From fba47e641d3ddbd490581e539f2eee4c30a1bf5c Mon Sep 17 00:00:00 2001
From: Vincent Poon <vincentpoont2@gmail.com>
Date: Wed, 3 Jul 2024 14:18:39 +0800
Subject: [PATCH 01/16] Update Pixhawk6C hwdef.dat

Fix https://github.com/ArduPilot/ardupilot/issues/25840

The overcurrent detection of the HIPOWER current limiting chip is connected to PC11 on the Pixhawk 6C.
---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
index 7872fc8e50a107..b35390b3aaf04f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
@@ -177,7 +177,7 @@ define HAL_SPEKTRUM_PWR_ENABLED 1
 
 # power sensing
 PE3 VDD_5V_PERIPH_nOC INPUT PULLUP
-PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PC11 VDD_5V_HIPOWER_nOC INPUT PULLUP
 
 PA15 VDD_BRICK_nVALID INPUT PULLUP
 PB12 VDD_BRICK2_nVALID INPUT PULLUP

From 35bdadb8ec8b01a3133507df24d01adb5d71dda9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jul 2024 19:34:05 +1000
Subject: [PATCH 02/16] AC_AutoTune: adjust variable names to include _cd
 postfix

---
 libraries/AC_AutoTune/AC_AutoTune_Heli.cpp | 12 ++++++------
 libraries/AC_AutoTune/AC_AutoTune_Heli.h   |  4 ++--
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
index b227d3b2f402f7..7e8c49297ec706 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -822,8 +822,8 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
         filt_att_fdbk_from_velxy_cd.apply(att_fdbk, AP::scheduler().get_loop_period_s());
     } else {
         target_angle_cd = 0.0f;
-        trim_yaw_tgt_reading = (float)attitude_control->get_att_target_euler_cd().z;
-        trim_yaw_heading_reading = (float)ahrs_view->yaw_sensor;
+        trim_yaw_tgt_reading_cd = (float)attitude_control->get_att_target_euler_cd().z;
+        trim_yaw_heading_reading_cd = (float)ahrs_view->yaw_sensor;
         dwell_start_time_ms = now;
         filt_att_fdbk_from_velxy_cd.reset(Vector2f(0.0f,0.0f));
         settle_time--;
@@ -865,17 +865,17 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
         break;
     case YAW:
     case YAW_D:
-        attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading + target_angle_cd), false);
+        attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading_cd + target_angle_cd), false);
         command_reading = motors->get_yaw();
         if (test_calc_type == DRB) {
             tgt_rate_reading = radians(target_angle_cd * 0.01f);
-            gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading - target_angle_cd)) * 0.01f);
+            gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd - target_angle_cd)) * 0.01f);
         } else if (test_calc_type == RATE) {
             tgt_rate_reading = attitude_control->rate_bf_targets().z;
             gyro_reading = ahrs_view->get_gyro().z;
         } else {
-            tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading)) * 0.01f);
-            gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading)) * 0.01f);
+            tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading_cd)) * 0.01f);
+            gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd)) * 0.01f);
         }
         break;
     }
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
index 269d3047c172ef..c696c8674fbbd3 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
@@ -276,8 +276,8 @@ class AC_AutoTune_Heli : public AC_AutoTune
     // trim variables for determining trim state prior to test starting
     Vector3f trim_attitude_cd;                      // trim attitude before starting test
     float trim_command;                             // trim target yaw reading before starting test
-    float trim_yaw_tgt_reading;                     // trim target yaw reading before starting test
-    float trim_yaw_heading_reading;                 // trim heading reading before starting test
+    float trim_yaw_tgt_reading_cd;                     // trim target yaw reading before starting test
+    float trim_yaw_heading_reading_cd;                 // trim heading reading before starting test
 
     LowPassFilterFloat  command_filt;               // filtered command - filtering intended to remove noise
     LowPassFilterFloat  target_rate_filt;           // filtered target rate in radians/second - filtering intended to remove noise

From 3dff46b2b277eef2d979747c15ece51885d086e3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jul 2024 19:35:28 +1000
Subject: [PATCH 03/16] AC_AutoTune: remove unused variables

---
 libraries/AC_AutoTune/AC_AutoTune_Heli.h | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
index c696c8674fbbd3..a9dfee98d698b9 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
@@ -263,10 +263,6 @@ class AC_AutoTune_Heli : public AC_AutoTune
     uint32_t settle_time;                           // time in ms for allowing aircraft to stabilize before initiating test
     float    trim_meas_rate;                        // trim measured gyro rate
 
-    //variables from rate FF test
-    float trim_command_reading;
-    float trim_heading;
-
     // variables from dwell test
     LowPassFilterVector2f filt_att_fdbk_from_velxy_cd;
     LowPassFilterFloat filt_command_reading;        // filtered command reading to keep oscillation centered
@@ -274,8 +270,6 @@ class AC_AutoTune_Heli : public AC_AutoTune
     LowPassFilterFloat filt_tgt_rate_reading;       // filtered target rate reading to keep oscillation centered
 
     // trim variables for determining trim state prior to test starting
-    Vector3f trim_attitude_cd;                      // trim attitude before starting test
-    float trim_command;                             // trim target yaw reading before starting test
     float trim_yaw_tgt_reading_cd;                     // trim target yaw reading before starting test
     float trim_yaw_heading_reading_cd;                 // trim heading reading before starting test
 

From ce48932f4d71a88f5cc4b6824055716dccdc72f6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jul 2024 14:37:13 +1000
Subject: [PATCH 04/16] AP_NavEKF3: remove storedRange member variable if
 rangefinder measurements disabled

---
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 2 ++
 libraries/AP_NavEKF3/AP_NavEKF3_core.h   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 67298272ffe85e..a35a95920bd84c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -394,7 +394,9 @@ void NavEKF3_core::InitialiseVariables()
     storedGPS.reset();
     storedBaro.reset();
     storedTAS.reset();
+#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS
     storedRange.reset();
+#endif
     storedOutput.reset();
 #if EK3_FEATURE_BEACON_FUSION
     rngBcn.storedRange.reset();
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 322ebc6907ab20..d930bbb0fc5b95 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1056,7 +1056,9 @@ class NavEKF3_core : public NavEKF_core_common
     EKF_obs_buffer_t<mag_elements> storedMag;      // Magnetometer data buffer
     EKF_obs_buffer_t<baro_elements> storedBaro;    // Baro data buffer
     EKF_obs_buffer_t<tas_elements> storedTAS;      // TAS data buffer
+#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS
     EKF_obs_buffer_t<range_elements> storedRange;  // Range finder data buffer
+#endif
     EKF_IMU_buffer_t<output_elements> storedOutput;// output state buffer
     Matrix3F prevTnb;               // previous nav to body transformation used for INS earth rotation compensation
     ftype accNavMag;                // magnitude of navigation accel - used to adjust GPS obs variance (m/s^2)

From 6ce7e179d7115f80f59bf466b0fe4c48f53c0540 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jul 2024 15:40:08 +1000
Subject: [PATCH 05/16] RC_Channel: produce error if feature compiled out and
 aux func initialised

---
 libraries/RC_Channel/RC_Channel.cpp | 46 ++++++++++++++++++++++++++---
 1 file changed, 42 insertions(+), 4 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index f3cecf7e4a4ae9..33be28afd41ae5 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -626,26 +626,41 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     // the following functions do not need to be initialised:
     case AUX_FUNC::ARMDISARM:
     case AUX_FUNC::ARMDISARM_AIRMODE:
+#if AP_BATTERY_ENABLED
     case AUX_FUNC::BATTERY_MPPT_ENABLE:
+#endif
+#if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_TRIGGER:
+#endif
     case AUX_FUNC::CLEAR_WP:
     case AUX_FUNC::COMPASS_LEARN:
     case AUX_FUNC::DISARM:
     case AUX_FUNC::DO_NOTHING:
+#if AP_LANDINGGEAR_ENABLED
     case AUX_FUNC::LANDING_GEAR:
+#endif
     case AUX_FUNC::LOST_VEHICLE_SOUND:
+#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
     case AUX_FUNC::RELAY:
     case AUX_FUNC::RELAY2:
     case AUX_FUNC::RELAY3:
     case AUX_FUNC::RELAY4:
     case AUX_FUNC::RELAY5:
     case AUX_FUNC::RELAY6:
+#endif
+#if HAL_VISUALODOM_ENABLED
     case AUX_FUNC::VISODOM_ALIGN:
+#endif
     case AUX_FUNC::EKF_LANE_SWITCH:
     case AUX_FUNC::EKF_YAW_RESET:
+#if HAL_GENERATOR_ENABLED
     case AUX_FUNC::GENERATOR: // don't turn generator on or off initially
+#endif
     case AUX_FUNC::EKF_POS_SOURCE:
+#if HAL_TORQEEDO_ENABLED
     case AUX_FUNC::TORQEEDO_CLEAR_ERR:
+#endif
+#if AP_SCRIPTING_ENABLED
     case AUX_FUNC::SCRIPTING_1:
     case AUX_FUNC::SCRIPTING_2:
     case AUX_FUNC::SCRIPTING_3:
@@ -654,21 +669,30 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::SCRIPTING_6:
     case AUX_FUNC::SCRIPTING_7:
     case AUX_FUNC::SCRIPTING_8:
+#endif
 #if AP_VIDEOTX_ENABLED
     case AUX_FUNC::VTX_POWER:
 #endif
+#if AP_OPTICALFLOW_CALIBRATOR_ENABLED
     case AUX_FUNC::OPTFLOW_CAL:
+#endif
     case AUX_FUNC::TURBINE_START:
+#if HAL_MOUNT_ENABLED
     case AUX_FUNC::MOUNT1_ROLL:
     case AUX_FUNC::MOUNT1_PITCH:
     case AUX_FUNC::MOUNT1_YAW:
     case AUX_FUNC::MOUNT2_ROLL:
     case AUX_FUNC::MOUNT2_PITCH:
     case AUX_FUNC::MOUNT2_YAW:
+#endif
     case AUX_FUNC::LOWEHEISER_STARTER:
     case AUX_FUNC::MAG_CAL:
+#if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_IMAGE_TRACKING:
+#endif
+#if HAL_MOUNT_ENABLED
     case AUX_FUNC::MOUNT_LRF_ENABLE:
+#endif
         break;
 
     // not really aux functions:
@@ -678,9 +702,13 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::AVOID_ADSB:
 #endif
     case AUX_FUNC::AVOID_PROXIMITY:
+#if AP_FENCE_ENABLED
     case AUX_FUNC::FENCE:
+#endif
+#if AP_GPS_ENABLED
     case AUX_FUNC::GPS_DISABLE:
     case AUX_FUNC::GPS_DISABLE_YAW:
+#endif
 #if AP_GRIPPER_ENABLED
     case AUX_FUNC::GRIPPER:
 #endif
@@ -692,22 +720,30 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::MISSION_RESET:
     case AUX_FUNC::MOTOR_ESTOP:
     case AUX_FUNC::RC_OVERRIDE_ENABLE:
+#if HAL_RUNCAM_ENABLED
     case AUX_FUNC::RUNCAM_CONTROL:
     case AUX_FUNC::RUNCAM_OSD_CONTROL:
+#endif
+#if HAL_SPRAYER_ENABLED
     case AUX_FUNC::SPRAYER:
+#endif
     case AUX_FUNC::DISABLE_AIRSPEED_USE:
     case AUX_FUNC::FFT_NOTCH_TUNE:
 #if HAL_MOUNT_ENABLED
     case AUX_FUNC::RETRACT_MOUNT1:
     case AUX_FUNC::MOUNT_LOCK:
 #endif
+#if HAL_LOGGING_ENABLED
     case AUX_FUNC::LOG_PAUSE:
+#endif
     case AUX_FUNC::ARM_EMERGENCY_STOP:
+#if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_REC_VIDEO:
     case AUX_FUNC::CAMERA_ZOOM:
     case AUX_FUNC::CAMERA_MANUAL_FOCUS:
     case AUX_FUNC::CAMERA_AUTO_FOCUS:
     case AUX_FUNC::CAMERA_LENS:
+#endif
     case AUX_FUNC::AHRS_TYPE:
         run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
         break;
@@ -1049,9 +1085,9 @@ bool RC_Channel::do_aux_function_camera_lens(const AuxSwitchPos ch_flag)
 }
 #endif // AP_CAMERA_ENABLED
 
+#if HAL_RUNCAM_ENABLED
 void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
 {
-#if HAL_RUNCAM_ENABLED
     AP_RunCam *runcam = AP::runcam();
     if (runcam == nullptr) {
         return;
@@ -1068,12 +1104,10 @@ void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
         runcam->stop_recording();
         break;
     }
-#endif
 }
 
 void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag)
 {
-#if HAL_RUNCAM_ENABLED
     AP_RunCam *runcam = AP::runcam();
     if (runcam == nullptr) {
         return;
@@ -1088,8 +1122,8 @@ void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag)
         runcam->exit_osd();
         break;
     }
-#endif
 }
+#endif
 
 #if AP_FENCE_ENABLED
 // enable or disable the fence
@@ -1328,6 +1362,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         break;
 #endif  // AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
 
+#if HAL_RUNCAM_ENABLED
     case AUX_FUNC::RUNCAM_CONTROL:
         do_aux_function_runcam_control(ch_flag);
         break;
@@ -1335,6 +1370,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
     case AUX_FUNC::RUNCAM_OSD_CONTROL:
         do_aux_function_runcam_osd_control(ch_flag);
         break;
+#endif
 
     case AUX_FUNC::CLEAR_WP:
         do_aux_function_clear_wp(ch_flag);
@@ -1415,6 +1451,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
     }
 #endif
 
+#if AP_GPS_ENABLED
     case AUX_FUNC::GPS_DISABLE:
         AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH);
 #if HAL_EXTERNAL_AHRS_ENABLED
@@ -1425,6 +1462,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
     case AUX_FUNC::GPS_DISABLE_YAW:
         AP::gps().set_force_disable_yaw(ch_flag == AuxSwitchPos::HIGH);
         break;
+#endif  // AP_GPS_ENABLED
 
 #if AP_AIRSPEED_ENABLED
     case AUX_FUNC::DISABLE_AIRSPEED_USE: {

From 2363e972bc9c19482bdaaf6ebd99b6918dc8711c Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 24 Jun 2024 11:22:58 +1000
Subject: [PATCH 06/16] AP_Bootloader: fix return check for otg2 serial
 deadline

---
 Tools/AP_Bootloader/support.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp
index 9a02124b1a10d9..416e40d1e6c6fe 100644
--- a/Tools/AP_Bootloader/support.cpp
+++ b/Tools/AP_Bootloader/support.cpp
@@ -506,7 +506,7 @@ bool update_otg2_serial_forward()
         chnWriteTimeout(&SDU2, data, n, TIME_IMMEDIATE);
     }
 
-    return (AP_HAL::millis() > otg2_serial_deadline_ms);
+    return (AP_HAL::millis() < otg2_serial_deadline_ms);
 }
 #endif
 

From 4260acb21a5d4de562dba032a06bfb606049aeb3 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 26 Jun 2024 14:59:47 +1000
Subject: [PATCH 07/16] waf: use debug option 3 which records defines as well

---
 Tools/ardupilotwaf/boards.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index c8d1bbbc42b2e0..f3b35585af3b94 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -286,7 +286,7 @@ def configure_env(self, cfg, env):
 
         if cfg.env.DEBUG:
             env.CFLAGS += [
-                '-g',
+                '-g3',
                 '-O0',
             ]
             env.DEFINES.update(
@@ -294,7 +294,7 @@ def configure_env(self, cfg, env):
             )
         elif cfg.options.debug_symbols:
             env.CFLAGS += [
-                '-g',
+                '-g3',
             ]
         if cfg.env.COVERAGE:
             env.CFLAGS += [

From c8fe71b6b0bb32bb43526e603dd58c7715edc274 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 26 Jun 2024 15:00:29 +1000
Subject: [PATCH 08/16] AP_HAL_ChibiOS: use debug option 3 which includes
 defines as well

---
 libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
index 893b358f549685..9d30c86701c856 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
@@ -9,7 +9,7 @@ ifeq ($(USE_OPT),)
 endif
 
 ifeq ($(ENABLE_DEBUG_SYMBOLS), yes)
-  USE_OPT += -g
+  USE_OPT += -g3
 endif
 
 # C specific options here (added to USE_OPT).

From b93c9256c704c42852e729547a466ae32a1433ae Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 26 Jun 2024 15:01:05 +1000
Subject: [PATCH 09/16] AP_HAL_ChibiOS:hwdef/common: disable second core on
 dual core MCUs

---
 libraries/AP_HAL_ChibiOS/hwdef/common/board.c |  3 ++
 .../AP_HAL_ChibiOS/hwdef/common/stm32_util.c  | 28 +++++++++++++++++++
 .../AP_HAL_ChibiOS/hwdef/common/stm32_util.h  |  2 ++
 3 files changed, 33 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/board.c b/libraries/AP_HAL_ChibiOS/hwdef/common/board.c
index 99c48dfd6d5fb8..618fe597ac1fa4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/board.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/board.c
@@ -269,6 +269,9 @@ void __early_init(void) {
                      STM32_NOCACHE_MPU_REGION_2_SIZE |
                      MPU_RASR_ENABLE);
 #endif
+#if defined(DUAL_CORE)
+  stm32_disable_cm4_core(); // disable second core
+#endif
 #endif
 }
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
index c91e68930f547f..755290b765d919 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
@@ -581,3 +581,31 @@ bool check_limit_flash_1M(void)
     return false;
 }
 #endif
+
+
+#if defined(DUAL_CORE)
+void stm32_disable_cm4_core() {
+    // Turn off second core for now
+    if ((FLASH->OPTSR_CUR & FLASH_OPTSR_BCM4)) {
+        //unlock flash
+        if (FLASH->OPTCR & FLASH_OPTCR_OPTLOCK) {
+            /* Unlock sequence */
+            FLASH->OPTKEYR = 0x08192A3B;
+            FLASH->OPTKEYR = 0x4C5D6E7F;
+        }
+        while (FLASH->OPTSR_CUR & FLASH_OPTSR_OPT_BUSY) {
+        }
+        // disable core boot
+        FLASH->OPTSR_PRG &= ~FLASH_OPTSR_BCM4;
+        // start programming
+        FLASH->OPTCR |= FLASH_OPTCR_OPTSTART;
+        // wait for completion by checking busy bit
+        while (FLASH->OPTSR_CUR & FLASH_OPTSR_OPT_BUSY) {
+        }
+        // lock flash
+        FLASH->OPTCR |= FLASH_OPTCR_OPTLOCK;
+        while (FLASH->OPTSR_CUR & FLASH_OPTSR_OPT_BUSY) {
+        }
+    }
+}
+#endif // DUAL_CORE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
index 828ceed09ca69a..7d78d41b82b15b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
@@ -191,6 +191,8 @@ extern stkalign_t __main_stack_end__;
 extern stkalign_t __main_thread_stack_base__;
 extern stkalign_t __main_thread_stack_end__;
 
+void stm32_disable_cm4_core(void);
+
 #ifdef __cplusplus
 }
 #endif

From bf2ccec4d787536f139bb106059395a75e7cde59 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 26 Jun 2024 15:03:47 +1000
Subject: [PATCH 10/16] bootloaders: update Cube with dual core mcu bootloaders

---
 .../bootloaders/CubeOrangePlus-bdshot_bl.bin  |  Bin 38304 -> 40100 bytes
 .../bootloaders/CubeOrangePlus-bdshot_bl.hex  | 4899 +++++++++--------
 Tools/bootloaders/CubeOrangePlus_bl.bin       |  Bin 38688 -> 40092 bytes
 Tools/bootloaders/CubeOrangePlus_bl.elf       |  Bin 176244 -> 175792 bytes
 Tools/bootloaders/CubeOrangePlus_bl.hex       | 4614 ++++++++--------
 Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin |  Bin 93312 -> 94216 bytes
 Tools/bootloaders/CubeRedPrimary_bl.bin       |  Bin 29628 -> 29684 bytes
 Tools/bootloaders/CubeRedPrimary_bl.hex       |  634 +--
 Tools/bootloaders/CubeRedSecondary_bl.bin     |  Bin 10632 -> 12144 bytes
 Tools/bootloaders/CubeRedSecondary_bl.hex     | 1204 ++--
 10 files changed, 5825 insertions(+), 5526 deletions(-)

diff --git a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.bin b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.bin
index fcbf811dfc76cd912e90a5d24b5ef40230bc2152..a2281bddfe649696298906a6dd270c418c06ce69 100755
GIT binary patch
delta 21258
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diff --git a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex
index 3b7850fc5a908c..14c08d15d9167c 100644
--- a/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex
+++ b/Tools/bootloaders/CubeOrangePlus-bdshot_bl.hex
@@ -1,2396 +1,2509 @@
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diff --git a/Tools/bootloaders/CubeOrangePlus_bl.bin b/Tools/bootloaders/CubeOrangePlus_bl.bin
index 93755be351bb07f2e99fe3d22cc95a788ae9e4df..8008bd1af3db49f2a81d2a94e107397222b93867 100755
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diff --git a/Tools/bootloaders/CubeOrangePlus_bl.elf b/Tools/bootloaders/CubeOrangePlus_bl.elf
index 262cba9f89baec232cea862be783b032a696716c..9a40a5a353032a6dbddd9fbf414cba1e878bcee6 100755
GIT binary patch
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diff --git a/Tools/bootloaders/CubeOrangePlus_bl.hex b/Tools/bootloaders/CubeOrangePlus_bl.hex
index 07d3f9ad04bb78..397c591dedf6c4 100644
--- a/Tools/bootloaders/CubeOrangePlus_bl.hex
+++ b/Tools/bootloaders/CubeOrangePlus_bl.hex
@@ -1,34 +1,34 @@
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@@ -51,22 +51,22 @@
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@@ -114,29 +114,29 @@
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diff --git a/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin b/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin
index 60d444d05398d0cd29cd3c2964ab65eead382f23..505fd171958b86193f1437cf3b28a5026329436b 100755
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diff --git a/Tools/bootloaders/CubeRedPrimary_bl.bin b/Tools/bootloaders/CubeRedPrimary_bl.bin
index 1a7434b27de036dd02a68b88c85e67ef61f2da16..b621f1cb96f538971309eb5c8b4ee01fb8de6a6d 100755
GIT binary patch
delta 1207
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diff --git a/Tools/bootloaders/CubeRedPrimary_bl.hex b/Tools/bootloaders/CubeRedPrimary_bl.hex
index 24cf9e99d09c56..3eaee4ead7e1f9 100644
--- a/Tools/bootloaders/CubeRedPrimary_bl.hex
+++ b/Tools/bootloaders/CubeRedPrimary_bl.hex
@@ -4,18 +4,18 @@
 :10002000F3020008F3020008F3020008894F0008F9
 :10003000F3020008F3020008F3020008F3020008CC
 :10004000F3020008F3020008F3020008F3020008BC
-:10005000F3020008F3020008456800087168000810
-:100060009D680008C9680008F5680008ED280008C8
+:10005000F3020008F30200087D680008A9680008A0
+:10006000D5680008016900082D690008ED2800081E
 :1000700015290008412900086D2900089929000860
 :10008000C1290008ED290008F3020008F302000866
-:10009000F3020008F3020008F302000821690008D7
+:10009000F3020008F3020008F3020008596900089F
 :1000A000F3020008F3020008F3020008F30200085C
 :1000B000F3020008F3020008F3020008F30200084C
 :1000C000F3020008F3020008F3020008F30200083C
-:1000D000F3020008F30200080D6A0008F3020008AA
-:1000E00085690008F3020008F3020008F302000823
+:1000D000F3020008F3020008456A0008F302000872
+:1000E000BD690008F3020008F3020008F3020008EB
 :1000F000F3020008F3020008F3020008192A0008BE
-:10010000F3020008F3020008356A0008F302000851
+:10010000F3020008F30200086D6A0008F302000819
 :10011000F3020008F3020008F3020008F3020008EB
 :10012000452A00086D2A0008992A0008C52A0008F7
 :10013000F12A0008F3020008F3020008F3020008A5
@@ -23,10 +23,10 @@
 :10015000192B0008452B0008712B0008F30200083A
 :10016000F3020008F3020008F3020008F30200089B
 :10017000F3020008115D0008F3020008F302000812
-:10018000F3020008F3020008216A0008F3020008E5
+:10018000F3020008F3020008596A0008F3020008AD
 :10019000F3020008F3020008F3020008F30200086B
 :1001A000F3020008F3020008F3020008F30200085B
-:1001B000F9690008F3020008F3020008F3020008DE
+:1001B000316A0008F3020008F3020008F3020008A5
 :1001C000F3020008F3020008F3020008F30200083B
 :1001D000F3020008FD5C0008F3020008F3020008C7
 :1001E000F3020008F3020008F3020008F30200081B
@@ -57,19 +57,19 @@
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 :10038000040BFAE71A491B4A1B4B9A423EBF51F82D
 :10039000040B42F8040BF8E700201849184A914270
-:1003A0003CBF41F8040BFAE704F08EFE06F09AF821
+:1003A0003CBF41F8040BFAE704F08EFE06F0B6F805
 :1003B000144C154DAC4203DA54F8041B8847F9E796
 :1003C00000F050F8114C124DAC4203DA54F8041B03
 :1003D0008847F9E704F076BE0007002000230020DC
 :1003E0000000000808ED00E00001002000070020E8
-:1003F00050730008002300206C230020702300208D
+:1003F00088730008002300206C2300207023002055
 :1004000028690020E0020008EC020008EC02000865
 :10041000EC0200082DE9F04F2DED108AC1F80CD048
 :10042000D0F80CD0BDEC108ABDE8F08F002383F328
 :1004300011882846A047002003F0D6FEFEE703F00F
 :1004400015FE00DFFEE70000054B10B50446036013
 :10045000806810B103685B689847204610BD00BFF4
-:10046000BC6C000870B500F0A5FD00F0FBFF04F0C7
+:10046000F46C000870B500F0A5FD00F0FBFF04F08F
 :1004700091FC054604F07EFD0446B8B9134B9D423D
 :1004800016D001339D4241F2883512BF0446002543
 :1004900001240F4E002004F087FC304601F0AAFB37
@@ -77,7 +77,7 @@
 :1004B0000546EEE70CB100F08FF800F011FF28467A
 :1004C00000F038F900F088F8F9E700BF010007B044
 :1004D000702300200448054B054A036000230549AA
-:1004E000836006F005BB00BF70230020BC6C0008D1
+:1004E000836006F021BB00BF70230020F46C00087D
 :1004F000C42500204904000808B500F027FDA0F13C
 :1005000020035842584108BD07B5042101900DEB66
 :10051000010000F039FD03B05DF804FB07B541F2BE
@@ -161,7 +161,7 @@
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 :100A000034E700BF002300201C2500200024002024
 :100A1000350500082025002018240020042300208C
-:100A2000082300200C230020606B000870230020A6
+:100A2000082300200C230020986B0008702300206E
 :100A3000BE484746C24600F08DFBFFF76FFD01211F
 :100A40000DF12F0000F0A0FA0D9B534541D9002372
 :100A50000EAA39464846CDE90E330FAB00F096FD9D
@@ -209,8 +209,8 @@
 :100CF00003FC00283FF4BAAD0E9BA046DFF83CA0F1
 :100D000003F003090E99A1EB0901A14218D921466C
 :100D100004230FAA504601F0A1F8404604220FA96F
-:100D200001F04EF904348046ECE700BF856B000803
-:100D30009D6B0008002300201C240020702300204D
+:100D200001F04EF904348046ECE700BFBD6B0008CB
+:100D3000D56B0008002300201C2400207023002015
 :100D4000B9F1000F0AD04B460FAA624801F086F8AD
 :100D500040464A460FA901F033F980464046FFF766
 :100D6000D3FBCDE5002364210FA80F9300F002F917
@@ -272,7 +272,7 @@
 :1010E000ECD181420B4602D22C2203F8012B0424BE
 :1010F000094A1688AE4204D1984284BF967803F814
 :10110000016B013C02F10402F3D1581A70BD00BF1B
-:101110000010005C1C230020D86B0008022803D1BB
+:101110000010005C1C230020106C0008022803D182
 :10112000024B4FF400129A61704700BF001802583A
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@@ -309,8 +309,8 @@
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+:101360000DB970BDB831002080700008604A0020BF
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 :101380002049214BF0B50A68ADF5017D9A4206D09F
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 :1013A0004FF4007269461B4E236820461D6A0023D5
@@ -318,7 +318,7 @@
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+:1013F000A9FF336898422CBF002001200DF5017D24
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 :1014200004461E7855F82630934210D00B4A93425A
@@ -365,8 +365,8 @@
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 :1016D0009847A0682A462946036800961F690AAB06
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diff --git a/Tools/bootloaders/CubeRedSecondary_bl.bin b/Tools/bootloaders/CubeRedSecondary_bl.bin
index 403e7e859e420b6a69193fdb71ad4aca8ed087e4..11795323035786df79d0e1f6299577ff59e42ea0 100755
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diff --git a/Tools/bootloaders/CubeRedSecondary_bl.hex b/Tools/bootloaders/CubeRedSecondary_bl.hex
index 6f4adbe5be9c81..02f6e1d4a642c0 100644
--- a/Tools/bootloaders/CubeRedSecondary_bl.hex
+++ b/Tools/bootloaders/CubeRedSecondary_bl.hex
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+:102B6000136F0BB1506F9847230404D5044A936F39
+:102B70000BB1D06F9847BDE81040FFF7B3BB00BF63
+:102B8000782F002008B50348FEF706FDBDE8084091
+:102B9000FFF7A8BB2424002008B50348FEF7FCFC7F
+:102BA000BDE80840FFF79EBB9024002008B5FFF762
+:102BB000ABFDBDE80840FFF795BB0000062108B556
+:102BC0000846FEF76FFD06210720FEF76BFD062184
+:102BD0000820FEF767FD06210920FEF763FD0621A8
+:102BE0000A20FEF75FFD06211720FEF75BFD062198
+:102BF0002820FEF757FD09217A20FEF753FD072113
+:102C00003220FEF74FFD0C215220FEF74BFD0C2128
+:102C10005320BDE80840FEF745BD000008B5FFF7AA
+:102C200095FD00F009F8FEF7FBFEFFF747FDBDE854
+:102C30000840FFF70DBC00000023054A1946013388
+:102C4000102BC2E9001102F10802F8D1704700BF51
+:102C5000782F002010B501390244904201D10020A4
+:102C600005E0037811F8014FA34201D0181B10BDF5
+:102C70000130F2E753544D333248373F3F3F005362
+:102C8000544D3332483733782F3732780053544D10
+:102C90003332483734332F3735332F373530000050
+:102CA00001105A000310590001205800032056005B
+:102CB00010000240080002400008024000000B0023
+:102CC00028000240080002400408024006010C00EF
+:102CD00040000240080002400808024010020D00B7
+:102CE00058000240080002400C08024016030E0083
+:102CF000700002400C0002401008024000040F0067
+:102D0000880002400C000240140802400605100032
+:102D1000A00002400C0002401808024010061100FA
+:102D2000B80002400C0002401C08024016072F00A9
+:102D30001004024008040240200802400008380045
+:102D40002804024008040240240802400609390011
+:102D5000400402400804024028080240100A3A00D9
+:102D600058040240080402402C080240160B3B00A5
+:102D7000700402400C04024030080240000C3C0089
+:102D8000880402400C04024034080240060D44004E
+:102D9000A00402400C04024038080240100E450016
+:102DA000B80402400C0402403C080240160F4600E2
+:102DB000009600000000000000000000000000007D
+:102DC000000000000000000000000000E119000801
+:102DD000CD190008091A0008F5190008011A0008A1
+:102DE000ED190008D9190008C5190008151A0008BE
+:102DF00063300000F02D0008582D0020682F0020BF
+:102E00006D61696E0069646C650000000000002857
+:102E100000000000AAAAAAAA00000024FFFF0000E8
+:102E200000000000000000000000000000000000A2
+:102E3000AAAAAAAA00000000FFFF000000000000EC
+:102E4000000000000000000000000000AAAAAAAADA
+:102E500000000000FFFF0000000000000000000074
+:102E60000000100000000000AAAAAAAA00000000AA
+:102E7000FFFF000000000000000000000A800200C8
+:102E800000000000AAAAAAAA05400100FFFF000056
+:102E90008800007007000000000000000000000033
+:102EA000AAAAAAAA00000000FFFF0000000000007C
+:102EB000000000000000000000000000AAAAAAAA6A
+:102EC00000000000FFFF0000000000000000000004
+:102ED0000000000000000000AAAAAAAA000000004A
+:102EE000FFFF0000000000000000000000000000E4
+:102EF00000000000AAAAAAAA00000000FFFF00002C
+:102F000000000000000000000000000000000000C1
+:102F1000AAAAAAAA00000000FFFF0000000000000B
+:102F2000000000000000000000000000AAAAAAAAF9
+:102F300000000000FFFF0000000000000000000093
+:102F40002E0400000000000000001A000000000035
+:102F5000FF0000002424002000000000742C000862
+:102F6000830400007F2C0008500400008D2C000812
 :00000001FF

From 452df9022b4cc856dc2d2ab0d2eac73d72ab766f Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 3 Jul 2024 15:48:10 +1000
Subject: [PATCH 11/16] .github: add debug build test for macos

---
 .github/workflows/macos_build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml
index 7dba405b0300e6..dd9dc964839839 100644
--- a/.github/workflows/macos_build.yml
+++ b/.github/workflows/macos_build.yml
@@ -188,5 +188,7 @@ jobs:
           echo $PATH
           ./waf configure --board ${{matrix.config}}
           ./waf
+          ./waf configure --board ${{matrix.config}} --debug
+          ./waf
           ccache -s
           ccache -z

From 1916490ae694f82fa74af6c1d6e3ac7c7fa88354 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 7 Mar 2024 21:04:28 +1100
Subject: [PATCH 12/16] AC_Sprayer: create and use an AP_Sprayer_config.h

---
 libraries/AC_Sprayer/AC_Sprayer.cpp      |  3 ++-
 libraries/AC_Sprayer/AC_Sprayer.h        | 10 ++++------
 libraries/AC_Sprayer/AC_Sprayer_config.h |  7 +++++++
 3 files changed, 13 insertions(+), 7 deletions(-)
 create mode 100644 libraries/AC_Sprayer/AC_Sprayer_config.h

diff --git a/libraries/AC_Sprayer/AC_Sprayer.cpp b/libraries/AC_Sprayer/AC_Sprayer.cpp
index c6b026eb5628df..5b903fac63102d 100644
--- a/libraries/AC_Sprayer/AC_Sprayer.cpp
+++ b/libraries/AC_Sprayer/AC_Sprayer.cpp
@@ -1,7 +1,8 @@
-#include "AC_Sprayer.h"
+#include "AC_Sprayer_config.h"
 
 #if HAL_SPRAYER_ENABLED
 
+#include "AC_Sprayer.h"
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
diff --git a/libraries/AC_Sprayer/AC_Sprayer.h b/libraries/AC_Sprayer/AC_Sprayer.h
index 240e354d22070f..e4f0ba425ac6a9 100644
--- a/libraries/AC_Sprayer/AC_Sprayer.h
+++ b/libraries/AC_Sprayer/AC_Sprayer.h
@@ -14,6 +14,10 @@
 **/
 #pragma once
 
+#include "AC_Sprayer_config.h"
+
+#if HAL_SPRAYER_ENABLED
+
 #include <inttypes.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
@@ -25,12 +29,6 @@
 #define AC_SPRAYER_DEFAULT_TURN_ON_DELAY    100     ///< delay between when we reach the minimum speed and we begin spraying.  This reduces the likelihood of constantly turning on/off the pump
 #define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY   1000    ///< shut-off delay in milli seconds.  This reduces the likelihood of constantly turning on/off the pump
 
-#ifndef HAL_SPRAYER_ENABLED
-#define HAL_SPRAYER_ENABLED 1
-#endif
-
-#if HAL_SPRAYER_ENABLED
-
 /// @class  AC_Sprayer
 /// @brief  Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
 class AC_Sprayer {
diff --git a/libraries/AC_Sprayer/AC_Sprayer_config.h b/libraries/AC_Sprayer/AC_Sprayer_config.h
new file mode 100644
index 00000000000000..4bb39f35fdf5f6
--- /dev/null
+++ b/libraries/AC_Sprayer/AC_Sprayer_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_SPRAYER_ENABLED
+#define HAL_SPRAYER_ENABLED 1
+#endif

From 271f08fc03c41f937ef4e01f272cb8db14381663 Mon Sep 17 00:00:00 2001
From: BLash <lash@vectornav.com>
Date: Wed, 3 Jul 2024 13:07:10 +1000
Subject: [PATCH 13/16] AP_ExternalAHRS: VectorNav: Add support for sensors
 outside VN-100 and VN-300

Includes naming changes to match new broadened usage
---
 .../AP_ExternalAHRS_VectorNav.cpp             | 146 +++++++++---------
 .../AP_ExternalAHRS_VectorNav.h               |  16 +-
 2 files changed, 86 insertions(+), 76 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index af207f54c6a5ba..f43ac8598d6e5f 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -39,7 +39,7 @@
 extern const AP_HAL::HAL &hal;
 
 /*
-  header for pre-configured 50Hz data
+  header for 50Hz INS data
   assumes the following config for VN-300:
     $VNWRG,75,3,8,34,072E,0106,0612*0C
 
@@ -66,10 +66,10 @@ extern const AP_HAL::HAL &hal;
             VelU
 
 */
-static const uint8_t vn_pkt1_header[] { 0x34, 0x2E, 0x07, 0x06, 0x01, 0x12, 0x06 };
-#define VN_PKT1_LENGTH 170 // includes header and CRC
+static const uint8_t vn_ins_pkt1_header[] { 0x34, 0x2E, 0x07, 0x06, 0x01, 0x12, 0x06 };
+#define VN_INS_PKT1_LENGTH 170 // includes header and CRC
 
-struct PACKED VN_packet1 {
+struct PACKED VN_INS_packet1 {
     float uncompMag[3];
     float uncompAccel[3];
     float uncompAngRate[3];
@@ -87,10 +87,10 @@ struct PACKED VN_packet1 {
 };
 
 // check packet size for 4 groups
-static_assert(sizeof(VN_packet1)+2+3*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet1 length");
+static_assert(sizeof(VN_INS_packet1)+2+3*2+2 == VN_INS_PKT1_LENGTH, "incorrect VN_INS_packet1 length");
 
 /*
-  header for pre-configured 5Hz data
+  header for 5Hz GNSS data
   assumes the following VN-300 config:
     $VNWRG,76,3,80,4E,0002,0010,20B8,0018*63
 
@@ -113,10 +113,10 @@ static_assert(sizeof(VN_packet1)+2+3*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet
             NumSats
             Fix
 */
-static const uint8_t vn_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x00 };
-#define VN_PKT2_LENGTH 92 // includes header and CRC
+static const uint8_t vn_ins_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x00 };
+#define VN_INS_PKT2_LENGTH 92 // includes header and CRC
 
-struct PACKED VN_packet2 {
+struct PACKED VN_INS_packet2 {
     uint64_t timeGPS;
     float temp;
     uint8_t numGPS1Sats;
@@ -129,10 +129,11 @@ struct PACKED VN_packet2 {
 };
 
 // check packet size for 4 groups
-static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet2 length");
+static_assert(sizeof(VN_INS_packet2)+2+4*2+2 == VN_INS_PKT2_LENGTH, "incorrect VN_INS_packet2 length");
 
 /*
-  assumes the following VN-300 config:
+header for 50Hz IMU data, used in TYPE::VN_AHRS only 
+  assumes the following VN-100 config:
     $VNWRG,75,3,80,14,073E,0004*66
 
   Alternate first packet for VN-100
@@ -151,10 +152,10 @@ static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet
             0x0004:
                 Quaternion
 */
-static const uint8_t vn_100_pkt1_header[] { 0x14, 0x3E, 0x07, 0x04, 0x00 };
-#define VN_100_PKT1_LENGTH 104 // includes header and CRC
+static const uint8_t vn_ahrs_pkt1_header[] { 0x14, 0x3E, 0x07, 0x04, 0x00 };
+#define VN_AHRS_PKT1_LENGTH 104 // includes header and CRC
 
-struct PACKED VN_100_packet1 {
+struct PACKED VN_AHRS_packet1 {
     float uncompMag[3];
     float uncompAccel[3];
     float uncompAngRate[3];
@@ -166,7 +167,7 @@ struct PACKED VN_100_packet1 {
     float quaternion[4];
 };
 
-static_assert(sizeof(VN_100_packet1)+2+2*2+2 == VN_100_PKT1_LENGTH, "incorrect VN_100_packet1 length");
+static_assert(sizeof(VN_AHRS_packet1)+2+2*2+2 == VN_AHRS_PKT1_LENGTH, "incorrect VN_AHRS_packet1 length");
 
 // constructor
 AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend,
@@ -182,12 +183,12 @@ AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend,
     baudrate = sm.find_baudrate(AP_SerialManager::SerialProtocol_AHRS, 0);
     port_num = sm.find_portnum(AP_SerialManager::SerialProtocol_AHRS, 0);
 
-    bufsize = MAX(MAX(VN_PKT1_LENGTH, VN_PKT2_LENGTH), VN_100_PKT1_LENGTH);
+    bufsize = MAX(MAX(VN_INS_PKT1_LENGTH, VN_INS_PKT2_LENGTH), VN_AHRS_PKT1_LENGTH);
     pktbuf = NEW_NOTHROW uint8_t[bufsize];
-    last_pkt1 = NEW_NOTHROW VN_packet1;
-    last_pkt2 = NEW_NOTHROW VN_packet2;
+    last_ins_pkt1 = NEW_NOTHROW VN_INS_packet1;
+    last_ins_pkt2 = NEW_NOTHROW VN_INS_packet2;
 
-    if (!pktbuf || !last_pkt1 || !last_pkt2) {
+    if (!pktbuf || !last_ins_pkt1 || !last_ins_pkt2) {
         AP_BoardConfig::allocation_error("VectorNav ExternalAHRS");
     }
 
@@ -230,43 +231,43 @@ bool AP_ExternalAHRS_VectorNav::check_uart()
         goto reset;
     }
 
-    if (type == TYPE::VN_300) {
-        match_header1 = (0 == memcmp(&pktbuf[1], vn_pkt1_header, MIN(sizeof(vn_pkt1_header), unsigned(pktoffset-1))));
-        match_header2 = (0 == memcmp(&pktbuf[1], vn_pkt2_header, MIN(sizeof(vn_pkt2_header), unsigned(pktoffset-1))));
+    if (type == TYPE::VN_INS) {
+        match_header1 = (0 == memcmp(&pktbuf[1], vn_ins_pkt1_header, MIN(sizeof(vn_ins_pkt1_header), unsigned(pktoffset-1))));
+        match_header2 = (0 == memcmp(&pktbuf[1], vn_ins_pkt2_header, MIN(sizeof(vn_ins_pkt2_header), unsigned(pktoffset-1))));
     } else {
-        match_header3 = (0 == memcmp(&pktbuf[1], vn_100_pkt1_header, MIN(sizeof(vn_100_pkt1_header), unsigned(pktoffset-1))));
+        match_header3 = (0 == memcmp(&pktbuf[1], vn_ahrs_pkt1_header, MIN(sizeof(vn_ahrs_pkt1_header), unsigned(pktoffset-1))));
     }
     if (!match_header1 && !match_header2 && !match_header3) {
         goto reset;
     }
 
-    if (match_header1 && pktoffset >= VN_PKT1_LENGTH) {
-        uint16_t crc = crc16_ccitt(&pktbuf[1], VN_PKT1_LENGTH-1, 0);
+    if (match_header1 && pktoffset >= VN_INS_PKT1_LENGTH) {
+        uint16_t crc = crc16_ccitt(&pktbuf[1], VN_INS_PKT1_LENGTH-1, 0);
         if (crc == 0) {
             // got pkt1
-            process_packet1(&pktbuf[sizeof(vn_pkt1_header)+1]);
-            memmove(&pktbuf[0], &pktbuf[VN_PKT1_LENGTH], pktoffset-VN_PKT1_LENGTH);
-            pktoffset -= VN_PKT1_LENGTH;
+            process_ins_packet1(&pktbuf[sizeof(vn_ins_pkt1_header)+1]);
+            memmove(&pktbuf[0], &pktbuf[VN_INS_PKT1_LENGTH], pktoffset-VN_INS_PKT1_LENGTH);
+            pktoffset -= VN_INS_PKT1_LENGTH;
         } else {
             goto reset;
         }
-    } else if (match_header2 && pktoffset >= VN_PKT2_LENGTH) {
-        uint16_t crc = crc16_ccitt(&pktbuf[1], VN_PKT2_LENGTH-1, 0);
+    } else if (match_header2 && pktoffset >= VN_INS_PKT2_LENGTH) {
+        uint16_t crc = crc16_ccitt(&pktbuf[1], VN_INS_PKT2_LENGTH-1, 0);
         if (crc == 0) {
             // got pkt2
-            process_packet2(&pktbuf[sizeof(vn_pkt2_header)+1]);
-            memmove(&pktbuf[0], &pktbuf[VN_PKT2_LENGTH], pktoffset-VN_PKT2_LENGTH);
-            pktoffset -= VN_PKT2_LENGTH;
+            process_ins_packet2(&pktbuf[sizeof(vn_ins_pkt2_header)+1]);
+            memmove(&pktbuf[0], &pktbuf[VN_INS_PKT2_LENGTH], pktoffset-VN_INS_PKT2_LENGTH);
+            pktoffset -= VN_INS_PKT2_LENGTH;
         } else {
             goto reset;
         }
-    } else if (match_header3 && pktoffset >= VN_100_PKT1_LENGTH) {
-        uint16_t crc = crc16_ccitt(&pktbuf[1], VN_100_PKT1_LENGTH-1, 0);
+    } else if (match_header3 && pktoffset >= VN_AHRS_PKT1_LENGTH) {
+        uint16_t crc = crc16_ccitt(&pktbuf[1], VN_AHRS_PKT1_LENGTH-1, 0);
         if (crc == 0) {
-            // got VN-100 pkt1
-            process_packet_VN_100(&pktbuf[sizeof(vn_100_pkt1_header)+1]);
-            memmove(&pktbuf[0], &pktbuf[VN_100_PKT1_LENGTH], pktoffset-VN_100_PKT1_LENGTH);
-            pktoffset -= VN_100_PKT1_LENGTH;
+            // got AHRS pkt
+            process_ahrs_packet(&pktbuf[sizeof(vn_ahrs_pkt1_header)+1]);
+            memmove(&pktbuf[0], &pktbuf[VN_AHRS_PKT1_LENGTH], pktoffset-VN_AHRS_PKT1_LENGTH);
+            pktoffset -= VN_AHRS_PKT1_LENGTH;
         } else {
             goto reset;
         }
@@ -414,18 +415,25 @@ void AP_ExternalAHRS_VectorNav::update_thread()
     wait_register_responce(1);
 
     // Setup for messages respective model types (on both UARTs)
-    if (strncmp(model_name, "VN-100", 6) == 0) {
+    if (strncmp(model_name, "VN-1", 4) == 0) {
         // VN-100
-        type = TYPE::VN_100;
+        type = TYPE::VN_AHRS;
 
         // This assumes unit is still configured at its default rate of 800hz
         nmea_printf(uart, "$VNWRG,75,3,%u,14,073E,0004", unsigned(800/get_rate()));
 
     } else {
-        // Default to Setup for VN-300 series
-        // This assumes unit is still configured at its default rate of 400hz
-        nmea_printf(uart, "$VNWRG,75,3,%u,34,072E,0106,0612", unsigned(400/get_rate()));
-        nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,0018");
+        // Default to setup for sensors other than VN-100 or VN-110
+        // This assumes unit is still configured at its default IMU rate of 400hz for VN-300, 800hz for others
+        uint16_t imu_rate = 800;  // Default for everything but VN-300
+        if (strncmp(model_name, "VN-300", 6) == 0) {
+            imu_rate = 400;
+        }
+        if (strncmp(model_name, "VN-3", 4) == 0) {
+            has_dual_gnss = true;
+        }
+        nmea_printf(uart, "$VNWRG,75,3,%u,34,072E,0106,0612", unsigned(imu_rate/get_rate()));
+        nmea_printf(uart, "$VNWRG,76,3,%u,4E,0002,0010,20B8,0018", unsigned(imu_rate/5));
     }
 
     setup_complete = true;
@@ -445,15 +453,15 @@ const char* AP_ExternalAHRS_VectorNav::get_name() const
 }
 
 /*
-  process packet type 1
+  process INS mode INS packet
  */
-void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
+void AP_ExternalAHRS_VectorNav::process_ins_packet1(const uint8_t *b)
 {
-    const struct VN_packet1 &pkt1 = *(struct VN_packet1 *)b;
-    const struct VN_packet2 &pkt2 = *last_pkt2;
+    const struct VN_INS_packet1 &pkt1 = *(struct VN_INS_packet1 *)b;
+    const struct VN_INS_packet2 &pkt2 = *last_ins_pkt2;
 
     last_pkt1_ms = AP_HAL::millis();
-    *last_pkt1 = pkt1;
+    *last_ins_pkt1 = pkt1;
 
     const bool use_uncomp = option_is_set(AP_ExternalAHRS::OPTIONS::VN_UNCOMP_IMU);
 
@@ -514,15 +522,15 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
 }
 
 /*
-  process packet type 2
+  process INS mode GNSS packet
  */
-void AP_ExternalAHRS_VectorNav::process_packet2(const uint8_t *b)
+void AP_ExternalAHRS_VectorNav::process_ins_packet2(const uint8_t *b)
 {
-    const struct VN_packet2 &pkt2 = *(struct VN_packet2 *)b;
-    const struct VN_packet1 &pkt1 = *last_pkt1;
+    const struct VN_INS_packet2 &pkt2 = *(struct VN_INS_packet2 *)b;
+    const struct VN_INS_packet1 &pkt1 = *last_ins_pkt1;
 
     last_pkt2_ms = AP_HAL::millis();
-    *last_pkt2 = pkt2;
+    *last_ins_pkt2 = pkt2;
 
     AP_ExternalAHRS::gps_data_message_t gps;
 
@@ -562,11 +570,11 @@ void AP_ExternalAHRS_VectorNav::process_packet2(const uint8_t *b)
 }
 
 /*
-  process VN-100 packet type 1
+  process AHRS mode AHRS packet
  */
-void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
+void AP_ExternalAHRS_VectorNav::process_ahrs_packet(const uint8_t *b)
 {
-    const struct VN_100_packet1 &pkt = *(struct VN_100_packet1 *)b;
+    const struct VN_AHRS_packet1 &pkt = *(struct VN_AHRS_packet1 *)b;
 
     last_pkt1_ms = AP_HAL::millis();
 
@@ -669,7 +677,7 @@ int8_t AP_ExternalAHRS_VectorNav::get_port(void) const
 bool AP_ExternalAHRS_VectorNav::healthy(void) const
 {
     const uint32_t now = AP_HAL::millis();
-    if (type == TYPE::VN_100) {
+    if (type == TYPE::VN_AHRS) {
         return (now - last_pkt1_ms < 40);
     }
     return (now - last_pkt1_ms < 40 && now - last_pkt2_ms < 500);
@@ -680,7 +688,7 @@ bool AP_ExternalAHRS_VectorNav::initialised(void) const
     if (!setup_complete) {
         return false;
     }
-    if (type == TYPE::VN_100) {
+    if (type == TYPE::VN_AHRS) {
         return last_pkt1_ms != 0;
     }
     return last_pkt1_ms != 0 && last_pkt2_ms != 0;
@@ -696,12 +704,12 @@ bool AP_ExternalAHRS_VectorNav::pre_arm_check(char *failure_msg, uint8_t failure
         hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav unhealthy");
         return false;
     }
-    if (type == TYPE::VN_300) {
-        if (last_pkt2->GPS1Fix < 3) {
+    if (type == TYPE::VN_INS) {
+        if (last_ins_pkt2->GPS1Fix < 3) {
             hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS1 lock");
             return false;
         }
-        if (last_pkt2->GPS2Fix < 3) {
+        if (has_dual_gnss && (last_ins_pkt2->GPS2Fix < 3)) {
             hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS2 lock");
             return false;
         }
@@ -716,16 +724,16 @@ bool AP_ExternalAHRS_VectorNav::pre_arm_check(char *failure_msg, uint8_t failure
 void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) const
 {
     memset(&status, 0, sizeof(status));
-    if (type == TYPE::VN_300) {
-        if (last_pkt1 && last_pkt2) {
+    if (type == TYPE::VN_INS) {
+        if (last_ins_pkt1 && last_ins_pkt2) {
             status.flags.initalized = true;
         }
-        if (healthy() && last_pkt2) {
+        if (healthy() && last_ins_pkt2) {
             status.flags.attitude = true;
             status.flags.vert_vel = true;
             status.flags.vert_pos = true;
 
-            const struct VN_packet2 &pkt2 = *last_pkt2;
+            const struct VN_INS_packet2 &pkt2 = *last_ins_pkt2;
             if (pkt2.GPS1Fix >= 3) {
                 status.flags.horiz_vel = true;
                 status.flags.horiz_pos_rel = true;
@@ -746,7 +754,7 @@ void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) con
 // send an EKF_STATUS message to GCS
 void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
 {
-    if (!last_pkt1) {
+    if (!last_ins_pkt1) {
         return;
     }
     // prepare flags
@@ -788,7 +796,7 @@ void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
     }
 
     // send message
-    const struct VN_packet1 &pkt1 = *(struct VN_packet1 *)last_pkt1;
+    const struct VN_INS_packet1 &pkt1 = *(struct VN_INS_packet1 *)last_ins_pkt1;
     const float vel_gate = 5;
     const float pos_gate = 5;
     const float hgt_gate = 5;
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
index c0e54c88bf2a45..05c4a01fae6829 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
@@ -61,26 +61,28 @@ class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
     void update_thread();
     bool check_uart();
 
-    void process_packet1(const uint8_t *b);
-    void process_packet2(const uint8_t *b);
-    void process_packet_VN_100(const uint8_t *b);
+    void process_ins_packet1(const uint8_t *b);
+    void process_ins_packet2(const uint8_t *b);
+    void process_ahrs_packet(const uint8_t *b);
     void wait_register_responce(const uint8_t register_num);
 
     uint8_t *pktbuf;
     uint16_t pktoffset;
     uint16_t bufsize;
 
-    struct VN_packet1 *last_pkt1;
-    struct VN_packet2 *last_pkt2;
+    struct VN_INS_packet1 *last_ins_pkt1;
+    struct VN_INS_packet2 *last_ins_pkt2;
 
     uint32_t last_pkt1_ms;
     uint32_t last_pkt2_ms;
 
     enum class TYPE {
-        VN_300,
-        VN_100,
+        VN_INS,  // Full INS mode, requiring GNSS. Used by VN-2X0 and VN-3X0
+        VN_AHRS,  // IMU-only mode, used by VN-1X0
     } type;
 
+    bool has_dual_gnss = false;
+
     char model_name[25];
 
     // NMEA parsing for setup

From 0e4124060c9ef8757ec8c72366edbbc6544745f4 Mon Sep 17 00:00:00 2001
From: BLash <lash@vectornav.com>
Date: Wed, 3 Jul 2024 13:07:11 +1000
Subject: [PATCH 14/16] SITL: VectorNav: Add support for sensors outside VN-100
 and VN-300

Includes naming changes to match new broadened usage
---
 libraries/SITL/SIM_VectorNav.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/SIM_VectorNav.cpp b/libraries/SITL/SIM_VectorNav.cpp
index 27c19be7f0f4fa..2c7d54953c02a9 100644
--- a/libraries/SITL/SIM_VectorNav.cpp
+++ b/libraries/SITL/SIM_VectorNav.cpp
@@ -29,7 +29,7 @@ VectorNav::VectorNav() :
 {
 }
 
-struct PACKED VN_packet1 {
+struct PACKED VN_INS_packet1 {
     float uncompMag[3];
     float uncompAccel[3];
     float uncompAngRate[3];
@@ -46,7 +46,7 @@ struct PACKED VN_packet1 {
     float velU;
 };
 
-struct PACKED VN_packet2 {
+struct PACKED VN_INS_packet2 {
     uint64_t timeGPS;
     float temp;
     uint8_t numGPS1Sats;
@@ -84,7 +84,7 @@ void VectorNav::send_packet1(void)
 {
     const auto &fdm = _sitl->state;
 
-    struct VN_packet1 pkt {};
+    struct VN_INS_packet1 pkt {};
 
     pkt.uncompAccel[0] = fdm.xAccel;
     pkt.uncompAccel[1] = fdm.yAccel;
@@ -146,7 +146,7 @@ void VectorNav::send_packet2(void)
 {
     const auto &fdm = _sitl->state;
 
-    struct VN_packet2 pkt {};
+    struct VN_INS_packet2 pkt {};
 
     struct timeval tv;
     simulation_timeval(&tv);

From c1c3580f8b4c978d7a3857bf484c9b1662c17101 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jul 2024 12:05:26 +1000
Subject: [PATCH 15/16] AP_Logger: remove unused _log_file_size_bytes variable

AP_Logger: comment corection
---
 libraries/AP_Logger/AP_Logger_Backend.cpp | 2 --
 libraries/AP_Logger/AP_Logger_Backend.h   | 1 -
 libraries/AP_Logger/AP_Logger_Block.cpp   | 2 +-
 3 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
index 3274e1a2e0cf4d..6fab3cb587ea02 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.cpp
+++ b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -100,7 +100,6 @@ void AP_Logger_Backend::start_new_log_reset_variables()
     _dropped = 0;
     _startup_messagewriter->reset();
     _front.backend_starting_new_log(this);
-    _log_file_size_bytes = 0;
     _formats_written.clearall();
 }
 
@@ -709,7 +708,6 @@ void AP_Logger_Backend::df_stats_gather(const uint16_t bytes_written, uint32_t s
     }
     stats.buf_space_sigma += space_remaining;
     stats.bytes += bytes_written;
-    _log_file_size_bytes += bytes_written;
     stats.blocks++;
 }
 
diff --git a/libraries/AP_Logger/AP_Logger_Backend.h b/libraries/AP_Logger/AP_Logger_Backend.h
index e9f99e8aaba58f..6549ee0c782ae6 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.h
+++ b/libraries/AP_Logger/AP_Logger_Backend.h
@@ -208,7 +208,6 @@ class AP_Logger_Backend
     uint16_t _cached_oldest_log;
 
     uint32_t _dropped;
-    uint32_t _log_file_size_bytes;
     // should we rotate when we next stop logging
     bool _rotate_pending;
 
diff --git a/libraries/AP_Logger/AP_Logger_Block.cpp b/libraries/AP_Logger/AP_Logger_Block.cpp
index 482366a58b2263..d9ed2f0d36d65b 100644
--- a/libraries/AP_Logger/AP_Logger_Block.cpp
+++ b/libraries/AP_Logger/AP_Logger_Block.cpp
@@ -541,7 +541,7 @@ void AP_Logger_Block::stop_logging_async(void)
 void AP_Logger_Block::start_new_log(void)
 {
     if (erase_started) {
-        // already erasing
+        // currently erasing
         return;
     }
 

From 9090420db072efe991c59f7e93517164e8c2d0fd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Apr 2024 08:43:58 +1000
Subject: [PATCH 16/16] SITL: remove duplicated crc code

same as one we already have
---
 libraries/SITL/SIM_GPS_NOVA.cpp | 30 +++---------------------------
 libraries/SITL/SIM_GPS_NOVA.h   |  2 --
 2 files changed, 3 insertions(+), 29 deletions(-)

diff --git a/libraries/SITL/SIM_GPS_NOVA.cpp b/libraries/SITL/SIM_GPS_NOVA.cpp
index cd4608b7f0b91d..08f793f4d27138 100644
--- a/libraries/SITL/SIM_GPS_NOVA.cpp
+++ b/libraries/SITL/SIM_GPS_NOVA.cpp
@@ -142,36 +142,12 @@ void GPS_NOVA::publish(const GPS_Data *d)
 void GPS_NOVA::nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen)
 {
     write_to_autopilot((char*)header, headerlength);
-write_to_autopilot((char*)payload, payloadlen);
+    write_to_autopilot((char*)payload, payloadlen);
 
-    uint32_t crc = CalculateBlockCRC32(headerlength, header, (uint32_t)0);
-    crc = CalculateBlockCRC32(payloadlen, payload, crc);
+    uint32_t crc = crc_crc32((uint32_t)0, header, headerlength);
+    crc = crc_crc32(crc, payload, payloadlen);
 
     write_to_autopilot((char*)&crc, 4);
 }
 
-#define CRC32_POLYNOMIAL 0xEDB88320L
-uint32_t GPS_NOVA::CRC32Value(uint32_t icrc)
-{
-    int i;
-    uint32_t crc = icrc;
-    for ( i = 8 ; i > 0; i-- )
-    {
-        if ( crc & 1 )
-            crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL;
-        else
-            crc >>= 1;
-    }
-    return crc;
-}
-
-uint32_t GPS_NOVA::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc)
-{
-    while ( length-- != 0 )
-    {
-        crc = ((crc >> 8) & 0x00FFFFFFL) ^ (CRC32Value(((uint32_t) crc ^ *buffer++) & 0xff));
-    }
-    return( crc );
-}
-
 #endif  // AP_SIM_GPS_NOVA_ENABLED
diff --git a/libraries/SITL/SIM_GPS_NOVA.h b/libraries/SITL/SIM_GPS_NOVA.h
index 4df22b32d8dc9a..0801dd9533adbb 100644
--- a/libraries/SITL/SIM_GPS_NOVA.h
+++ b/libraries/SITL/SIM_GPS_NOVA.h
@@ -21,8 +21,6 @@ class GPS_NOVA : public GPS_Backend {
 private:
 
     void nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen);
-    uint32_t CRC32Value(uint32_t icrc);
-    uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc);
 };
 
 };