp index d59f208f0aafc5..1cad71e702b11f 100644 --- a/Rover/mode_acro.cpp +++ b/Rover/mode_acro.cpp @@ -28,12 +28,12 @@ void ModeAcro::update() // handle sailboats if (!is_zero(desired_steering)) { // steering input return control to user - rover.g2.sailboat.clear_tack(); + g2.sailboat.clear_tack(); } - if (rover.g2.sailboat.tacking()) { + if (g2.sailboat.tacking()) { // call heading controller during tacking - steering_out = attitude_control.get_steering_out_heading(rover.g2.sailboat.get_tack_heading_rad(), + steering_out = attitude_control.get_steering_out_heading(g2.sailboat.get_tack_heading_rad(), g2.wp_nav.get_pivot_rate(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, @@ -60,5 +60,5 @@ bool ModeAcro::requires_velocity() const // sailboats in acro mode support user manually initiating tacking from transmitter void ModeAcro::handle_tack_request() { - rover.g2.sailboat.handle_tack_request_acro(); + g2.sailboat.handle_tack_request_acro(); } diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp index dd99f363a15198..387349dfda95b0 100644 --- a/Rover/mode_auto.cpp +++ b/Rover/mode_auto.cpp @@ -141,7 +141,7 @@ void ModeAuto::update() break; case SubMode::Circle: - rover.g2.mode_circle.update(); + g2.mode_circle.update(); break; } } @@ -173,7 +173,7 @@ float ModeAuto::wp_bearing() const case SubMode::NavScriptTime: return rover.mode_guided.wp_bearing(); case SubMode::Circle: - return rover.g2.mode_circle.wp_bearing(); + return g2.mode_circle.wp_bearing(); } // this line should never be reached @@ -197,7 +197,7 @@ float ModeAuto::nav_bearing() const case SubMode::NavScriptTime: return rover.mode_guided.nav_bearing(); case SubMode::Circle: - return rover.g2.mode_circle.nav_bearing(); + return g2.mode_circle.nav_bearing(); } // this line should never be reached @@ -221,7 +221,7 @@ float ModeAuto::crosstrack_error() const case SubMode::NavScriptTime: return rover.mode_guided.crosstrack_error(); case SubMode::Circle: - return rover.g2.mode_circle.crosstrack_error(); + return g2.mode_circle.crosstrack_error(); } // this line should never be reached @@ -245,7 +245,7 @@ float ModeAuto::get_desired_lat_accel() const case SubMode::NavScriptTime: return rover.mode_guided.get_desired_lat_accel(); case SubMode::Circle: - return rover.g2.mode_circle.get_desired_lat_accel(); + return g2.mode_circle.get_desired_lat_accel(); } // this line should never be reached @@ -270,7 +270,7 @@ float ModeAuto::get_distance_to_destination() const case SubMode::NavScriptTime: return rover.mode_guided.get_distance_to_destination(); case SubMode::Circle: - return rover.g2.mode_circle.get_distance_to_destination(); + return g2.mode_circle.get_distance_to_destination(); } // this line should never be reached @@ -299,7 +299,7 @@ bool ModeAuto::get_desired_location(Location& destination) const case SubMode::NavScriptTime: return rover.mode_guided.get_desired_location(destination); case SubMode::Circle: - return rover.g2.mode_circle.get_desired_location(destination); + return g2.mode_circle.get_desired_location(destination); } // we should never reach here but just in case @@ -341,7 +341,7 @@ bool ModeAuto::reached_destination() const case SubMode::NavScriptTime: return rover.mode_guided.reached_destination(); case SubMode::Circle: - return rover.g2.mode_circle.reached_destination(); + return g2.mode_circle.reached_destination(); } // we should never reach here but just in case, return true to allow missions to continue @@ -366,7 +366,7 @@ bool ModeAuto::set_desired_speed(float speed) case SubMode::NavScriptTime: return rover.mode_guided.set_desired_speed(speed); case SubMode::Circle: - return rover.g2.mode_circle.set_desired_speed(speed); + return g2.mode_circle.set_desired_speed(speed); } return false; } @@ -902,7 +902,7 @@ bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd) // if a location target was set, return true once vehicle is close if (guided_target.valid) { - if (rover.current_loc.get_distance(guided_target.loc) <= rover.g2.wp_nav.get_radius()) { + if (rover.current_loc.get_distance(guided_target.loc) <= g2.wp_nav.get_radius()) { return true; } } diff --git a/Rover/mode_circle.cpp b/Rover/mode_circle.cpp index 86ba7dbdae1193..06109952481e3e 100644 --- a/Rover/mode_circle.cpp +++ b/Rover/mode_circle.cpp @@ -149,7 +149,7 @@ void ModeCircle::update() _distance_to_destination = center_to_veh.length(); dist_to_edge_m = fabsf(_distance_to_destination - config.radius); if (!reached_edge) { - const float dist_thresh_m = MAX(rover.g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST); + const float dist_thresh_m = MAX(g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST); reached_edge = dist_to_edge_m <= dist_thresh_m; } @@ -266,8 +266,8 @@ void ModeCircle::check_config_speed() void ModeCircle::check_config_radius() { // ensure radius is at least as large as vehicle's turn radius - if (config.radius < rover.g2.turn_radius) { - config.radius = rover.g2.turn_radius; - gcs().send_text(MAV_SEVERITY_WARNING, "Circle: radius increased to TURN_RADIUS (%4.1f)", (double)rover.g2.turn_radius); + if (config.radius < g2.turn_radius) { + config.radius = g2.turn_radius; + gcs().send_text(MAV_SEVERITY_WARNING, "Circle: radius increased to TURN_RADIUS (%4.1f)", (double)g2.turn_radius); } } diff --git a/Rover/mode_guided.cpp b/Rover/mode_guided.cpp index 80f0a5fa4477bb..338a734ff99eca 100644 --- a/Rover/mode_guided.cpp +++ b/Rover/mode_guided.cpp @@ -443,5 +443,5 @@ bool ModeGuided::limit_breached() const // scurves provide path planning and object avoidance but cannot handle fast updates to the destination (for fast updates use position controller input shaping) bool ModeGuided::use_scurves_for_navigation() const { - return ((rover.g2.guided_options.get() & uint32_t(Options::SCurvesUsedForNavigation)) != 0); + return ((g2.guided_options.get() & uint32_t(Options::SCurvesUsedForNavigation)) != 0); } diff --git a/Rover/mode_loiter.cpp b/Rover/mode_loiter.cpp index 918144c9fa444d..b208c595b14ddc 100644 --- a/Rover/mode_loiter.cpp +++ b/Rover/mode_loiter.cpp @@ -23,16 +23,16 @@ void ModeLoiter::update() // get distance (in meters) to destination _distance_to_destination = rover.current_loc.get_distance(_destination); - const float loiter_radius = rover.g2.sailboat.tack_enabled() ? g2.sailboat.get_loiter_radius() : g2.loit_radius; + const float loiter_radius = g2.sailboat.tack_enabled() ? g2.sailboat.get_loiter_radius() : g2.loit_radius; // if within loiter radius slew desired speed towards zero and use existing desired heading if (_distance_to_destination <= loiter_radius) { // sailboats should not stop unless motoring - const float desired_speed_within_radius = rover.g2.sailboat.tack_enabled() ? 0.1f : 0.0f; + const float desired_speed_within_radius = g2.sailboat.tack_enabled() ? 0.1f : 0.0f; _desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt); // if we have a sail but not trying to use it then point into the wind - if (!rover.g2.sailboat.tack_enabled() && rover.g2.sailboat.sail_enabled()) { + if (!g2.sailboat.tack_enabled() && g2.sailboat.sail_enabled()) { _desired_yaw_cd = degrees(g2.windvane.get_true_wind_direction_rad()) * 100.0f; } } else { From da3a9c1cc66756cf17538c9538818dd7675a20ee Mon Sep 17 00:00:00 2001 From: muramura Date: Wed, 22 May 2024 21:26:48 +0900 Subject: [PATCH 181/282] Copter: Enable processing --- ArduCopter/mode_guided.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp index 35df242985faf2..660c94eef170ce 100644 --- a/ArduCopter/mode_guided.cpp +++ b/ArduCopter/mode_guided.cpp @@ -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; } From f2f93494193284fd3dcd7a9fce71cb4cf1b80d8a Mon Sep 17 00:00:00 2001 From: Brad Bosch Date: Sat, 25 May 2024 17:46:35 -0500 Subject: [PATCH 182/282] AP_HAL: Add support for parity to Serial passthrough Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings. For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project. --- libraries/AP_HAL/UARTDriver.cpp | 5 +++++ libraries/AP_HAL/UARTDriver.h | 8 ++++++++ libraries/AP_HAL_ChibiOS/UARTDriver.cpp | 14 ++++++++++++++ libraries/AP_HAL_ChibiOS/UARTDriver.h | 1 + libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c | 12 ++++++++++++ libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h | 1 + .../AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c | 13 +++++++++++++ libraries/AP_HAL_Linux/UARTDriver.cpp | 1 + libraries/AP_HAL_SITL/UARTDriver.h | 1 + libraries/AP_HAL_SITL/UART_utils.cpp | 1 + 10 files changed, 57 insertions(+) diff --git a/libraries/AP_HAL/UARTDriver.cpp b/libraries/AP_HAL/UARTDriver.cpp index 547cd55ab75656..55412be3185c7f 100644 --- a/libraries/AP_HAL/UARTDriver.cpp +++ b/libraries/AP_HAL/UARTDriver.cpp @@ -179,6 +179,11 @@ bool AP_HAL::UARTDriver::flow_control_enabled(enum flow_control flow_control_set return false; } +uint8_t AP_HAL::UARTDriver::get_parity(void) +{ + return AP_HAL::UARTDriver::parity; +} + #if HAL_UART_STATS_ENABLED // Take cumulative bytes and return the change since last call uint32_t AP_HAL::UARTDriver::StatsTracker::ByteTracker::update(uint32_t bytes) diff --git a/libraries/AP_HAL/UARTDriver.h b/libraries/AP_HAL/UARTDriver.h index db395550e00dd7..317ddd1fba5437 100644 --- a/libraries/AP_HAL/UARTDriver.h +++ b/libraries/AP_HAL/UARTDriver.h @@ -78,6 +78,9 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream { // read buffer from a locked port. If port is locked and key is not correct then -1 is returned ssize_t read_locked(uint8_t *buf, size_t count, uint32_t key) WARN_IF_UNUSED; + + // get current parity for passthrough use + uint8_t get_parity(void); // control optional features virtual bool set_options(uint16_t options) { _last_options = options; return options==0; } @@ -189,6 +192,9 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream { // return true requested baud on USB port virtual uint32_t get_usb_baud(void) const { return 0; } + // return requested parity on USB port + virtual uint8_t get_usb_parity(void) const { return parity; } + // disable TX/RX pins for unusued uart virtual void disable_rxtx(void) const {} @@ -213,6 +219,8 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream { uint32_t lock_write_key; uint32_t lock_read_key; + uint8_t parity; + /* backend begin method */ diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp index 70ee7f2875c411..d0fedce5479151 100644 --- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp +++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp @@ -672,6 +672,19 @@ uint32_t UARTDriver::get_usb_baud() const return 0; } +/* + get the requested usb parity. Valid if get_usb_baud() returned non-zero. +*/ +uint8_t UARTDriver::get_usb_parity() const +{ +#if HAL_USE_SERIAL_USB + if (sdef.is_usb) { + return ::get_usb_parity(sdef.endpoint_id); + } +#endif + return 0; +} + uint32_t UARTDriver::_available() { if (!_rx_initialised || _uart_owner_thd != chThdGetSelfX()) { @@ -1429,6 +1442,7 @@ void UARTDriver::configure_parity(uint8_t v) // not possible return; } + UARTDriver::parity = v; #if HAL_USE_SERIAL == TRUE // stop and start to take effect sdStop((SerialDriver*)sdef.serial); diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h index 900086bbc03726..e50230d427ae6b 100644 --- a/libraries/AP_HAL_ChibiOS/UARTDriver.h +++ b/libraries/AP_HAL_ChibiOS/UARTDriver.h @@ -38,6 +38,7 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver { bool is_initialized() override; bool tx_pending() override; uint32_t get_usb_baud() const override; + uint8_t get_usb_parity() const override; // disable TX/RX pins for unusued uart void disable_rxtx(void) const override; diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c b/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c index eed51ebae3ea3e..e734179820926d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c @@ -251,6 +251,18 @@ uint32_t get_usb_baud(uint16_t endpoint_id) } return 0; } + +/* + get the requested usb parity. Valid if get_usb_baud() returned non-zero +*/ +uint8_t get_usb_parity(uint16_t endpoint_id) +{ + if (endpoint_id == 0) { + return linecoding.bParityType; + } + + return 0; +} #endif /** * @brief IN EP1 state. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h b/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h index 2add6e6c7f9bbf..79fa3446cb9b48 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h @@ -46,6 +46,7 @@ extern SerialUSBDriver SDU2; extern const SerialUSBConfig serusbcfg2; #endif //HAL_HAVE_DUAL_USB_CDC uint32_t get_usb_baud(uint16_t endpoint_id); +uint8_t get_usb_parity(uint16_t endpoint_id); #endif #define USB_DESC_MAX_STRLEN 100 void setup_usb_strings(void); diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c b/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c index cb1a127287ca11..e3dab2bc2649d2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c @@ -315,6 +315,19 @@ uint32_t get_usb_baud(uint16_t endpoint_id) } return 0; } + +/* + get the requested usb parity. Valid if get_usb_baud() returned non-zero +*/ +uint8_t get_usb_parity(uint16_t endpoint_id) +{ + for (uint8_t i = 0; i < ARRAY_SIZE(linecoding); i++) { + if (endpoint_id == ep_index[i]) { + return linecoding[i].bParityType; + } + } + return 0; +} #endif /** * @brief IN EP1 state. diff --git a/libraries/AP_HAL_Linux/UARTDriver.cpp b/libraries/AP_HAL_Linux/UARTDriver.cpp index 64747297136c06..169358f1659ecd 100644 --- a/libraries/AP_HAL_Linux/UARTDriver.cpp +++ b/libraries/AP_HAL_Linux/UARTDriver.cpp @@ -417,6 +417,7 @@ void UARTDriver::_timer_tick(void) } void UARTDriver::configure_parity(uint8_t v) { + UARTDriver::parity = v; _device->set_parity(v); } diff --git a/libraries/AP_HAL_SITL/UARTDriver.h b/libraries/AP_HAL_SITL/UARTDriver.h index 11a272d7524efd..4fc517d2c5931d 100644 --- a/libraries/AP_HAL_SITL/UARTDriver.h +++ b/libraries/AP_HAL_SITL/UARTDriver.h @@ -161,6 +161,7 @@ class HALSITL::UARTDriver : public AP_HAL::UARTDriver { // statistics uint32_t _tx_stats_bytes; uint32_t _rx_stats_bytes; + }; #endif diff --git a/libraries/AP_HAL_SITL/UART_utils.cpp b/libraries/AP_HAL_SITL/UART_utils.cpp index f0a7d06c70873c..a3dfcccc286086 100644 --- a/libraries/AP_HAL_SITL/UART_utils.cpp +++ b/libraries/AP_HAL_SITL/UART_utils.cpp @@ -73,6 +73,7 @@ void HALSITL::UARTDriver::configure_parity(uint8_t v) if (_fd < 0) { return; } + UARTDriver::parity = v; #ifdef USE_TERMIOS struct termios t; From 3b150d2e4c8ea2f55b09b06cd86a412f81b95787 Mon Sep 17 00:00:00 2001 From: Brad Bosch Date: Sat, 25 May 2024 17:46:36 -0500 Subject: [PATCH 183/282] GCS_MAVLink: Add support for parity to Serial passthrough Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings. For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project. --- libraries/GCS_MAVLink/GCS.h | 2 + libraries/GCS_MAVLink/GCS_Common.cpp | 55 ++++++++++++++++++++++------ 2 files changed, 46 insertions(+), 11 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h index 148757e0b49f0a..cf33c88572da4e 100644 --- a/libraries/GCS_MAVLink/GCS.h +++ b/libraries/GCS_MAVLink/GCS.h @@ -1333,6 +1333,8 @@ class GCS uint32_t last_port1_data_ms; uint32_t baud1; uint32_t baud2; + uint8_t parity1; + uint8_t parity2; uint8_t timeout_s; HAL_Semaphore sem; } _passthru; diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 2c9dc7cc306a52..bf273c42e0d6c3 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -6638,6 +6638,7 @@ void GCS::update_passthru(void) WITH_SEMAPHORE(_passthru.sem); uint32_t now = AP_HAL::millis(); uint32_t baud1, baud2; + uint8_t parity1 = 0, parity2 = 0; bool enabled = AP::serialmanager().get_passthru(_passthru.port1, _passthru.port2, _passthru.timeout_s, baud1, baud2); if (enabled && !_passthru.enabled) { @@ -6647,6 +6648,8 @@ void GCS::update_passthru(void) _passthru.last_port1_data_ms = now; _passthru.baud1 = baud1; _passthru.baud2 = baud2; + _passthru.parity1 = parity1 = _passthru.port1->get_parity(); + _passthru.parity2 = parity2 = _passthru.port2->get_parity(); gcs().send_text(MAV_SEVERITY_INFO, "Passthru enabled"); if (!_passthru.timer_installed) { _passthru.timer_installed = true; @@ -6665,6 +6668,13 @@ void GCS::update_passthru(void) _passthru.port2->end(); _passthru.port2->begin(baud2); } + // Restore original parity + if (_passthru.parity1 != parity1) { + _passthru.port1->configure_parity(parity1); + } + if (_passthru.parity2 != parity2) { + _passthru.port2->configure_parity(parity2); + } gcs().send_text(MAV_SEVERITY_INFO, "Passthru disabled"); } else if (enabled && _passthru.timeout_s && @@ -6683,12 +6693,19 @@ void GCS::update_passthru(void) _passthru.port2->end(); _passthru.port2->begin(baud2); } + // Restore original parity + if (_passthru.parity1 != parity1) { + _passthru.port1->configure_parity(parity1); + } + if (_passthru.parity2 != parity2) { + _passthru.port2->configure_parity(parity2); + } gcs().send_text(MAV_SEVERITY_INFO, "Passthru timed out"); } } /* - called at 1kHz to handle pass-thru between SERIA0_PASSTHRU port and hal.console + called at 1kHz to handle pass-thru between SERIAL_PASS1 and SERIAL_PASS2 ports */ void GCS::passthru_timer(void) { @@ -6701,7 +6718,7 @@ void GCS::passthru_timer(void) if (_passthru.start_ms != 0) { uint32_t now = AP_HAL::millis(); if (now - _passthru.start_ms < 1000) { - // delay for 1s so the reply for the SERIAL0_PASSTHRU param set can be seen by GCS + // delay for 1s so the reply for the SERIAL_PASS2 param set can be seen by GCS return; } _passthru.start_ms = 0; @@ -6715,19 +6732,35 @@ void GCS::passthru_timer(void) _passthru.port1->lock_port(lock_key, lock_key); _passthru.port2->lock_port(lock_key, lock_key); - // Check for requested Baud rates over USB + // Check for requested Baud rates and parity over USB uint32_t baud = _passthru.port1->get_usb_baud(); - if (_passthru.baud2 != baud && baud != 0) { - _passthru.baud2 = baud; - _passthru.port2->end(); - _passthru.port2->begin_locked(baud, 0, 0, lock_key); + uint8_t parity = _passthru.port1->get_usb_parity(); + if (baud != 0) { // port1 is USB + if (_passthru.baud2 != baud) { + _passthru.baud2 = baud; + _passthru.port2->end(); + _passthru.port2->begin_locked(baud, 0, 0, lock_key); + } + + if (_passthru.parity2 != parity) { + _passthru.parity2 = parity; + _passthru.port2->configure_parity(parity); + } } baud = _passthru.port2->get_usb_baud(); - if (_passthru.baud1 != baud && baud != 0) { - _passthru.baud1 = baud; - _passthru.port1->end(); - _passthru.port1->begin_locked(baud, 0, 0, lock_key); + parity = _passthru.port2->get_usb_parity(); + if (baud != 0) { // port2 is USB + if (_passthru.baud1 != baud) { + _passthru.baud1 = baud; + _passthru.port1->end(); + _passthru.port1->begin_locked(baud, 0, 0, lock_key); + } + + if (_passthru.parity1 != parity) { + _passthru.parity1 = parity; + _passthru.port1->configure_parity(parity); + } } uint8_t buf[64]; From 3c2f7944eb72673cb1104dd322a38362497e22a9 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 4 Jun 2024 15:09:53 +1000 Subject: [PATCH 184/282] autotest: test SBP2 as part of GPSTypes check --- Tools/autotest/vehicle_test_suite.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 28f761e2ff82c4..c7b9fdf9ef7ef1 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -13702,8 +13702,8 @@ def GPSTypes(self): (1, "UBLOX", None, "u-blox", 5, 'probing'), (5, "NMEA", 5, "NMEA", 5, 'probing'), (6, "SBP", None, "SBP", 5, 'probing'), - # (7, "SBP2", 9, "SBP2", 5), # broken, "waiting for config data" (8, "NOVA", 15, "NOVA", 5, 'probing'), # no attempt to auto-detect this in AP_GPS + (9, "SBP2", None, "SBP2", 5, 'probing'), (11, "GSOF", 11, "GSOF", 5, 'specified'), # no attempt to auto-detect this in AP_GPS (19, "MSP", 19, "MSP", 32, 'specified'), # no attempt to auto-detect this in AP_GPS # (9, "FILE"), From dd56f2465b5a37a67ab9f37ca717f06c01f19ef1 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 4 Jun 2024 15:10:12 +1000 Subject: [PATCH 185/282] SITL: make simulated SBP2 vastly more accurate I have no idea if this is actually the sort of number which these devices will return. However, for the EKF to be happy with the GPS the reported speed accuracy must be much lower than the SBP2 driver reports when we give it these numbers. It might be that we are interpretting these fields incorrectly in the driver and that the simulator is, in fact, correct. --- libraries/SITL/SIM_GPS_SBP2.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/SITL/SIM_GPS_SBP2.cpp b/libraries/SITL/SIM_GPS_SBP2.cpp index b8c75f5a1fb708..3acd391e06c9a6 100644 --- a/libraries/SITL/SIM_GPS_SBP2.cpp +++ b/libraries/SITL/SIM_GPS_SBP2.cpp @@ -92,8 +92,8 @@ void GPS_SBP2::publish(const GPS_Data *d) velned.n = 1e3 * d->speedN; velned.e = 1e3 * d->speedE; velned.d = 1e3 * d->speedD; - velned.h_accuracy = 5e3; - velned.v_accuracy = 5e3; + velned.h_accuracy = 1e3 * 0.5; + velned.v_accuracy = 1e3 * 0.5; velned.n_sats = d->have_lock ? _sitl->gps_numsats[instance] : 3; velned.flags = 1; sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned); From 364452ffc8926e4eaf458e5f8bb470a110b6a1cb Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 4 Jun 2024 19:13:57 +1000 Subject: [PATCH 186/282] autotest: add test for DroneCAN battery handling --- Tools/ardupilotwaf/boards.py | 13 ++++++++ Tools/autotest/arducopter.py | 57 ++++++++++++++++++++++++++++++++++++ Tools/autotest/autotest.py | 13 ++++++++ 3 files changed, 83 insertions(+) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 5f5ce5434b121b..a941788940a87f 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -944,6 +944,19 @@ def configure_env(self, cfg, env): HAL_PERIPH_ENABLE_GPS = 1, ) +class sitl_periph_battmon(sitl_periph): + def configure_env(self, cfg, env): + cfg.env.AP_PERIPH = 1 + super(sitl_periph_battmon, self).configure_env(cfg, env) + env.DEFINES.update( + HAL_BUILD_AP_PERIPH = 1, + PERIPH_FW = 1, + CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_battmon"', + APJ_BOARD_ID = 101, + + HAL_PERIPH_ENABLE_BATTERY = 1, + ) + class esp32(Board): abstract = True toolchain = 'xtensa-esp32-elf' diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index b646f909a7fb63..96667e3b7c70d1 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -11574,6 +11574,57 @@ def testcan(self): ]) return ret + def BattCANSplitAuxInfo(self): + '''test CAN battery periphs''' + self.start_subtest("Swap UAVCAN backend at runtime") + self.set_parameters({ + "CAN_P1_DRIVER": 1, + "BATT_MONITOR": 4, # 4 is ananlog volt+curr + "BATT2_MONITOR": 8, # 8 is UAVCAN_BatteryInfo + "BATT_SERIAL_NUM": 0, + "BATT2_SERIAL_NUM": 0, + "BATT_OPTIONS": 128, # allow split auxinfo + "BATT2_OPTIONS": 128, # allow split auxinfo + }) + self.reboot_sitl() + self.delay_sim_time(2) + self.set_parameters({ + "BATT_MONITOR": 8, # 8 is UAVCAN_BatteryInfo + "BATT2_MONITOR": 4, # 8 is UAVCAN_BatteryInfo + }) + self.delay_sim_time(2) + self.set_parameters({ + "BATT_MONITOR": 4, # 8 is UAVCAN_BatteryInfo + "BATT2_MONITOR": 8, # 8 is UAVCAN_BatteryInfo + }) + self.delay_sim_time(2) + self.set_parameters({ + "BATT_MONITOR": 8, # 8 is UAVCAN_BatteryInfo + "BATT2_MONITOR": 4, # 8 is UAVCAN_BatteryInfo + }) + self.delay_sim_time(2) + + def BattCANReplaceRuntime(self): + '''test CAN battery periphs''' + self.start_subtest("Replace UAVCAN backend at runtime") + self.set_parameters({ + "CAN_P1_DRIVER": 1, + "BATT_MONITOR": 11, # 4 is ananlog volt+curr + }) + self.reboot_sitl() + self.delay_sim_time(2) + self.set_parameters({ + "BATT_MONITOR": 8, # 4 is UAVCAN batterinfo + }) + self.delay_sim_time(2) + + def testcanbatt(self): + ret = ([ + self.BattCANReplaceRuntime, + self.BattCANSplitAuxInfo, + ]) + return ret + def tests(self): ret = [] ret.extend(self.tests1a()) @@ -11637,3 +11688,9 @@ class AutoTestCAN(AutoTestCopter): def tests(self): return self.testcan() + + +class AutoTestBattCAN(AutoTestCopter): + + def tests(self): + return self.testcanbatt() diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py index 596a42db019982..d11c11ff0e0808 100755 --- a/Tools/autotest/autotest.py +++ b/Tools/autotest/autotest.py @@ -287,7 +287,9 @@ def should_run_step(step): "BalanceBot": "ardurover", "Sailboat": "ardurover", "SITLPeriphUniversal": ("sitl_periph_universal", "AP_Periph"), + "SITLPeriphBattMon": ("sitl_periph_battmon", "AP_Periph"), "CAN": "arducopter", + "BattCAN": "arducopter", } @@ -358,11 +360,15 @@ def find_specific_test_to_run(step): "test.Sub": ardusub.AutoTestSub, "test.Tracker": antennatracker.AutoTestTracker, "test.CAN": arducopter.AutoTestCAN, + "test.BattCAN": arducopter.AutoTestBattCAN, } supplementary_test_binary_map = { "test.CAN": ["sitl_periph_universal:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501 "sitl_periph_universal:AP_Periph:1:Tools/autotest/default_params/periph.parm"], + "test.BattCAN": [ + "sitl_periph_battmon:AP_Periph:0:Tools/autotest/default_params/periph-battmon.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501 + ], } @@ -445,6 +451,10 @@ def run_step(step): vehicle_binary = 'bin/AP_Periph' board = 'sitl_periph_universal' + if step == 'build.SITLPeriphBattMon': + vehicle_binary = 'bin/AP_Periph' + board = 'sitl_periph_battmon' + if step == 'build.Replay': return util.build_replay(board='SITL') @@ -1081,6 +1091,9 @@ def format_epilog(self, formatter): 'build.SITLPeriphUniversal', 'test.CAN', + 'build.SITLPeriphBattMon', + 'test.BattCAN', + # convertgps disabled as it takes 5 hours # 'convertgpx', ] From 029e0b15b38f682d9d83f896d00b03bd5053a32f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 5 Jun 2024 00:58:27 +1000 Subject: [PATCH 187/282] AP_BattMonitor: avoid casting DroneCAN backend to incorrect type - split get_type into allocated_type and configured_type - check allocated type rather than configured type when looking at backends Prevents overwrite of random memory when backends are changed at runtime. --- libraries/AP_BattMonitor/AP_BattMonitor.cpp | 28 +++++++++++++++---- libraries/AP_BattMonitor/AP_BattMonitor.h | 10 +++++-- .../AP_BattMonitor_DroneCAN.cpp | 6 ++-- 3 files changed, 33 insertions(+), 11 deletions(-) diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp index e0ca73f339c94c..8c766b4e362f9b 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp @@ -480,7 +480,8 @@ AP_BattMonitor::init() memset(&state[instance].cell_voltages, 0xFF, sizeof(cells)); state[instance].instance = instance; - switch (get_type(instance)) { + const auto allocation_type = configured_type(instance); + switch (allocation_type) { #if AP_BATTERY_ANALOG_ENABLED case Type::ANALOG_VOLTAGE_ONLY: case Type::ANALOG_VOLTAGE_AND_CURRENT: @@ -607,7 +608,9 @@ AP_BattMonitor::init() default: break; } - + if (drivers[instance] != nullptr) { + state[instance].type = allocation_type; + } // if the backend has some local parameters then make those available in the tree if (drivers[instance] && state[instance].var_info) { backend_var_info[instance] = state[instance].var_info; @@ -699,7 +702,16 @@ void AP_BattMonitor::read() #endif for (uint8_t i=0; i<_num_instances; i++) { - if (drivers[i] != nullptr && get_type(i) != Type::NONE) { + if (drivers[i] == nullptr) { + continue; + } + if (allocated_type(i) != configured_type(i)) { + continue; + } + // allow run-time disabling; this is technically redundant + if (configured_type(i) == Type::NONE) { + continue; + } drivers[i]->read(); drivers[i]->update_resistance_estimate(); @@ -714,7 +726,6 @@ void AP_BattMonitor::read() drivers[i]->Log_Write_BCL(i, time_us); } #endif - } } check_failsafes(); @@ -1126,7 +1137,14 @@ void AP_BattMonitor::MPPT_set_powered_state(const uint8_t instance, const bool p bool AP_BattMonitor::healthy() const { for (uint8_t i=0; i< _num_instances; i++) { - if (get_type(i) != Type::NONE && !healthy(i)) { + if (allocated_type(i) != configured_type(i)) { + return false; + } + // allow run-time disabling; this is technically redundant + if (configured_type(i) == Type::NONE) { + continue; + } + if (!healthy(i)) { return false; } } diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.h b/libraries/AP_BattMonitor/AP_BattMonitor.h index 67c138e5f779fa..f03e9976320bec 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor.h +++ b/libraries/AP_BattMonitor/AP_BattMonitor.h @@ -160,6 +160,7 @@ class AP_BattMonitor uint8_t state_of_health_pct; // state of health (SOH) in percent bool has_state_of_health_pct; // state_of_health_pct is only valid if this is true uint8_t instance; // instance number of this backend + Type type; // allocated instance type const struct AP_Param::GroupInfo *var_info; }; @@ -219,11 +220,14 @@ class AP_BattMonitor /// returns the highest failsafe action that has been triggered int8_t get_highest_failsafe_priority(void) const { return _highest_failsafe_priority; }; - /// get_type - returns battery monitor type - enum Type get_type() const { return get_type(AP_BATT_PRIMARY_INSTANCE); } - enum Type get_type(uint8_t instance) const { + /// configured_type - returns battery monitor type as configured in parameters + enum Type configured_type(uint8_t instance) const { return (Type)_params[instance]._type.get(); } + /// allocated_type - returns battery monitor type as allocated + enum Type allocated_type(uint8_t instance) const { + return state[instance].type; + } /// get_serial_number - returns battery serial number int32_t get_serial_number() const { return get_serial_number(AP_BATT_PRIMARY_INSTANCE); } diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp index e6adb47ecf580a..24bb0b69f5f088 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp @@ -79,7 +79,7 @@ AP_BattMonitor_DroneCAN* AP_BattMonitor_DroneCAN::get_dronecan_backend(AP_DroneC const auto &batt = AP::battery(); for (uint8_t i = 0; i < batt._num_instances; i++) { if (batt.drivers[i] == nullptr || - batt.get_type(i) != AP_BattMonitor::Type::UAVCAN_BatteryInfo) { + batt.allocated_type(i) != AP_BattMonitor::Type::UAVCAN_BatteryInfo) { continue; } AP_BattMonitor_DroneCAN* driver = (AP_BattMonitor_DroneCAN*)batt.drivers[i]; @@ -90,7 +90,7 @@ AP_BattMonitor_DroneCAN* AP_BattMonitor_DroneCAN::get_dronecan_backend(AP_DroneC // find empty uavcan driver for (uint8_t i = 0; i < batt._num_instances; i++) { if (batt.drivers[i] != nullptr && - batt.get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo && + batt.allocated_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo && match_battery_id(i, battery_id)) { AP_BattMonitor_DroneCAN* batmon = (AP_BattMonitor_DroneCAN*)batt.drivers[i]; @@ -241,7 +241,7 @@ void AP_BattMonitor_DroneCAN::handle_battery_info_aux_trampoline(AP_DroneCAN *ap for (uint8_t i = 0; i < batt._num_instances; i++) { const auto *drv = batt.drivers[i]; if (drv != nullptr && - batt.get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo && + batt.allocated_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo && drv->option_is_set(AP_BattMonitor_Params::Options::AllowSplitAuxInfo) && batt.get_serial_number(i) == int32_t(msg.battery_id)) { driver = (AP_BattMonitor_DroneCAN *)batt.drivers[i]; From fc560e82199c6bda2d7d320094d10ef03a2bbdea Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 5 Jun 2024 00:58:27 +1000 Subject: [PATCH 188/282] GCS_MAVLink: avoid casting DroneCAN backend to incorrect type - split get_type into allocated_type and configured_type - check allocated type rather than configured type when looking at backends Prevents overwrite of random memory when backends are changed at runtime. --- libraries/GCS_MAVLink/GCS_Common.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index bf273c42e0d6c3..4189392e764ab3 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -377,7 +377,9 @@ bool GCS_MAVLINK::send_battery_status() for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) { const uint8_t battery_id = (last_battery_status_idx + 1) % AP_BATT_MONITOR_MAX_INSTANCES; - if (battery.get_type(battery_id) != AP_BattMonitor::Type::NONE) { + const auto configured_type = battery.configured_type(battery_id); + if (configured_type != AP_BattMonitor::Type::NONE && + configured_type == battery.allocated_type(battery_id)) { CHECK_PAYLOAD_SIZE(BATTERY_STATUS); send_battery_status(battery_id); last_battery_status_idx = battery_id; From a8fa44a953551058f003efab437ee3d37f99efc2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 21 Aug 2023 20:52:41 +1000 Subject: [PATCH 189/282] board_types.txt: remove space and + from ArduPilot names --- Tools/AP_Bootloader/board_types.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index f16c4b20891685..717ae3a7c5b324 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -111,7 +111,7 @@ AP_HW_VRUBRAIN_V51 1351 AP_HW_F103_PERIPH 1000 AP_HW_CUAV_GPS 1001 AP_HW_OMNIBUSF4 1002 -AP_HW_CUBEBLACK+ 1003 +AP_HW_CUBEBLACKPLUS 1003 AP_HW_F303_PERIPH 1004 AP_HW_ZUBAXGNSS 1005 AP_HW_NIGHTCRAWLER 1006 @@ -200,7 +200,7 @@ AP_HW_HolybroCompass 1088 AP_HW_FOXEERH743_V1 1089 AP_HW_PixFlamingoL4R5_V1 1090 -AP_HW_Sierra-TrueNav Pro 1091 +AP_HW_Sierra-TrueNavPro 1091 AP_HW_Sierra-TrueNav 1092 AP_HW_Sierra-TrueNorth 1093 AP_HW_Sierra-TrueSpeed 1094 From e7e1d72abf0bc11222ccc303e5931210ebccb575 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 21 Aug 2023 21:51:25 +1000 Subject: [PATCH 190/282] board_types.txt: add missing kha_eth board ID reservation --- Tools/AP_Bootloader/board_types.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 717ae3a7c5b324..6f6ef44d0d183b 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -287,6 +287,8 @@ AP_HW_FlywooF405HD_AIOv2 1180 AP_HW_ESP32_PERIPH 1205 AP_HW_ESP32S3_PERIPH 1206 +AP_HW_KHA_ETH 1315 + AP_HW_CUBEORANGE_PERIPH 1400 AP_HW_CUBEBLACK_PERIPH 1401 AP_HW_PIXRACER_PERIPH 1402 From 0dff221a9b9007c35bd776292644dd4cd38ae058 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 21 Aug 2023 21:55:48 +1000 Subject: [PATCH 191/282] board_types.txt: add missing MazzyStarDrone board ID reservation --- Tools/AP_Bootloader/board_types.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 6f6ef44d0d183b..186d9f10311642 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -103,6 +103,8 @@ AP_HW_JDMINIF405 144 AP_HW_KAKUTEF7_MINI 145 AP_HW_H757I_EVAL 146 AP_HW_F4BY 20 # value due to previous release by vendor +AP_HW_MAZZYSTARDRONE 188 + AP_HW_VRBRAIN_V51 1151 AP_HW_VRBRAIN_V52 1152 AP_HW_VRBRAIN_V54 1154 From d250d9cb2bc1fa675aaed1c141c6f8e1f2586179 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 09:43:58 +1000 Subject: [PATCH 192/282] GCS_MAVLink: remove MOUNT_CONFIGURE/MOUNT_CONTROL handling by default --- libraries/GCS_MAVLink/GCS_config.h | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h index d369ef89af57bb..2cef95f117f264 100644 --- a/libraries/GCS_MAVLink/GCS_config.h +++ b/libraries/GCS_MAVLink/GCS_config.h @@ -65,12 +65,16 @@ #define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0 #endif +// CODE_REMOVAL +// ArduPilot 4.5 sends deprecation warnings for MOUNT_CONTROL/MOUNT_CONFIGURE +// ArduPilot 4.6 stops compiling them in +// ArduPilot 4.7 removes the code entirely #ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED -#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED HAL_GCS_ENABLED +#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED 0 #endif #ifndef AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED -#define AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED HAL_GCS_ENABLED +#define AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED 0 #endif // this is for both read and write messages: From 81e08b16c9556ce8b73f96cd3b6f60b5fab6018d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 09:48:22 +1000 Subject: [PATCH 193/282] autotest: remove test for mount_control mavlink message no longer compiled in by default --- Tools/autotest/arducopter.py | 26 -------------------------- 1 file changed, 26 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 96667e3b7c70d1..3b61252b9cb58c 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -5490,32 +5490,6 @@ def Mount(self): ) self.test_mount_pitch(angle, 1, mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING) - # point gimbal at specified location - self.progress("Point gimbal at Location using MOUNT_CONTROL (GPS)") - self.do_pitch(despitch) - self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT) - - # Delay here to allow the attitude to command to timeout and level out the copter a bit - self.delay_sim_time(3) - - start = self.mav.location() - self.progress("start=%s" % str(start)) - (t_lat, t_lon) = mavextra.gps_offset(start.lat, start.lng, 10, 20) - t_alt = 0 - - self.progress("loc %f %f %f" % (start.lat, start.lng, start.alt)) - self.progress("targetting %f %f %f" % (t_lat, t_lon, t_alt)) - self.do_pitch(despitch) - self.mav.mav.mount_control_send( - 1, # target system - 1, # target component - int(t_lat * 1e7), # lat - int(t_lon * 1e7), # lon - t_alt * 100, # alt - 0 # save position - ) - self.test_mount_pitch(-52, 5, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT) - # this is a one-off; ArduCopter *will* time out this directive! self.progress("Levelling aircraft") self.mav.mav.set_attitude_target_send( From 4fb8408e8033c59b642957bf9fd16733a97b49a0 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 10:06:21 +1000 Subject: [PATCH 194/282] GCS_MAVLink: clarify timeline on removal of HIL_GPS and BATTERY2 try to move to a standard greppable pattern for code to be removed --- libraries/GCS_MAVLink/GCS_config.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h index 2cef95f117f264..90204972cbc3f3 100644 --- a/libraries/GCS_MAVLink/GCS_config.h +++ b/libraries/GCS_MAVLink/GCS_config.h @@ -12,7 +12,10 @@ #define HAL_MAVLINK_BINDINGS_ENABLED HAL_GCS_ENABLED #endif +// CODE_REMOVAL // BATTERY2 is slated to be removed: +// ArduPilot 4.6 stops compiling support in +// ArduPilot 4.7 removes the code entirely #ifndef AP_MAVLINK_BATTERY2_ENABLED #define AP_MAVLINK_BATTERY2_ENABLED 0 #endif @@ -59,8 +62,11 @@ #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED #endif +// CODE_REMOVAL // handling of HIL_GPS is slated to be removed in 4.7; GPS_INPUT can be used // in its place +// ArduPilot 4.6 stops compiling support in +// ArduPilot 4.7 removes the code entirely #ifndef AP_MAVLINK_MSG_HIL_GPS_ENABLED #define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0 #endif From 2d7a4b318dbdfe200a9664e2c33f28dfff804ef0 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 14 Feb 2022 14:00:33 +1100 Subject: [PATCH 195/282] AP_NavEKF: tidy creation of vectors --- libraries/AP_NavEKF/EKFGSF_yaw.cpp | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/libraries/AP_NavEKF/EKFGSF_yaw.cpp b/libraries/AP_NavEKF/EKFGSF_yaw.cpp index 7d9e453c7548cb..5a9a963f6cf466 100644 --- a/libraries/AP_NavEKF/EKFGSF_yaw.cpp +++ b/libraries/AP_NavEKF/EKFGSF_yaw.cpp @@ -103,7 +103,7 @@ void EKFGSF_yaw::update(const Vector3F &delAng, // Calculate a composite yaw as a weighted average of the states for each model. // To avoid issues with angle wrapping, the yaw state is converted to a vector with legnth // equal to the weighting value before it is summed. - Vector2F yaw_vector = {}; + Vector2F yaw_vector; for (uint8_t mdl_idx = 0; mdl_idx < N_MODELS_EKFGSF; mdl_idx++) { yaw_vector[0] += GSF.weights[mdl_idx] * cosF(EKF[mdl_idx].X[2]); yaw_vector[1] += GSF.weights[mdl_idx] * sinF(EKF[mdl_idx].X[2]); @@ -196,15 +196,15 @@ void EKFGSF_yaw::predictAHRS(const uint8_t mdl_idx) // Generate attitude solution using simple complementary filter for the selected model // Calculate 'k' unit vector of earth frame rotated into body frame - const Vector3F k(AHRS[mdl_idx].R[2][0], AHRS[mdl_idx].R[2][1], AHRS[mdl_idx].R[2][2]); + const Vector3F k{AHRS[mdl_idx].R[2][0], AHRS[mdl_idx].R[2][1], AHRS[mdl_idx].R[2][2]}; // Calculate angular rate vector in rad/sec averaged across last sample interval - Vector3F ang_rate_delayed_raw = delta_angle / angle_dt; + const Vector3F ang_rate_delayed_raw { delta_angle / angle_dt }; // Perform angular rate correction using accel data and reduce correction as accel magnitude moves away from 1 g (reduces drift when vehicle picked up and moved). // During fixed wing flight, compensate for centripetal acceleration assuming coordinated turns and X axis forward - Vector3F tilt_error_gyro_correction = {}; // (rad/sec) + Vector3F tilt_error_gyro_correction; // (rad/sec) if (accel_gain > 0.0f) { @@ -213,8 +213,11 @@ void EKFGSF_yaw::predictAHRS(const uint8_t mdl_idx) if (is_positive(true_airspeed)) { // Calculate centripetal acceleration in body frame from cross product of body rate and body frame airspeed vector // NOTE: this assumes X axis is aligned with airspeed vector - Vector3F centripetal_accel_vec_bf = Vector3F(0.0f, ang_rate_delayed_raw[2] * true_airspeed, - ang_rate_delayed_raw[1] * true_airspeed); - + const Vector3F centripetal_accel_vec_bf { + 0.0f, + ang_rate_delayed_raw[2] * true_airspeed, + - ang_rate_delayed_raw[1] * true_airspeed + }; // Correct measured accel for centripetal acceleration accel -= centripetal_accel_vec_bf; } From c5f902919ee70f33f41bf817e2b2c369290503f9 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 09:57:52 +1000 Subject: [PATCH 196/282] AC_Fence: warn on use of old fence point / rally point protocols --- libraries/AC_Fence/AC_Fence_config.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AC_Fence/AC_Fence_config.h b/libraries/AC_Fence/AC_Fence_config.h index 4abb471eac8319..119616c98194b9 100644 --- a/libraries/AC_Fence/AC_Fence_config.h +++ b/libraries/AC_Fence/AC_Fence_config.h @@ -12,6 +12,10 @@ #define AP_FENCE_ENABLED 2 #endif +// CODE_REMOVAL +// ArduPilot 4.6 sends deprecation warnings for FENCE_POINT/FENCE_FETCH_POINT +// ArduPilot 4.7 stops compiling them in +// ArduPilot 4.8 removes the code entirely #ifndef AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT #define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT HAL_GCS_ENABLED && AP_FENCE_ENABLED #endif From 9c42a5d9dd1982cf35fccc7a23e2cd733bd838f1 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 09:57:52 +1000 Subject: [PATCH 197/282] GCS_MAVLink: warn on use of old fence point / rally point protocols --- libraries/GCS_MAVLink/GCS_Common.cpp | 2 ++ libraries/GCS_MAVLink/GCS_config.h | 4 ++++ 2 files changed, 6 insertions(+) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 4189392e764ab3..f86a06480bf1fd 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -4081,6 +4081,7 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg) #if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT case MAVLINK_MSG_ID_FENCE_POINT: case MAVLINK_MSG_ID_FENCE_FETCH_POINT: + send_received_message_deprecation_warning("FENCE_FETCH_POINT"); handle_fence_message(msg); break; #endif @@ -4162,6 +4163,7 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg) #if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED case MAVLINK_MSG_ID_RALLY_POINT: case MAVLINK_MSG_ID_RALLY_FETCH_POINT: + send_received_message_deprecation_warning("RALLY_FETCH_POINT"); handle_common_rally_message(msg); break; #endif diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h index 90204972cbc3f3..45a4949baa08e9 100644 --- a/libraries/GCS_MAVLink/GCS_config.h +++ b/libraries/GCS_MAVLink/GCS_config.h @@ -58,6 +58,10 @@ #define AP_MAVLINK_FAILURE_CREATION_ENABLED 1 #endif +// CODE_REMOVAL +// ArduPilot 4.6 sends deprecation warnings for RALLY_POINT/RALLY_FETCH_POINT +// ArduPilot 4.7 stops compiling them in by default +// ArduPilot 4.8 removes the code entirely #ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED #endif From 500ca22c75f5beb5791324aa3a6fe52b3067769a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 11:12:12 +1000 Subject: [PATCH 198/282] AP_Follow: clarify what we're doing when rotating a vector odd sort of a transform, make it clear what's happening --- libraries/AP_Follow/AP_Follow.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp index a93f79d667ce21..8b4c8c3d6b7ca8 100644 --- a/libraries/AP_Follow/AP_Follow.cpp +++ b/libraries/AP_Follow/AP_Follow.cpp @@ -492,9 +492,10 @@ bool AP_Follow::get_offsets_ned(Vector3f &offset) const Vector3f AP_Follow::rotate_vector(const Vector3f &vec, float angle_deg) const { // rotate roll, pitch input from north facing to vehicle's perspective - const float cos_yaw = cosf(radians(angle_deg)); - const float sin_yaw = sinf(radians(angle_deg)); - return Vector3f((vec.x * cos_yaw) - (vec.y * sin_yaw), (vec.y * cos_yaw) + (vec.x * sin_yaw), vec.z); + Vector3f ret = vec; + ret.xy().rotate(radians(angle_deg)); + + return ret; } // set recorded distance and bearing to target to zero From 911375fa9aefaa246708a0396f594c6040d373ac Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 12:39:38 +1000 Subject: [PATCH 199/282] AP_Common: rearrange get_vector_from_origin_NEU to be less destructive this change means that if the origin call failes we don't half-update the object before returning false --- libraries/AP_Common/Location.cpp | 15 ++++++++++----- libraries/AP_Common/Location.h | 11 +++++++---- libraries/AP_Common/tests/test_location.cpp | 5 +++-- 3 files changed, 20 insertions(+), 11 deletions(-) diff --git a/libraries/AP_Common/Location.cpp b/libraries/AP_Common/Location.cpp index 273ecb9fe50b16..241f5224f6819e 100644 --- a/libraries/AP_Common/Location.cpp +++ b/libraries/AP_Common/Location.cpp @@ -222,6 +222,8 @@ bool Location::get_alt_m(AltFrame desired_frame, float &ret_alt) const } #if AP_AHRS_ENABLED +// converts location to a vector from origin; if this method returns +// false then vec_ne is unmodified bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const { Location ekf_origin; @@ -233,18 +235,21 @@ bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const return true; } +// converts location to a vector from origin; if this method returns +// false then vec_neu is unmodified bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const { - // convert lat, lon - if (!get_vector_xy_from_origin_NE(vec_neu.xy())) { - return false; - } - // convert altitude int32_t alt_above_origin_cm = 0; if (!get_alt_cm(AltFrame::ABOVE_ORIGIN, alt_above_origin_cm)) { return false; } + + // convert lat, lon + if (!get_vector_xy_from_origin_NE(vec_neu.xy())) { + return false; + } + vec_neu.z = alt_above_origin_cm; return true; diff --git a/libraries/AP_Common/Location.h b/libraries/AP_Common/Location.h index e84be52611105e..4b9ad8ba2ffb01 100644 --- a/libraries/AP_Common/Location.h +++ b/libraries/AP_Common/Location.h @@ -55,11 +55,14 @@ class Location // - above-origin and origin is not set bool change_alt_frame(AltFrame desired_frame); - // get position as a vector (in cm) from origin (x,y only or x,y,z) - // return false on failure to get the vector which can only - // happen if the EKF origin has not been set yet - // x, y and z are in centimetres + // get position as a vector (in cm) from origin (x,y only or + // x,y,z) return false on failure to get the vector which can only + // happen if the EKF origin has not been set yet x, y and z are in + // centimetres. If this method returns false then vec_ne is + // unmodified. bool get_vector_xy_from_origin_NE(Vector2f &vec_ne) const WARN_IF_UNUSED; + // converts location to a vector from origin; if this method returns + // false then vec_neu is unmodified bool get_vector_from_origin_NEU(Vector3f &vec_neu) const WARN_IF_UNUSED; // return horizontal distance in meters between two locations diff --git a/libraries/AP_Common/tests/test_location.cpp b/libraries/AP_Common/tests/test_location.cpp index d545c2c754df14..c4a7cd90dcf9c1 100644 --- a/libraries/AP_Common/tests/test_location.cpp +++ b/libraries/AP_Common/tests/test_location.cpp @@ -280,8 +280,9 @@ TEST(Location, Tests) EXPECT_EQ(0, test_location4.loiter_xtrack); EXPECT_TRUE(test_location4.initialised()); - const Location test_location_empty{test_vect, Location::AltFrame::ABOVE_HOME}; - EXPECT_FALSE(test_location_empty.get_vector_from_origin_NEU(test_vec3)); + // can't create a Location using a vector here as there's no origin for the vector to be relative to: + // const Location test_location_empty{test_vect, Location::AltFrame::ABOVE_HOME}; + // EXPECT_FALSE(test_location_empty.get_vector_from_origin_NEU(test_vec3)); } TEST(Location, Distance) From 5994664bf9446f466754da77c6c5709ab721fcb5 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 7 Jun 2024 13:43:50 +1000 Subject: [PATCH 200/282] SITL: add simulated tie-down clamp --- libraries/SITL/SIM_Aircraft.cpp | 39 ++++++++++++++++++++++++++++++ libraries/SITL/SIM_Aircraft.h | 9 +++++++ libraries/SITL/SIM_Multicopter.cpp | 5 ++++ libraries/SITL/SITL.cpp | 5 ++++ libraries/SITL/SITL.h | 3 +++ 5 files changed, 61 insertions(+) diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp index 6669643f1af74d..4cc7284526e39d 100644 --- a/libraries/SITL/SIM_Aircraft.cpp +++ b/libraries/SITL/SIM_Aircraft.cpp @@ -973,6 +973,45 @@ void Aircraft::extrapolate_sensors(float delta_time) velocity_air_bf = dcm.transposed() * velocity_air_ef; } +bool Aircraft::Clamp::clamped(Aircraft &aircraft, const struct sitl_input &input) +{ + const auto clamp_ch = AP::sitl()->clamp_ch; + if (clamp_ch < 1) { + return false; + } + const uint32_t clamp_idx = clamp_ch - 1; + if (clamp_idx > ARRAY_SIZE(input.servos)) { + return false; + } + const uint16_t servo_pos = input.servos[clamp_idx]; + bool new_clamped = currently_clamped; + if (servo_pos < 1200) { + if (currently_clamped) { + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SITL: Clamp: released vehicle"); + new_clamped = false; + } + grab_attempted = false; + } else { + // re-clamp if < 10cm from home + if (servo_pos > 1800 && !grab_attempted) { + const Vector3d pos = aircraft.get_position_relhome(); + const float distance_from_home = pos.length(); + // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SITL: Clamp: dist=%f", distance_from_home); + if (distance_from_home < 0.5) { + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SITL: Clamp: grabbed vehicle"); + new_clamped = true; + } else if (!grab_attempted) { + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SITL: Clamp: missed vehicle"); + } + grab_attempted = true; + } + } + + currently_clamped = new_clamped; + + return currently_clamped; +} + void Aircraft::update_external_payload(const struct sitl_input &input) { external_payload_mass = 0; diff --git a/libraries/SITL/SIM_Aircraft.h b/libraries/SITL/SIM_Aircraft.h index 8a8ade5eebff56..56ed55860d1f7a 100644 --- a/libraries/SITL/SIM_Aircraft.h +++ b/libraries/SITL/SIM_Aircraft.h @@ -324,6 +324,15 @@ class Aircraft { // update EAS speeds void update_eas_airspeed(); + // clamp support + class Clamp { + public: + bool clamped(class Aircraft&, const struct sitl_input &input); // true if the vehicle is currently clamped down + private: + bool currently_clamped; + bool grab_attempted; // avoid warning multiple times about missed grab + } clamp; + private: uint64_t last_time_us; uint32_t frame_counter; diff --git a/libraries/SITL/SIM_Multicopter.cpp b/libraries/SITL/SIM_Multicopter.cpp index a834cc6f8567db..a866762593e05d 100644 --- a/libraries/SITL/SIM_Multicopter.cpp +++ b/libraries/SITL/SIM_Multicopter.cpp @@ -61,6 +61,11 @@ void MultiCopter::update(const struct sitl_input &input) Vector3f rot_accel; calculate_forces(input, rot_accel, accel_body); + // simulated clamp holding vehicle down + if (clamp.clamped(*this, input)) { + rot_accel.zero(); + accel_body.zero(); + } // estimate voltage and current frame->current_and_voltage(battery_voltage, battery_current); diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index c9633291ce300f..9b895dc8a68643 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -1184,6 +1184,11 @@ const AP_Param::GroupInfo SIM::var_ins[] = { // @Description: Allow relay output operation when running SIM-on-hardware AP_GROUPINFO("OH_RELAY_MSK", 48, SIM, on_hardware_relay_enable_mask, SIM_DEFAULT_ENABLED_RELAY_CHANNELS), + // @Param: CLAMP_CH + // @DisplayName: Simulated Clamp Channel + // @Description: If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + AP_GROUPINFO("CLAMP_CH", 49, SIM, clamp_ch, 0), + // the IMUT parameters must be last due to the enable parameters #if HAL_INS_TEMPERATURE_CAL_ENABLE AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor_TCal), diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h index 718070bbc44b97..fdf3bddf5dad88 100644 --- a/libraries/SITL/SITL.h +++ b/libraries/SITL/SITL.h @@ -554,6 +554,9 @@ class SIM { // Master instance to use servos from with slave instances AP_Int8 ride_along_master; + // clamp simulation - servo channel starting at offset 1 (usually ailerons) + AP_Int8 clamp_ch; + #if AP_SIM_INS_FILE_ENABLED enum INSFileMode { INS_FILE_NONE = 0, From 470663b30b70107bbbf67486866c1ada7647aeac Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 7 Jun 2024 13:43:06 +1000 Subject: [PATCH 201/282] autotest: add test for simulated Copter clamp --- Tools/autotest/arducopter.py | 75 +++++++++++++++++++++++++++- Tools/autotest/vehicle_test_suite.py | 28 ++++++----- 2 files changed, 89 insertions(+), 14 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 3b61252b9cb58c..36c705e41464a9 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -11449,6 +11449,78 @@ def GuidedWeatherVane(self): self.wait_heading(90, timeout=60, minimum_duration=10) self.do_RTL() + def Clamp(self): + '''test Copter docking clamp''' + clamp_ch = 11 + self.set_parameters({ + "SIM_CLAMP_CH": clamp_ch, + }) + + self.takeoff(1, mode='LOITER') + + self.context_push() + self.context_collect('STATUSTEXT') + self.progress("Ensure can't take off with clamp in place") + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=2000) + self.wait_statustext("SITL: Clamp: grabbed vehicle", check_context=True) + self.arm_vehicle() + self.set_rc(3, 2000) + self.wait_altitude(0, 5, minimum_duration=5, relative=True) + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=1000) + self.wait_statustext("SITL: Clamp: released vehicle", check_context=True) + self.wait_altitude(5, 5000, minimum_duration=1, relative=True) + self.do_RTL() + self.set_rc(3, 1000) + self.change_mode('LOITER') + self.context_pop() + + self.progress("Same again for repeatability") + self.context_push() + self.context_collect('STATUSTEXT') + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=2000) + self.wait_statustext("SITL: Clamp: grabbed vehicle", check_context=True) + self.arm_vehicle() + self.set_rc(3, 2000) + self.wait_altitude(0, 1, minimum_duration=5, relative=True) + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=1000) + self.wait_statustext("SITL: Clamp: released vehicle", check_context=True) + self.wait_altitude(5, 5000, minimum_duration=1, relative=True) + self.do_RTL() + self.set_rc(3, 1000) + self.change_mode('LOITER') + self.context_pop() + + here = self.mav.location() + loc = self.offset_location_ne(here, 10, 0) + self.takeoff(5, mode='GUIDED') + self.do_reposition(loc, frame=mavutil.mavlink.MAV_FRAME_GLOBAL) + self.wait_location(loc, timeout=120) + self.land_and_disarm() + + # explicitly set home so we RTL to the right spot + self.set_home(here) + + self.context_push() + self.context_collect('STATUSTEXT') + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=2000) + self.wait_statustext("SITL: Clamp: missed vehicle", check_context=True) + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=1000) + self.context_pop() + + self.takeoff(5, mode='GUIDED') + self.do_RTL() + + self.takeoff(5, mode='GUIDED') + self.land_and_disarm() + + self.context_push() + self.context_collect('STATUSTEXT') + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=11, p2=2000) + self.wait_statustext("SITL: Clamp: grabbed vehicle", check_context=True) + self.context_pop() + + self.reboot_sitl() # because we set home + def tests2b(self): # this block currently around 9.5mins here '''return list of all tests''' ret = ([ @@ -11537,7 +11609,8 @@ def tests2b(self): # this block currently around 9.5mins here self.EK3_OGN_HGT_MASK, self.FarOrigin, self.GuidedForceArm, - self.GuidedWeatherVane + self.GuidedWeatherVane, + self.Clamp, ]) return ret diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index c7b9fdf9ef7ef1..7fdef2bcc8450f 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -6226,19 +6226,20 @@ def run_cmd_int(self, command_name = mavutil.mavlink.enums["MAV_CMD"][command].name except KeyError: command_name = "UNKNOWNu" - self.progress("Sending COMMAND_INT to (%u,%u) (%s=%u) (p1=%f p2=%f p3=%f p4=%f p5=%u p6=%u p7=%f)" % - ( - target_sysid, - target_compid, - command_name, - command, - p1, - p2, - p3, - p4, - x, - y, - z)) + self.progress("Sending COMMAND_INT to (%u,%u) (%s=%u) (p1=%f p2=%f p3=%f p4=%f p5=%u p6=%u p7=%f f=%u)" % ( + target_sysid, + target_compid, + command_name, + command, + p1, + p2, + p3, + p4, + x, + y, + z, + frame + )) mav.mav.command_int_send(target_sysid, target_compid, frame, @@ -8515,6 +8516,7 @@ def run_one_test_attempt(self, test, interact=False, attempt=1, suppress_stdout= self.reset_SITL_commandline() else: self.progress("Force-rebooting SITL") + self.zero_throttle() self.reboot_sitl() # that'll learn it passed = False elif ardupilot_alive and not passed: # implicit reboot after a failed test: From 47625e693e2b9014a84b14498c1ca5f6d01f6817 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 11 Jun 2024 07:37:52 +1000 Subject: [PATCH 202/282] autotest: test guided attitude control with no GPS --- Tools/autotest/arduplane.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 3f714260b008fa..4eadb92c2f8b68 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -5389,6 +5389,17 @@ def ClimbThrottleSaturation(self): self.disarm_vehicle(force=True) self.reboot_sitl() + def GuidedAttitudeNoGPS(self): + '''test that guided-attitude still works with no GPS''' + self.takeoff(50) + self.change_mode('GUIDED') + self.context_push() + self.set_parameter('SIM_GPS_DISABLE', 1) + self.delay_sim_time(30) + self.set_attitude_target() + self.context_pop() + self.fly_home_land_and_disarm() + def tests(self): '''return list of all tests''' ret = super(AutoTestPlane, self).tests() @@ -5499,6 +5510,7 @@ def tests(self): self.MAV_CMD_NAV_RETURN_TO_LAUNCH, self.MinThrottle, self.ClimbThrottleSaturation, + self.GuidedAttitudeNoGPS, ]) return ret From 7e5810a746ebcf88b60398685679a1bba8d5f5b8 Mon Sep 17 00:00:00 2001 From: Michelle Rossouw Date: Mon, 10 Jun 2024 17:29:03 +1000 Subject: [PATCH 203/282] Tools: Added option to set environment variable to not add the compile_commands.json to VSCode's c_cpp_properties.json --- Tools/ardupilotwaf/boards.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index a941788940a87f..c8d1bbbc42b2e0 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -187,7 +187,7 @@ def srcpath(path): cfg.env.prepend_value('INCLUDES', [ cfg.srcnode.find_dir('libraries/AP_Common/missing').abspath() ]) - if os.path.exists(os.path.join(env.SRCROOT, '.vscode/c_cpp_properties.json')): + if os.path.exists(os.path.join(env.SRCROOT, '.vscode/c_cpp_properties.json')) and 'AP_NO_COMPILE_COMMANDS' not in os.environ: # change c_cpp_properties.json configure the VSCode Intellisense env c_cpp_properties = json.load(open(os.path.join(env.SRCROOT, '.vscode/c_cpp_properties.json'))) for config in c_cpp_properties['configurations']: From 7ea2e60b5ab1548cffc492fbfcfb8650ce34136b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 20:56:27 +1000 Subject: [PATCH 204/282] AP_AHRS: clarify frame of get_location_from_origin_offset ... by renaming it get_location_from_origin_offset_NED --- libraries/AP_AHRS/AP_AHRS.cpp | 4 ++-- libraries/AP_AHRS/AP_AHRS.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp index 454bf0203e1fa1..8b7c1faa0caddd 100644 --- a/libraries/AP_AHRS/AP_AHRS.cpp +++ b/libraries/AP_AHRS/AP_AHRS.cpp @@ -3536,7 +3536,7 @@ bool AP_AHRS::get_velocity_NED(Vector3f &vec) const // return location corresponding to vector relative to the // vehicle's origin -bool AP_AHRS::get_location_from_origin_offset(Location &loc, const Vector3p &offset_ned) const +bool AP_AHRS::get_location_from_origin_offset_NED(Location &loc, const Vector3p &offset_ned) const { if (!get_origin(loc)) { return false; @@ -3548,7 +3548,7 @@ bool AP_AHRS::get_location_from_origin_offset(Location &loc, const Vector3p &off // return location corresponding to vector relative to the // vehicle's home location -bool AP_AHRS::get_location_from_home_offset(Location &loc, const Vector3p &offset_ned) const +bool AP_AHRS::get_location_from_home_offset_NED(Location &loc, const Vector3p &offset_ned) const { if (!home_is_set()) { return false; diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index d71912c9f58e19..16ec1009e03bf1 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -277,8 +277,8 @@ class AP_AHRS { // return location corresponding to vector relative to the // vehicle's origin - bool get_location_from_origin_offset(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED; - bool get_location_from_home_offset(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED; + bool get_location_from_origin_offset_NED(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED; + bool get_location_from_home_offset_NED(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED; // Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops. // This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for. From 72fa6aa4108ea0c84aecdce5537953628ad33365 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 20:56:27 +1000 Subject: [PATCH 205/282] ArduCopter: clarify frame of get_location_from_origin_offset ... by renaming it get_location_from_origin_offset_NED --- ArduCopter/mode_circle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/mode_circle.cpp b/ArduCopter/mode_circle.cpp index bb9a6612f948c5..8e206845f2f973 100644 --- a/ArduCopter/mode_circle.cpp +++ b/ArduCopter/mode_circle.cpp @@ -28,7 +28,7 @@ bool ModeCircle::init(bool ignore_checks) 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: From 6765838a3c085b1932798fc6cf1af02659c2eead Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 12:09:45 +1000 Subject: [PATCH 206/282] AP_Follow: factor out a should_handle_message method --- libraries/AP_Follow/AP_Follow.cpp | 31 ++++++++++++++++++++++--------- libraries/AP_Follow/AP_Follow.h | 3 +++ 2 files changed, 25 insertions(+), 9 deletions(-) diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp index 8b4c8c3d6b7ca8..95b5960cda569c 100644 --- a/libraries/AP_Follow/AP_Follow.cpp +++ b/libraries/AP_Follow/AP_Follow.cpp @@ -272,27 +272,40 @@ bool AP_Follow::get_target_heading_deg(float &heading) const return true; } -// handle mavlink DISTANCE_SENSOR messages -void AP_Follow::handle_msg(const mavlink_message_t &msg) +// returns true if we should extract information from msg +bool AP_Follow::should_handle_message(const mavlink_message_t &msg) const { // exit immediately if not enabled if (!_enabled) { - return; + return false; } // skip our own messages if (msg.sysid == mavlink_system.sysid) { - return; + return false; } // skip message if not from our target if (_sysid != 0 && msg.sysid != _sysid) { - if (_automatic_sysid) { - // maybe timeout who we were following... - if ((_last_location_update_ms == 0) || (AP_HAL::millis() - _last_location_update_ms > AP_FOLLOW_SYSID_TIMEOUT_MS)) { - _sysid.set(0); - } + return false; + } + + return true; +} + +// handle mavlink DISTANCE_SENSOR messages +void AP_Follow::handle_msg(const mavlink_message_t &msg) +{ + // this method should be called from an "update()" method: + if (_automatic_sysid) { + // maybe timeout who we were following... + if ((_last_location_update_ms == 0) || + (AP_HAL::millis() - _last_location_update_ms > AP_FOLLOW_SYSID_TIMEOUT_MS)) { + _sysid.set(0); } + } + + if (!should_handle_message(msg)) { return; } diff --git a/libraries/AP_Follow/AP_Follow.h b/libraries/AP_Follow/AP_Follow.h index 5918215352a7ca..50fb9dca169677 100644 --- a/libraries/AP_Follow/AP_Follow.h +++ b/libraries/AP_Follow/AP_Follow.h @@ -118,6 +118,9 @@ class AP_Follow private: static AP_Follow *_singleton; + // returns true if we should extract information from msg + bool should_handle_message(const mavlink_message_t &msg) const; + // get velocity estimate in m/s in NED frame using dt since last update bool get_velocity_ned(Vector3f &vel_ned, float dt) const; From 89eade0836e671014c260eff95756f7d7939d596 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 12:15:15 +1000 Subject: [PATCH 207/282] AP_Follow: factor out a Log_Write_FOLL method --- libraries/AP_Follow/AP_Follow.cpp | 12 ++++++++++-- libraries/AP_Follow/AP_Follow.h | 3 +++ 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp index 95b5960cda569c..9f5302ff814e43 100644 --- a/libraries/AP_Follow/AP_Follow.cpp +++ b/libraries/AP_Follow/AP_Follow.cpp @@ -411,6 +411,15 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) if (updated) { #if HAL_LOGGING_ENABLED + Log_Write_FOLL(); +#endif + } +} + +// write out an onboard-log message to help diagnose follow problems: +#if HAL_LOGGING_ENABLED +void AP_Follow::Log_Write_FOLL() +{ // get estimated location and velocity Location loc_estimate{}; Vector3f vel_estimate; @@ -445,9 +454,8 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) loc_estimate.lng, loc_estimate.alt ); -#endif - } } +#endif // HAL_LOGGING_ENABLED // get velocity estimate in m/s in NED frame using dt since last update bool AP_Follow::get_velocity_ned(Vector3f &vel_ned, float dt) const diff --git a/libraries/AP_Follow/AP_Follow.h b/libraries/AP_Follow/AP_Follow.h index 50fb9dca169677..b33080978ff2b0 100644 --- a/libraries/AP_Follow/AP_Follow.h +++ b/libraries/AP_Follow/AP_Follow.h @@ -136,6 +136,9 @@ class AP_Follow // set recorded distance and bearing to target to zero void clear_dist_and_bearing_to_target(); + // write out an onboard-log message to help diagnose follow problems: + void Log_Write_FOLL(); + // parameters AP_Int8 _enabled; // 1 if this subsystem is enabled AP_Int16 _sysid; // target's mavlink system id (0 to use first sysid seen) From 50401b749b7a6802a621657dff6508690defa1db Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 12:20:14 +1000 Subject: [PATCH 208/282] AP_Follow: factor out separate methods for handling mavlink messages handle_message was a bit of a monster --- libraries/AP_Follow/AP_Follow.cpp | 45 +++++++++++++++++++------------ libraries/AP_Follow/AP_Follow.h | 4 +++ 2 files changed, 32 insertions(+), 17 deletions(-) diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp index 9f5302ff814e43..8723f101bdadec 100644 --- a/libraries/AP_Follow/AP_Follow.cpp +++ b/libraries/AP_Follow/AP_Follow.cpp @@ -314,13 +314,31 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) switch (msg.msgid) { case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { + updated = handle_global_position_int_message(msg); + break; + } + case MAVLINK_MSG_ID_FOLLOW_TARGET: { + updated = handle_follow_target_message(msg); + break; + } + } + + if (updated) { +#if HAL_LOGGING_ENABLED + Log_Write_FOLL(); +#endif + } +} + +bool AP_Follow::handle_global_position_int_message(const mavlink_message_t &msg) +{ // decode message mavlink_global_position_int_t packet; mavlink_msg_global_position_int_decode(&msg, &packet); // ignore message if lat and lon are (exactly) zero if ((packet.lat == 0 && packet.lon == 0)) { - return; + return false; } _target_location.lat = packet.lat; @@ -350,21 +368,22 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) _sysid.set(msg.sysid); _automatic_sysid = true; } - updated = true; - break; - } - case MAVLINK_MSG_ID_FOLLOW_TARGET: { + return true; +} + +bool AP_Follow::handle_follow_target_message(const mavlink_message_t &msg) +{ // decode message mavlink_follow_target_t packet; mavlink_msg_follow_target_decode(&msg, &packet); // ignore message if lat and lon are (exactly) zero if ((packet.lat == 0 && packet.lon == 0)) { - return; + return false; } // require at least position if ((packet.est_capabilities & (1<<0)) == 0) { - return; + return false; } Location new_loc = _target_location; @@ -376,7 +395,7 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) // above home if we are configured for relative alt if (_alt_type == AP_FOLLOW_ALTITUDE_TYPE_RELATIVE && !new_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) { - return; + return false; } _target_location = new_loc; @@ -404,16 +423,8 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) _sysid.set(msg.sysid); _automatic_sysid = true; } - updated = true; - break; - } - } - if (updated) { -#if HAL_LOGGING_ENABLED - Log_Write_FOLL(); -#endif - } + return true; } // write out an onboard-log message to help diagnose follow problems: diff --git a/libraries/AP_Follow/AP_Follow.h b/libraries/AP_Follow/AP_Follow.h index b33080978ff2b0..48c43fc9ff4706 100644 --- a/libraries/AP_Follow/AP_Follow.h +++ b/libraries/AP_Follow/AP_Follow.h @@ -136,6 +136,10 @@ class AP_Follow // set recorded distance and bearing to target to zero void clear_dist_and_bearing_to_target(); + // handle various mavlink messages supplying position: + bool handle_global_position_int_message(const mavlink_message_t &msg); + bool handle_follow_target_message(const mavlink_message_t &msg); + // write out an onboard-log message to help diagnose follow problems: void Log_Write_FOLL(); From d70f5b92e0ea8445d9ab221dd524c0a9e7da665c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 17:09:20 +1000 Subject: [PATCH 209/282] AP_HAL: move definition of HAL_WITH_POSTYPE_DOUBLE into AP_HAL_Boards.h other libraries need to know if we are doing double-precision offsets --- libraries/AP_HAL/AP_HAL_Boards.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 24b6a66d3b5c68..cd9dab25655eb2 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -381,4 +381,8 @@ #error "HAL_GPIO_LED_OFF must not be defined, it is implicitly !HAL_GPIO_LED_ON" #endif +#ifndef HAL_WITH_POSTYPE_DOUBLE +#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024 +#endif + #define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON) From 0fc6fc4e9c86b6d969a3069c451b969a85192e4c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 17:09:20 +1000 Subject: [PATCH 210/282] AP_Math: move definition of HAL_WITH_POSTYPE_DOUBLE into AP_HAL_Boards.h other libraries need to know if we are doing double-precision offsets --- libraries/AP_Math/control.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/libraries/AP_Math/control.h b/libraries/AP_Math/control.h index 142791c46b9e24..7567decf6b33ed 100644 --- a/libraries/AP_Math/control.h +++ b/libraries/AP_Math/control.h @@ -4,10 +4,6 @@ #include "vector2.h" #include "vector3.h" -#ifndef HAL_WITH_POSTYPE_DOUBLE -#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024 -#endif - #if HAL_WITH_POSTYPE_DOUBLE typedef double postype_t; typedef Vector2d Vector2p; From 1d945cc5ac8b6555e0c86500653b74fb41106111 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 14:43:45 +1000 Subject: [PATCH 211/282] AP_Common: Location: allow retrieval of Vector3p from vector-from-origin --- libraries/AP_Common/Location.cpp | 19 +++++++++++++++++-- libraries/AP_Common/Location.h | 6 ++++-- 2 files changed, 21 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Common/Location.cpp b/libraries/AP_Common/Location.cpp index 241f5224f6819e..27803566d0bfd2 100644 --- a/libraries/AP_Common/Location.cpp +++ b/libraries/AP_Common/Location.cpp @@ -224,7 +224,8 @@ bool Location::get_alt_m(AltFrame desired_frame, float &ret_alt) const #if AP_AHRS_ENABLED // converts location to a vector from origin; if this method returns // false then vec_ne is unmodified -bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const +template +bool Location::get_vector_xy_from_origin_NE(T &vec_ne) const { Location ekf_origin; if (!AP::ahrs().get_origin(ekf_origin)) { @@ -235,9 +236,16 @@ bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const return true; } +// define for float and position vectors +template bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const; +#if HAL_WITH_POSTYPE_DOUBLE +template bool Location::get_vector_xy_from_origin_NE(Vector2p &vec_ne) const; +#endif + // converts location to a vector from origin; if this method returns // false then vec_neu is unmodified -bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const +template +bool Location::get_vector_from_origin_NEU(T &vec_neu) const { // convert altitude int32_t alt_above_origin_cm = 0; @@ -254,6 +262,13 @@ bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const return true; } + +// define for float and position vectors +template bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const; +#if HAL_WITH_POSTYPE_DOUBLE +template bool Location::get_vector_from_origin_NEU(Vector3p &vec_neu) const; +#endif + #endif // AP_AHRS_ENABLED // return horizontal distance in meters between two locations diff --git a/libraries/AP_Common/Location.h b/libraries/AP_Common/Location.h index 4b9ad8ba2ffb01..f61756d7d9ece8 100644 --- a/libraries/AP_Common/Location.h +++ b/libraries/AP_Common/Location.h @@ -60,10 +60,12 @@ class Location // happen if the EKF origin has not been set yet x, y and z are in // centimetres. If this method returns false then vec_ne is // unmodified. - bool get_vector_xy_from_origin_NE(Vector2f &vec_ne) const WARN_IF_UNUSED; + template + bool get_vector_xy_from_origin_NE(T &vec_ne) const WARN_IF_UNUSED; // converts location to a vector from origin; if this method returns // false then vec_neu is unmodified - bool get_vector_from_origin_NEU(Vector3f &vec_neu) const WARN_IF_UNUSED; + template + bool get_vector_from_origin_NEU(T &vec_neu) const WARN_IF_UNUSED; // return horizontal distance in meters between two locations ftype get_distance(const Location &loc2) const; From 247f5e54460b7b9d8046ee508bb886c2e761cd27 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Tue, 11 Jun 2024 08:39:49 -0500 Subject: [PATCH 212/282] AP_OSD:Update HD fonts --- .../AP_OSD/fonts/HDFonts/WS/font_update.ini | 13 --- .../Pre-Ver0.12}/AllWhite/font.bin | Bin .../Pre-Ver0.12}/AllWhite/font_2.bin | Bin .../Pre-Ver0.12}/AllWhite/font_hd.bin | Bin .../Pre-Ver0.12}/AllWhite/font_hd_2.bin | Bin .../Pre-Ver0.12}/Color/font.bin | Bin .../Pre-Ver0.12}/Color/font_2.bin | Bin .../Pre-Ver0.12}/Color/font_hd.bin | Bin .../Pre-Ver0.12}/Color/font_hd_2.bin | Bin .../Pre-Ver0.12/hd_allwhite_map.png} | Bin .../Pre-Ver0.12}/hd_colour_map.png | Bin .../AP_OSD/fonts/HDFonts/WTFOS-DJI/README.md | 1 + .../WTFOS-DJI/Ver0.12_or_later/WS_ardu_24.png | Bin 0 -> 174898 bytes .../WTFOS-DJI/Ver0.12_or_later/WS_ardu_36.png | Bin 0 -> 194469 bytes .../Ver0.12_or_later/font_update.ini | 11 ++ .../AP_OSD/fonts/HDFonts/WalkSnail/Readme.txt | 7 ++ .../WalkSnail/userfont/WS_APC_Blinder_24.png | Bin 0 -> 201983 bytes .../WalkSnail/userfont/WS_APC_Blinder_36.png | Bin 0 -> 223663 bytes .../WalkSnail/userfont/WS_APC_Conthrax_24.png | Bin 0 -> 183370 bytes .../WalkSnail/userfont/WS_APC_Conthrax_36.png | Bin 0 -> 195680 bytes .../userfont/WS_APC_Europa_24.png} | Bin .../userfont/WS_APC_Europa_36.png} | Bin .../WalkSnail/userfont/WS_APC_Hemi_24.png | Bin 0 -> 186951 bytes .../WalkSnail/userfont/WS_APC_Hemi_36.png | Bin 0 -> 199668 bytes .../WalkSnail/userfont/WS_APC_Nexus_24.png | Bin 0 -> 185619 bytes .../WalkSnail/userfont/WS_APC_Nexus_36.png | Bin 0 -> 201714 bytes .../WalkSnail/userfont/WS_APC_Sphere_24.png | Bin 0 -> 171675 bytes .../WalkSnail/userfont/WS_APC_Sphere_36.png | Bin 0 -> 192264 bytes .../WalkSnail/userfont/WS_ARDU_Night_24.png | Bin 0 -> 148616 bytes .../WalkSnail/userfont/WS_ARDU_Night_36.png | Bin 0 -> 162335 bytes .../WalkSnail/userfont/font_update.ini | 99 ++++++++++++++++++ .../WalkSnail/userfont/user_ardu_24.png | Bin 0 -> 14410 bytes .../WalkSnail/userfont/user_ardu_36.png | Bin 0 -> 22970 bytes 33 files changed, 118 insertions(+), 13 deletions(-) delete mode 100644 libraries/AP_OSD/fonts/HDFonts/WS/font_update.ini rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/AllWhite/font.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/AllWhite/font_2.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/AllWhite/font_hd.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/AllWhite/font_hd_2.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/Color/font.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/Color/font_2.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/Color/font_hd.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{ => WTFOS-DJI/Pre-Ver0.12}/Color/font_hd_2.bin (100%) rename libraries/AP_OSD/fonts/HDFonts/{AllWhite/hd_flat_map.png => WTFOS-DJI/Pre-Ver0.12/hd_allwhite_map.png} (100%) rename libraries/AP_OSD/fonts/HDFonts/{Color => WTFOS-DJI/Pre-Ver0.12}/hd_colour_map.png (100%) create mode 100644 libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/README.md create mode 100755 libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Ver0.12_or_later/WS_ardu_24.png create mode 100755 libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Ver0.12_or_later/WS_ardu_36.png create mode 100755 libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Ver0.12_or_later/font_update.ini create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/Readme.txt create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Blinder_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Blinder_36.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Conthrax_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Conthrax_36.png rename libraries/AP_OSD/fonts/HDFonts/{WS/WS_APN_Europa_24.png => WalkSnail/userfont/WS_APC_Europa_24.png} (100%) rename libraries/AP_OSD/fonts/HDFonts/{WS/WS_APN_Europa_36.png => WalkSnail/userfont/WS_APC_Europa_36.png} (100%) create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Hemi_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Hemi_36.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Nexus_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Nexus_36.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Sphere_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_APC_Sphere_36.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_ARDU_Night_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/WS_ARDU_Night_36.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/font_update.ini create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/user_ardu_24.png create mode 100644 libraries/AP_OSD/fonts/HDFonts/WalkSnail/userfont/user_ardu_36.png diff --git a/libraries/AP_OSD/fonts/HDFonts/WS/font_update.ini b/libraries/AP_OSD/fonts/HDFonts/WS/font_update.ini deleted file mode 100644 index 23d28317ad417a..00000000000000 --- a/libraries/AP_OSD/fonts/HDFonts/WS/font_update.ini +++ /dev/null @@ -1,13 +0,0 @@ -[config] -count=1 -1=ARDU_Europa - -[ARDU_Europa] -imgname_720=WS_APN_Europa_24.png -imgname_1080=WS_APN_Europa_36.png -font_width_720=24 -font_height_720=36 -font_width_1080=36 -font_height_1080=54 -x_offset=0 -y_offset=0 diff --git a/libraries/AP_OSD/fonts/HDFonts/AllWhite/font.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/AllWhite/font.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/AllWhite/font_2.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font_2.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/AllWhite/font_2.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font_2.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/AllWhite/font_hd.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font_hd.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/AllWhite/font_hd.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font_hd.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/AllWhite/font_hd_2.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font_hd_2.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/AllWhite/font_hd_2.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/AllWhite/font_hd_2.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/Color/font.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/Color/font.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/Color/font_2.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font_2.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/Color/font_2.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font_2.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/Color/font_hd.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font_hd.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/Color/font_hd.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font_hd.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/Color/font_hd_2.bin b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font_hd_2.bin similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/Color/font_hd_2.bin rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/Color/font_hd_2.bin diff --git a/libraries/AP_OSD/fonts/HDFonts/AllWhite/hd_flat_map.png b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/hd_allwhite_map.png similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/AllWhite/hd_flat_map.png rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/hd_allwhite_map.png diff --git a/libraries/AP_OSD/fonts/HDFonts/Color/hd_colour_map.png b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/hd_colour_map.png similarity index 100% rename from libraries/AP_OSD/fonts/HDFonts/Color/hd_colour_map.png rename to libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Pre-Ver0.12/hd_colour_map.png diff --git a/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/README.md b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/README.md new file mode 100644 index 00000000000000..6e56cecf77cf7b --- /dev/null +++ b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/README.md @@ -0,0 +1 @@ +Depending on which version of WTFOS MSP-OSD module you are using, copy the files to the base directory of your goggless diff --git a/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Ver0.12_or_later/WS_ardu_24.png 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file mode 100755 index 00000000000000..9172570c03160f --- /dev/null +++ b/libraries/AP_OSD/fonts/HDFonts/WTFOS-DJI/Ver0.12_or_later/font_update.ini @@ -0,0 +1,11 @@ +[config] +count=1 +1=ardu + +[ardu] +imgname_720=WS_ardu_24.png +imgname_1080=WS_ardu_36.png +font_width_720=24 +font_height_720=36 +font_width_1080=36 +font_height_1080=54 diff --git a/libraries/AP_OSD/fonts/HDFonts/WalkSnail/Readme.txt b/libraries/AP_OSD/fonts/HDFonts/WalkSnail/Readme.txt new file mode 100644 index 00000000000000..616d98b0c1dac5 --- /dev/null +++ b/libraries/AP_OSD/fonts/HDFonts/WalkSnail/Readme.txt @@ -0,0 +1,7 @@ +Extract this zip to your SD card root folder. +As of Walksnail Avatar FW 34.40.15, user supplied fonts are to be in the userfont folder on the SD card. 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zAE8Z`K!(To3Nh{ddv?cLq@g8a7_Up{B%^X7s6ew7m;P|m+s5mtrNQ7P`aRQ#cL?of z#jX#W7-g6cN4rZ9v}{dL1>5B9Qxe?+yI9EA8YJ@rdP$MyT)n_K6})HBOT0+}UZ~S~ z5=gB;q}6!R3?zMLVMc^#En4~V&)pE8EsgUHxnP)2j8xqp-DS5u_DpQzMXYPJrctuX z%rX0A24~u6F*Fsl)Q1WIDM+RT%;uB+bhm(M@6`FX(oTqYJJBXn@=7j%@W<#9XwXy9 zBe?!k-~rWU`4=>t;!<(Lr;*#8IQI^*DeRNsF0+ZvU0p49$o_{#U+%j%(^lTle(XGp zUy8eCcuBC#11kz?ouQyTjNRBo*S0%e&|#qFiEz@S4}oYYTiWi^AwZ3?&<*{+{uwV` a!hL_+=2E_e>mWS&_>V@%DE~P7%l`os!sM#} literal 0 HcmV?d00001 From 075c6404040f82a899eb34308ac6af5e967d2f6d Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Fri, 14 Jun 2024 10:09:17 +0200 Subject: [PATCH 213/282] Tools: fix archlinux install script need setuptools on venv --- Tools/environment_install/install-prereqs-arch.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/environment_install/install-prereqs-arch.sh b/Tools/environment_install/install-prereqs-arch.sh index 965815ec71efc1..394d9ae3b8d3f8 100755 --- a/Tools/environment_install/install-prereqs-arch.sh +++ b/Tools/environment_install/install-prereqs-arch.sh @@ -26,7 +26,7 @@ BASE_PKGS="base-devel ccache git gsfonts tk wget gcc" SITL_PKGS="python-pip python-setuptools python-wheel python-wxpython opencv python-numpy python-scipy" PX4_PKGS="lib32-glibc zip zlib ncurses" -PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse matplotlib pyparsing geocoder pyserial empy==3.3.4 dronecan" +PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse matplotlib pyparsing geocoder pyserial empy==3.3.4 dronecan setuptools wheel" # GNU Tools for ARM Embedded Processors # (see https://launchpad.net/gcc-arm-embedded/) From 0f8978aea05abe491fbfedee6771a20d4870e9e8 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Wed, 12 Jun 2024 17:54:37 +0100 Subject: [PATCH 214/282] AntennaTracker: 4.5.4 release notes --- AntennaTracker/ReleaseNotes.txt | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt index 28def6e3dd49e4..bd8fbaa30872c2 100644 --- a/AntennaTracker/ReleaseNotes.txt +++ b/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 From 1853f07793c403a9ade63f3463c47898f7f98222 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Wed, 12 Jun 2024 17:54:37 +0100 Subject: [PATCH 215/282] ArduCopter: 4.5.4 release notes --- ArduCopter/ReleaseNotes.txt | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index ff37ff0c4ccf06..d7a213d86b5fee 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/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 From ee1647f41e1860853d643799f139005233dbe507 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Wed, 12 Jun 2024 17:54:37 +0100 Subject: [PATCH 216/282] ArduPlane: 4.5.4 release notes --- ArduPlane/ReleaseNotes.txt | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt index 34c6c39b9166d9..6f32ba304b14a6 100644 --- a/ArduPlane/ReleaseNotes.txt +++ b/ArduPlane/ReleaseNotes.txt @@ -1,5 +1,12 @@ ArduPilot Plane 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 From e83afcf9c43f729d2a203a60779ef576295fb9c8 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Wed, 12 Jun 2024 17:54:37 +0100 Subject: [PATCH 217/282] Rover: 4.5.4 release notes --- Rover/ReleaseNotes.txt | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt index 6a4620cf937708..3134750e5744bd 100644 --- a/Rover/ReleaseNotes.txt +++ b/Rover/ReleaseNotes.txt @@ -1,5 +1,12 @@ Rover 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 From a737a34cd089de1f765879b0036bceba88890aef Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 14 Jun 2024 23:01:50 +1000 Subject: [PATCH 218/282] AP_Logger: correct comment about reserved range for vehicle IDs --- libraries/AP_Logger/LogStructure.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index 261f6e17e56e0b..eeda9bfec4720d 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -1309,7 +1309,7 @@ LOG_STRUCTURE_FROM_AIS \ { LOG_MOTBATT_MSG, sizeof(log_MotBatt), \ "MOTB", "QfffffB", "TimeUS,LiftMax,BatVolt,ThLimit,ThrAvMx,ThrOut,FailFlags", "s------", "F------" , true } -// message types 0 to 63 reserved for vehicle specific use +// message types 0 to 31 reserved for vehicle-specific use // message types for common messages enum LogMessages : uint8_t { From 9135f01a9352841b83452bdab4a2a10128412a7a Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 16 Jun 2024 10:23:03 +0900 Subject: [PATCH 219/282] Copter: Move to the processing section to be used --- ArduCopter/mode_circle.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ArduCopter/mode_circle.cpp b/ArduCopter/mode_circle.cpp index 8e206845f2f973..2c31f8d0a3493f 100644 --- a/ArduCopter/mode_circle.cpp +++ b/ArduCopter/mode_circle.cpp @@ -22,8 +22,6 @@ 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() }; @@ -33,6 +31,7 @@ bool ModeCircle::init(bool ignore_checks) } // 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 From 869ef0ee040f872bd39573410ce7de4dbb2d8fe7 Mon Sep 17 00:00:00 2001 From: cuav-chen2 Date: Thu, 6 Jun 2024 10:31:11 +0800 Subject: [PATCH 220/282] AP_Baro: Add in BMP581 Driver --- Tools/scripts/build_options.py | 1 + Tools/scripts/decode_devid.py | 1 + libraries/AP_Baro/AP_Baro.cpp | 7 +- libraries/AP_Baro/AP_Baro.h | 1 + libraries/AP_Baro/AP_Baro_BMP581.cpp | 193 +++++++++++++++++++++++++++ libraries/AP_Baro/AP_Baro_BMP581.h | 41 ++++++ libraries/AP_Baro/AP_Baro_Backend.h | 1 + libraries/AP_Baro/AP_Baro_config.h | 4 + 8 files changed, 248 insertions(+), 1 deletion(-) create mode 100644 libraries/AP_Baro/AP_Baro_BMP581.cpp create mode 100644 libraries/AP_Baro/AP_Baro_BMP581.h diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py index 2e978abf4be8e6..a71c545846adec 100644 --- a/Tools/scripts/build_options.py +++ b/Tools/scripts/build_options.py @@ -276,6 +276,7 @@ def __init__(self, Feature('Baro', 'BMP085', 'AP_BARO_BMP085_ENABLED', 'Enable BMP085 Barometric Sensor', 1, None), Feature('Baro', 'BMP280', 'AP_BARO_BMP280_ENABLED', 'Enable BMP280 Barometric Sensor', 1, None), Feature('Baro', 'BMP388', 'AP_BARO_BMP388_ENABLED', 'Enable BMP388 Barometric Sensor', 1, None), + Feature('Baro', 'BMP581', 'AP_BARO_BMP581_ENABLED', 'Enable BMP581 Barometric Sensor', 1, None), Feature('Baro', 'DPS280', 'AP_BARO_DPS280_ENABLED', 'Enable DPS280/DPS310 Barometric Sensor', 1, None), Feature('Baro', 'DUMMY', 'AP_BARO_DUMMY_ENABLED', 'Enable DUMMY Barometric Sensor', 0, None), Feature('Baro', 'EXTERNALAHRS', 'AP_BARO_EXTERNALAHRS_ENABLED', 'Enable EXTERNALAHRS Barometric Sensor', 0, 'AHRS_EXT'), diff --git a/Tools/scripts/decode_devid.py b/Tools/scripts/decode_devid.py index ab484bc11715f8..05eecd7604ea4c 100755 --- a/Tools/scripts/decode_devid.py +++ b/Tools/scripts/decode_devid.py @@ -126,6 +126,7 @@ def num(s): 0x12 : "DEVTYPE_BARO_MS5837", 0x13 : "DEVTYPE_BARO_MS5637", 0x14 : "DEVTYPE_BARO_BMP390", + 0x15 : "DEVTYPE_BARO_BMP581", } airspeed_types = { diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp index b933203833e8af..5719388bbce156 100644 --- a/libraries/AP_Baro/AP_Baro.cpp +++ b/libraries/AP_Baro/AP_Baro.cpp @@ -48,6 +48,7 @@ #include "AP_Baro_ExternalAHRS.h" #include "AP_Baro_ICP101XX.h" #include "AP_Baro_ICP201XX.h" +#include "AP_Baro_BMP581.h" #include #include @@ -177,7 +178,7 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = { // @Param: _PROBE_EXT // @DisplayName: External barometers to probe // @Description: This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. - // @Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP + // @Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 // @User: Advanced AP_GROUPINFO("_PROBE_EXT", 14, AP_Baro, _baro_probe_ext, HAL_BARO_PROBE_EXT_DEFAULT), #endif @@ -781,6 +782,10 @@ void AP_Baro::_probe_i2c_barometers(void) { PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR }, { PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR2 }, #endif +#if AP_BARO_BMP581_ENABLED + { PROBE_BMP581, AP_Baro_BMP581::probe, HAL_BARO_BMP581_I2C_ADDR }, + { PROBE_BMP581, AP_Baro_BMP581::probe, HAL_BARO_BMP581_I2C_ADDR2 }, +#endif #if AP_BARO_MS56XX_ENABLED { PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR }, { PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR2 }, diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h index cfe20eed013dc2..3f990826ef1e89 100644 --- a/libraries/AP_Baro/AP_Baro.h +++ b/libraries/AP_Baro/AP_Baro.h @@ -266,6 +266,7 @@ class AP_Baro PROBE_BMP388=(1<<10), PROBE_SPL06 =(1<<11), PROBE_MSP =(1<<12), + PROBE_BMP581=(1<<13), }; #if HAL_BARO_WIND_COMP_ENABLED diff --git a/libraries/AP_Baro/AP_Baro_BMP581.cpp b/libraries/AP_Baro/AP_Baro_BMP581.cpp new file mode 100644 index 00000000000000..fda6e32a78ed86 --- /dev/null +++ b/libraries/AP_Baro/AP_Baro_BMP581.cpp @@ -0,0 +1,193 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ +#include "AP_Baro_BMP581.h" + +#if AP_BARO_BMP581_ENABLED + +#include +#include + +extern const AP_HAL::HAL &hal; + +#define BMP581_ID 0x50 + +#define BMP581_REG_CHIP_ID 0x01 +#define BMP581_REG_REV_ID 0x02 +#define BMP581_REG_CHIP_STATUS 0x11 +#define BMP581_REG_DRIVE_CONFIG 0x13 +#define BMP581_REG_INT_CONFIG 0x14 +#define BMP581_REG_INT_SOURCE 0x15 +#define BMP581_REG_FIFO_CONFIG 0x16 +#define BMP581_REG_FIFO_COUNT 0x17 +#define BMP581_REG_FIFO_SEL 0x18 +#define BMP581_REG_TEMP_DATA_XLSB 0x1D +#define BMP581_REG_TEMP_DATA_LSB 0x1E +#define BMP581_REG_TEMP_DATA_MSB 0x1F +#define BMP581_REG_PRESS_DATA_XLSB 0x20 +#define BMP581_REG_PRESS_DATA_LSB 0x21 +#define BMP581_REG_PRESS_DATA_MSB 0x22 +#define BMP581_REG_INT_STATUS 0x27 +#define BMP581_REG_STATUS 0x28 +#define BMP581_REG_FIFO_DATA 0x29 +#define BMP581_REG_NVM_ADDR 0x2B +#define BMP581_REG_NVM_DATA_LSB 0x2C +#define BMP581_REG_NVM_DATA_MSB 0x2D +#define BMP581_REG_DSP_CONFIG 0x30 +#define BMP581_REG_DSP_IIR 0x31 +#define BMP581_REG_OOR_THR_P_LSB 0x32 +#define BMP581_REG_OOR_THR_P_MSB 0x33 +#define BMP581_REG_OOR_RANGE 0x34 +#define BMP581_REG_OOR_CONFIG 0x35 +#define BMP581_REG_OSR_CONFIG 0x36 +#define BMP581_REG_ODR_CONFIG 0x37 +#define BMP581_REG_OSR_EFF 0x38 +#define BMP581_REG_CMD 0x7E + +AP_Baro_BMP581::AP_Baro_BMP581(AP_Baro &baro, AP_HAL::OwnPtr dev) + : AP_Baro_Backend(baro) + , _dev(std::move(dev)) +{ +} + +AP_Baro_Backend *AP_Baro_BMP581::probe(AP_Baro &baro, + AP_HAL::OwnPtr dev) +{ + if (!dev) { + return nullptr; + } + + AP_Baro_BMP581 *sensor = NEW_NOTHROW AP_Baro_BMP581(baro, std::move(dev)); + if (!sensor || !sensor->init()) { + delete sensor; + return nullptr; + } + return sensor; +} + +bool AP_Baro_BMP581::init() +{ + if (!_dev) { + return false; + } + + WITH_SEMAPHORE(_dev->get_semaphore()); + + _dev->set_speed(AP_HAL::Device::SPEED_HIGH); + + uint8_t whoami; + + // setup to allow reads on SPI + if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) { + _dev->set_read_flag(0x80); + + if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) { + return false; + } + } + + if (!_dev->read_registers(BMP581_REG_CHIP_ID, &whoami, 1)) { + return false; + } + + switch (whoami) { + case BMP581_ID: + _dev->set_device_type(DEVTYPE_BARO_BMP581); + break; + default: + return false; + } + + uint8_t status; + if (!_dev->read_registers(BMP581_REG_STATUS, &status, 1)) { + return false; + } + + if ((status & 0b10) == 0 || (status & 0b100) == 1) { + return false; + } + + uint8_t int_status; + if (!_dev->read_registers(BMP581_REG_INT_STATUS, &int_status, 1)) { + return false; + } + + if ((int_status & 0x10) == 0) { + return false; + } + + _dev->setup_checked_registers(4); + + // Standby mode + _dev->write_register(BMP581_REG_ODR_CONFIG, 0, true); + + // Press EN | osr_p 64X | osr_t 4X + _dev->write_register(BMP581_REG_OSR_CONFIG, 0b01110010, true); + + // ORD 50Hz | Normal Mode + _dev->write_register(BMP581_REG_ODR_CONFIG, 0b0111101, true); + + instance = _frontend.register_sensor(); + + set_bus_id(instance, _dev->get_bus_id()); + + // request 50Hz update + _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP581::timer, void)); + + return true; +} + +// acumulate a new sensor reading +void AP_Baro_BMP581::timer(void) +{ + uint8_t buf[6]; + + if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf, sizeof(buf))) { + return; + } + + WITH_SEMAPHORE(_sem); + + if (buf[0] != 0x7f || buf[1] != 0x7f || buf[2] != 0x7f) { + // we have temperature data + temperature = (float)((int32_t)(((uint32_t)buf[2] << 24) | ((uint32_t)buf[1] << 16) | ((uint32_t)buf[0] << 8)) >> 8) * (1.0f / 65536.0f); + } + + if (buf[3] != 0x7f || buf[4] != 0x7f || buf[5] != 0x7f) { + // we have pressure data + pressure_sum += (float)(((uint32_t)buf[5] << 16) | ((uint32_t)buf[4] << 8) | (uint32_t)buf[3]) * (1.0f / 64.0f); + pressure_count++; + } + + _dev->check_next_register(); +} + +// transfer data to the frontend +void AP_Baro_BMP581::update(void) +{ + WITH_SEMAPHORE(_sem); + + if (pressure_count == 0) { + return; + } + + _copy_to_frontend(instance, + pressure_sum/pressure_count, + temperature); + + pressure_sum = 0; + pressure_count = 0; +} + +#endif // AP_BARO_BMP581_ENABLED diff --git a/libraries/AP_Baro/AP_Baro_BMP581.h b/libraries/AP_Baro/AP_Baro_BMP581.h new file mode 100644 index 00000000000000..0c50f1ab988727 --- /dev/null +++ b/libraries/AP_Baro/AP_Baro_BMP581.h @@ -0,0 +1,41 @@ +#pragma once + +#include "AP_Baro_Backend.h" + +#if AP_BARO_BMP581_ENABLED + +#include +#include +#include + +#ifndef HAL_BARO_BMP581_I2C_ADDR + #define HAL_BARO_BMP581_I2C_ADDR (0x46) +#endif +#ifndef HAL_BARO_BMP581_I2C_ADDR2 + #define HAL_BARO_BMP581_I2C_ADDR2 (0x47) +#endif + +class AP_Baro_BMP581 : public AP_Baro_Backend +{ +public: + AP_Baro_BMP581(AP_Baro &baro, AP_HAL::OwnPtr dev); + + /* AP_Baro public interface: */ + void update() override; + + static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr dev); + +private: + + bool init(void); + void timer(void); + + AP_HAL::OwnPtr _dev; + + uint8_t instance; + float pressure_sum; + uint32_t pressure_count; + float temperature; +}; + +#endif // AP_BARO_BMP581_ENABLED diff --git a/libraries/AP_Baro/AP_Baro_Backend.h b/libraries/AP_Baro/AP_Baro_Backend.h index 343bacf31f62f4..6b661bb1ec6ae7 100644 --- a/libraries/AP_Baro/AP_Baro_Backend.h +++ b/libraries/AP_Baro/AP_Baro_Backend.h @@ -53,6 +53,7 @@ class AP_Baro_Backend DEVTYPE_BARO_MS5837 = 0x12, DEVTYPE_BARO_MS5637 = 0x13, DEVTYPE_BARO_BMP390 = 0x14, + DEVTYPE_BARO_BMP581 = 0x15, }; protected: diff --git a/libraries/AP_Baro/AP_Baro_config.h b/libraries/AP_Baro/AP_Baro_config.h index 68e7a4fdab60d4..ed7f84a18e52fd 100644 --- a/libraries/AP_Baro/AP_Baro_config.h +++ b/libraries/AP_Baro/AP_Baro_config.h @@ -29,6 +29,10 @@ #define AP_BARO_BMP388_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED #endif +#ifndef AP_BARO_BMP581_ENABLED +#define AP_BARO_BMP581_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED +#endif + #ifndef AP_BARO_DPS280_ENABLED #define AP_BARO_DPS280_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED #endif From 5b05a171a2611b4e14576c09e7332d3c1246ab3e Mon Sep 17 00:00:00 2001 From: xianglunkai <1322099375@qq.com> Date: Tue, 4 Jul 2023 11:56:56 +0800 Subject: [PATCH 221/282] AP_HAL_Linux: remove unused includes --- libraries/AP_HAL_Linux/Storage.cpp | 1 - libraries/AP_HAL_Linux/UARTDriver.cpp | 1 - libraries/AP_HAL_Linux/Util.cpp | 1 - 3 files changed, 3 deletions(-) diff --git a/libraries/AP_HAL_Linux/Storage.cpp b/libraries/AP_HAL_Linux/Storage.cpp index 4fc401c76405b3..fe4641e082d113 100644 --- a/libraries/AP_HAL_Linux/Storage.cpp +++ b/libraries/AP_HAL_Linux/Storage.cpp @@ -9,7 +9,6 @@ #include #include -#include using namespace Linux; diff --git a/libraries/AP_HAL_Linux/UARTDriver.cpp b/libraries/AP_HAL_Linux/UARTDriver.cpp index 169358f1659ecd..0ccedaa4786b90 100644 --- a/libraries/AP_HAL_Linux/UARTDriver.cpp +++ b/libraries/AP_HAL_Linux/UARTDriver.cpp @@ -23,7 +23,6 @@ #include "TCPServerDevice.h" #include "UARTDevice.h" #include "UDPDevice.h" - #include #if HAL_GCS_ENABLED #include diff --git a/libraries/AP_HAL_Linux/Util.cpp b/libraries/AP_HAL_Linux/Util.cpp index 894cef4c4934c5..bfceab6dcd5761 100644 --- a/libraries/AP_HAL_Linux/Util.cpp +++ b/libraries/AP_HAL_Linux/Util.cpp @@ -10,7 +10,6 @@ #include #include "Heat_Pwm.h" -#include "ToneAlarm_Disco.h" #include "Util.h" using namespace Linux; From c376781c081141313885a9067851339fc5e57e4b Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 2 Jun 2024 16:41:28 +0900 Subject: [PATCH 222/282] Copter: Clear the counter when rudder arm operation is disabled --- ArduCopter/motors.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp index 34a3ff201b6ce3..240ac3c972bbbe 100644 --- a/ArduCopter/motors.cpp +++ b/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; } From 136e76e5ea10ef6e6b88ac3039b2e673cbc8ee85 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 5 Jun 2024 13:48:05 +1000 Subject: [PATCH 223/282] Copter: tidy failsafe action handling Mode changes will not work when mode not compiled in --- ArduCopter/events.cpp | 31 ++++++++++++++++++------------- 1 file changed, 18 insertions(+), 13 deletions(-) diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp index 2796846599f81c..3b65f14bad5d47 100644 --- a/ArduCopter/events.cpp +++ b/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 From 7003647eda1898d5acc76646ae50268317799a6c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 17 Jun 2024 15:11:56 +1000 Subject: [PATCH 224/282] Rover: use enum-class for mission-done behaviours --- Rover/Parameters.h | 4 +++- Rover/mode.h | 10 +++++----- Rover/mode_auto.cpp | 29 +++++++++++++++++++---------- Rover/system.cpp | 2 +- 4 files changed, 28 insertions(+), 17 deletions(-) diff --git a/Rover/Parameters.h b/Rover/Parameters.h index e176a72f0cb842..e2d8d9849ca4bd 100644 --- a/Rover/Parameters.h +++ b/Rover/Parameters.h @@ -384,8 +384,10 @@ class ParametersG2 { // windvane AP_WindVane windvane; +#if AP_MISSION_ENABLED // mission behave - AP_Int8 mis_done_behave; + AP_Enum mis_done_behave; +#endif // balance both pitch trim AP_Float bal_pitch_trim; diff --git a/Rover/mode.h b/Rover/mode.h index f166843ed0d231..075dc1b34b4151 100644 --- a/Rover/mode.h +++ b/Rover/mode.h @@ -282,11 +282,11 @@ class ModeAuto : public Mode FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&), FUNCTOR_BIND_MEMBER(&ModeAuto::exit_mission, void)}; - enum Mis_Done_Behave { - MIS_DONE_BEHAVE_HOLD = 0, - MIS_DONE_BEHAVE_LOITER = 1, - MIS_DONE_BEHAVE_ACRO = 2, - MIS_DONE_BEHAVE_MANUAL = 3 + enum class DoneBehaviour : uint8_t { + HOLD = 0, + LOITER = 1, + ACRO = 2, + MANUAL = 3, }; protected: diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp index 387349dfda95b0..fa1ea8ece212c0 100644 --- a/Rover/mode_auto.cpp +++ b/Rover/mode_auto.cpp @@ -626,16 +626,25 @@ void ModeAuto::exit_mission() // send message gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete"); - if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && start_loiter()) { - return; - } - - if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) { - return; - } - - if (g2.mis_done_behave == MIS_DONE_BEHAVE_MANUAL && rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) { - return; + switch ((DoneBehaviour)g2.mis_done_behave) { + case DoneBehaviour::HOLD: + // the default "start_stop" behaviour is used + break; + case DoneBehaviour::LOITER: + if (start_loiter()) { + return; + } + break; + case DoneBehaviour::ACRO: + if (rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) { + return; + } + break; + case DoneBehaviour::MANUAL: + if (rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) { + return; + } + break; } start_stop(); diff --git a/Rover/system.cpp b/Rover/system.cpp index b00c2cae1e4058..4c45b7796a26bd 100644 --- a/Rover/system.cpp +++ b/Rover/system.cpp @@ -145,7 +145,7 @@ void Rover::init_ardupilot() // boat should loiter after completing a mission to avoid drifting off if (is_boat()) { - rover.g2.mis_done_behave.set_default(ModeAuto::Mis_Done_Behave::MIS_DONE_BEHAVE_LOITER); + rover.g2.mis_done_behave.set_default(uint8_t(ModeAuto::DoneBehaviour::LOITER)); } // flag that initialisation has completed From 0f011a4b61605ccee7b05ff09122af222c756c21 Mon Sep 17 00:00:00 2001 From: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri, 19 Apr 2024 07:30:54 +0800 Subject: [PATCH 225/282] AP_HAL_ChibiOS: Added support for JHEMCU H743 HD commit 7d01b9e3cb09e89afea4bcb903d54b9ce8cdb1be Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 19 07:06:45 2024 +0800 AP_HAL_ChibiOS: Added support for JHEMCU H743 HD commit d1e4ba0ef307e3ab3cc0f4218dd08e2f5c8f6ad0 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 19 04:38:22 2024 +0800 board_types.txt: Reverted change for seperate PR hwdef-bl.dat: revert flash size to 2mb hwdef.dat: flash size set to 2mb, corrected syntax, realigned imus commit ee465524a7c37509d89ae17ae277a42328cb1cfd Merge: b1a55e0e3d 0f0023e62d Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:59:31 2024 +0800 Merge branch 'master' into master commit b1a55e0e3d10a1fc3eff7af14c837271d0a3d131 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:59:08 2024 +0800 Create defaults.parm output 9 is setup as serial LED commit 8437b6277c9f1d00a333ebd4f96946f02bf2bfc1 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:56:44 2024 +0800 Update JHEMCU-H743HD/README.md Changed default UART6 protocol to displayport Co-authored-by: Henry Wurzburg commit 186740cbc038a0ed4dd3bfc9035504bdd165b5aa Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:56:28 2024 +0800 Update JHEMCU-H743HD/hwdef.dat Changed default UART6 protocol to displayport Co-authored-by: Henry Wurzburg commit 48cfc0daaf58fecfe75a9338c91f4543aed4b14c Merge: 789b71d709 5a21d0cb8a Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Mon Apr 15 10:25:49 2024 +0800 Merge branch 'master' into master commit 789b71d709b2b01c2a5134f8293f785917a787fd Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 19:37:37 2024 +0800 Update hwdef-bl.dat Corrected FLASH_SIZE_KB to 1024 as H743VGT6 have only 1M flash commit cfa26b8f014c1775aa0270168682deca8ae16e78 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 19:37:04 2024 +0800 Update hwdef.dat Corrected FLASH_SIZE_KB to 1024 as H743VGT6 have only 1M flash commit 3ae8a2c6ca2b0e95c076b652622adfe53275575a Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 18:40:31 2024 +0800 Update hwdef.dat Fixed BIDIR labels, they are now in pairs, only on M1, M3, M5 and M7 commit 200e22d5f06f6a0aef30463f4d2702872fe6f063 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 18:20:42 2024 +0800 Update hwdef.dat Included OTG2, default serial 3 protocol is set to None. commit 8f561c17efa9708acbd257759f12b056f44ea5f6 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 18:10:01 2024 +0800 Update README.md Corrected title commit 404b49f399d756561727571132ec38f3f89188a3 Merge: b1d353b185 77cccd08a3 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 09:56:53 2024 +0800 Merge branch 'master' into master commit b1d353b185721c1e319f2b758f8e4ea1b1d30968 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:51:57 2024 +0800 Added JHEMCU H743 HD support commit 299841b23628431dc1b0172bb5fc50968acf2fd1 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:25:01 2024 +0800 Added JHEMCU-H743HD commit 39d10456894bbbc4f73dfba65ee7cace7659ae17 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:21:14 2024 +0800 Update README.md commit 048780fe44aace829173b0e701bc5a2ff874ee49 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:18:23 2024 +0800 Added initial hwdef for JHEMCU H743 HD board commit d4021681ec6d47f81973e6b346a67b757f3908d2 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 19 07:06:46 2024 +0800 Tools: Added support for JHEMCU H743 HD commit d1e4ba0ef307e3ab3cc0f4218dd08e2f5c8f6ad0 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 19 04:38:22 2024 +0800 board_types.txt: Reverted change for seperate PR hwdef-bl.dat: revert flash size to 2mb hwdef.dat: flash size set to 2mb, corrected syntax, realigned imus commit ee465524a7c37509d89ae17ae277a42328cb1cfd Merge: b1a55e0e3d 0f0023e62d Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:59:31 2024 +0800 Merge branch 'master' into master commit b1a55e0e3d10a1fc3eff7af14c837271d0a3d131 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:59:08 2024 +0800 Create defaults.parm output 9 is setup as serial LED commit 8437b6277c9f1d00a333ebd4f96946f02bf2bfc1 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:56:44 2024 +0800 Update JHEMCU-H743HD/README.md Changed default UART6 protocol to displayport Co-authored-by: Henry Wurzburg commit 186740cbc038a0ed4dd3bfc9035504bdd165b5aa Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Tue Apr 16 10:56:28 2024 +0800 Update JHEMCU-H743HD/hwdef.dat Changed default UART6 protocol to displayport Co-authored-by: Henry Wurzburg commit 48cfc0daaf58fecfe75a9338c91f4543aed4b14c Merge: 789b71d709 5a21d0cb8a Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Mon Apr 15 10:25:49 2024 +0800 Merge branch 'master' into master commit 789b71d709b2b01c2a5134f8293f785917a787fd Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 19:37:37 2024 +0800 Update hwdef-bl.dat Corrected FLASH_SIZE_KB to 1024 as H743VGT6 have only 1M flash commit cfa26b8f014c1775aa0270168682deca8ae16e78 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 19:37:04 2024 +0800 Update hwdef.dat Corrected FLASH_SIZE_KB to 1024 as H743VGT6 have only 1M flash commit 3ae8a2c6ca2b0e95c076b652622adfe53275575a Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 18:40:31 2024 +0800 Update hwdef.dat Fixed BIDIR labels, they are now in pairs, only on M1, M3, M5 and M7 commit 200e22d5f06f6a0aef30463f4d2702872fe6f063 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 18:20:42 2024 +0800 Update hwdef.dat Included OTG2, default serial 3 protocol is set to None. commit 8f561c17efa9708acbd257759f12b056f44ea5f6 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 18:10:01 2024 +0800 Update README.md Corrected title commit 404b49f399d756561727571132ec38f3f89188a3 Merge: b1d353b185 77cccd08a3 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Sat Apr 13 09:56:53 2024 +0800 Merge branch 'master' into master commit b1d353b185721c1e319f2b758f8e4ea1b1d30968 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:51:57 2024 +0800 Added JHEMCU H743 HD support commit 299841b23628431dc1b0172bb5fc50968acf2fd1 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:25:01 2024 +0800 Added JHEMCU-H743HD commit 39d10456894bbbc4f73dfba65ee7cace7659ae17 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:21:14 2024 +0800 Update README.md commit 048780fe44aace829173b0e701bc5a2ff874ee49 Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com> Date: Fri Apr 12 17:18:23 2024 +0800 Added initial hwdef for JHEMCU H743 HD board --- .../JHEMCU-H743HD/JHEMCU-H743HD_Board.jpg | Bin 0 -> 185960 bytes .../hwdef/JHEMCU-H743HD/README.md | 79 ++++++++ .../hwdef/JHEMCU-H743HD/defaults.parm | 2 + 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z+R&l7IrHbkc(A>Iz91R8jdXsF#?0XtI#xhao-h@e+R&CWaz@mfZUt&|s)2$LGdd0D z^d)K3U}LKFz*O5^%qK~p$Nk}K6L5|r%oQ8qtfu6oe|Ak2mh@Gb$#blBA}pIYQ>%>A z2&s)CM|)DnEpiGnay|PUnv`GH@4cNBQ{h!n>N9po03Yk#uy0EoLu#nkzoNo7`Fe}Z zP?M?}u*}4BBY$?!=K^CBz8pr8*JrtK45ubjUTT$(L$sXd*_IyplfKc&kmt zBjx#zWQW{yw6d0d^T?xTwZi&xGbJ<`C@zu0J!>sAs&ULPh3nE3dcPc6E`P%@G;3qPk z&s;7w?G6vNc|QI`>Rdb~ql4~Z?eV%oGrQ>1zS8#MXa1^hu07Ix;YSb-(Pa5-jIM>y zHKT2j7*h92%&X3qrmhpijZf2)eFFBFAIlr`!h4=Ai+h{B!Es%Es5ac-63WjhjW2^r<@612C4Rx72w^EGlEyR`!TWP#cNnG;CSW3 zKrU*^KyDGtbR;f%6hg!ifWpReW!8;g;k&G>$o&-tSPhYL?|`hSSQ USB + - SERIAL1 -> USART1 (DMA-enabled) + - SERIAL2 -> USART2 (RX/SBUS, DMA-enabled) + - SERIAL3 -> USART3 (DMA-enabled) + - SERIAL4 -> UART4 (GPS, DMA-enabled) + - SERIAL5 -> UART5 (Pins labeled R5 T5) + - SERIAL6 -> USART6 (DisplayPort, DMA-enabled) + - SERIAL7 -> UART7 (ESC Telemetry) + - SERIAL8 -> UART8 (Unused, not tested, no pinout, need to solder direct on precessor pins to utilize if you need just one more UART) + +## RC Input + +RC input is configured on the RX2/TX2 (USART2_RX/USART2_TX) pins. It supports ELRS(CSRF), TBS(CSRF), SBUS, IBUS, DSM2, and DSMX. + +## OSD Support + +JHEMCU H743 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +JHEMCU H743 supports up to 9 PWM outputs. 8 motors and 1 LED strip or another PWM output. + +The PWM is in 4 groups: + + - PWM 1 - 4 in group1 + - PWM 5, 6 in group2 + - PWM 7, 8 in group3 + - PWM 9 in group4 + +Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot. Channels 1-8 support bi-directional dshot. + +## Battery Monitoring + +The board has a built-in voltage and current sensor. The current +sensor's max Amps is not specified. The voltage sensor can handle up to 6S +LiPo batteries. + +## Compass + +JHEMCU H743 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads. + +## Loading Firmware + +Initial firmware load can be done with DFU by plugging in USB with the +bootloader button pressed. Then you should load the "with_bl.hex" +firmware, using your favourite DFU loading tool. + +Once the initial firmware is loaded you can update the firmware using +any ArduPilot ground station software. Updates should be done with the +*.apj firmware files. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/defaults.parm new file mode 100644 index 00000000000000..bf8d477d44bec3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/defaults.parm @@ -0,0 +1,2 @@ +# setup for LEDs on chan9 +SERVO9_FUNCTION 120 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef-bl.dat new file mode 100644 index 00000000000000..e8a9001abcfaa8 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef-bl.dat @@ -0,0 +1,46 @@ + +# hw definition file for processing by chibios_hwdef.py +# for JHEH743_HD hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1411 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +MCU_CLOCKRATE_MHZ 480 + +FLASH_SIZE_KB 2048 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 384 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + + +# Chip select pins +PA15 FLASH1_CS CS +PB12 OSD1_CS CS +PA4 GYRO1_CS CS +PE11 GYRO2_CS CS + +PA8 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef.dat new file mode 100644 index 00000000000000..37d5139cc75e42 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef.dat @@ -0,0 +1,180 @@ + +# hw definition file for processing by chibios_hwdef.py +# for JHEH743_HD hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1411 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +MCU_CLOCKRATE_MHZ 480 + +FLASH_SIZE_KB 2048 + +# bootloader takes first sector +FLASH_RESERVE_START_KB 384 + +define HAL_STORAGE_SIZE 16384 +define STORAGE_FLASH_PAGE 1 + +STM32_ST_USE_TIMER 2 + +# SPI devices + +# SPI1 +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI2 +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI3 +PB2 SPI3_MOSI SPI3 +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 + +# SPI4 +PE12 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE14 SPI4_MOSI SPI4 + +# Chip select pins +PA15 FLASH1_CS CS +PB12 OSD1_CS CS +PA4 GYRO1_CS CS +PE11 GYRO2_CS CS + +# Beeper +PE3 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 + +# SERIAL ports +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2 +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 + +# USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None + +# UART4 +PD0 UART4_RX UART4 +PD1 UART4_TX UART4 +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS + +# UART5 +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA + +# USART6 +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort + +# UART7 +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry + +# UART8 +PE0 UART8_RX UART8 NODMA +PE1 UART8_TX UART8 NODMA + +# I2C ports +I2C_ORDER I2C1 I2C2 +# I2C1 +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# I2C2 +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# Servos + +# ADC ports + +# ADC1 +PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) +define HAL_BATT_VOLT_PIN 11 +define HAL_BATT_VOLT_SCALE 11.0 +PC3 BATT_CURRENT_SENS ADC1 SCALE(1) +define HAL_BATT_CURR_PIN 13 +define HAL_BATT_CURR_SCALE 58.8 +define HAL_BATT_MONITOR_DEFAULT 4 + +# MOTORS +PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1 +PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2 +PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3 +PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4 +PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR # M5 +PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) # M6 +PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR # M7 +PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) # M8 + + +# LEDs +PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9 + +PE5 LED0 OUTPUT LOW GPIO(90) +define HAL_GPIO_A_LED_PIN 90 + +PE4 LED1 OUTPUT LOW GPIO(91) +define HAL_GPIO_B_LED_PIN 91 + +# Dataflash setup +SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ +define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +# OSD setup +SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ + +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +# Barometer setup +BARO DPS310 I2C:0:0x76 + +# IMU setup + +# IMU setup +SPIDEV icm42688p SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ +IMU Invensensev3 SPI:icm42688p ROTATION_PITCH_180 + +SPIDEV icm42688p2 SPI4 DEVID2 GYRO2_CS MODE3 1*MHZ 8*MHZ +IMU Invensensev3 SPI:icm42688p2 ROTATION_ROLL_180 + +DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4* +DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4* + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 +define HAL_DEFAULT_INS_FAST_SAMPLE 3 +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/processor pins.png b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/processor pins.png new file mode 100644 index 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