Merge branch 'Plane-4.3' into pr-4.3/fix-ccache

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,13 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.3.8-beta1 12-Aug-2023
+Changes from 4.3.7
+1) Bug fixes
+    - DroneCAN GPS RTK injection fix
+    - INAxxx battery monitors allow for battery reset remaining
+    - Notch filter gyro glitch caused by race condition fixed
+    - Scripting restart memory corruption bug fixed
+------------------------------------------------------------------
 Copter 4.3.7 31-May-2023 / 4.3.7-beta1 24-May-2023
 Changes from 4.3.6
 1) Bug fixes

ArduCopter/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.3.7"
+#define THISFIRMWARE "ArduCopter V4.3.8-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,7,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,3,8,FIRMWARE_VERSION_TYPE_BETA+1
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 7
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 8
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduPlane/ReleaseNotes.txt

@@ -1,3 +1,14 @@
+Release 4.3.8 24th August 2023
+------------------------------
+
+Changes since 4.3.8:
+
+ - fixed scripting restart bug which could cause a crash on a math error
+ - fixed RTK injection when first module is a moving baseline BASE
+ - fixed auto-enable of fence on forced arm
+ - fixed race condition that can cause gyro glitches with notch filtering
+ - fixed INAxxx battery monitors to allow for battery reset remaining
+
 Release 4.3.7 31st May 2023
 ---------------------------
 

ArduPlane/mode.cpp

@@ -50,6 +50,7 @@ bool Mode::enter()
     plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
     plane.guided_state.target_airspeed_cm = -1; // same as above, although an airspeed of -1 is rare on plane.
     plane.guided_state.target_alt = -1; // same as above, although a target alt of -1 is rare on plane.
+    plane.guided_state.target_alt_time_ms = 0;
     plane.guided_state.last_target_alt = 0;
 #endif
 

ArduPlane/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.3.7"
+#define THISFIRMWARE "ArduPlane V4.3.8"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,7,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,3,8,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 7
+#define FW_PATCH 8
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>

Rover/release-notes.txt

@@ -1,5 +1,13 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.3.0-beta14 12-Aug-2023
+Changes from 4.3.0-beta13
+1) Bug fixes
+    - DroneCAN GPS RTK injection fix
+    - INAxxx battery monitors allow for battery reset remaining
+    - Notch filter gyro glitch caused by race condition fixed
+    - Scripting restart memory corruption bug fixed
+------------------------------------------------------------------
 Rover 4.3.0-beta13 27-Mar-2023
 Changes from 4.3.0-beta12
 1) Bug fixes

Rover/version.h

@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.3.0-beta13"
+#define THISFIRMWARE "ArduRover V4.3.0-beta14"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_BETA+13
+#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_BETA+14
 
 #define FW_MAJOR 4
 #define FW_MINOR 3

Tools/autotest/arducopter.py

@@ -1109,7 +1109,7 @@ def VibrationFailsafe(self):
         self.change_mode("LAND")
 
         # check vehicle descends to 2m or less within 40 seconds
-        self.wait_altitude(-5, 2, timeout=40, relative=True)
+        self.wait_altitude(-5, 2, timeout=50, relative=True)
 
         # force disarm of vehicle (it will likely not automatically disarm)
         self.disarm_vehicle(force=True)

libraries/AP_Arming/AP_Arming.cpp

@@ -1479,16 +1479,6 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
         }
     }
 
-#if AP_FENCE_ENABLED
-    AC_Fence *fence = AP::fence();
-    if (fence != nullptr) {
-        // If a fence is set to auto-enable, turn on the fence
-        if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
-            fence->enable(true);
-        }
-    }
-#endif
-
     // note that this will prepare AP_Logger to start logging
     // so should be the last check to be done before arming
 
@@ -1565,6 +1555,19 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
     }
 #endif
 
+#if AP_FENCE_ENABLED
+    if (armed) {
+        auto *fence = AP::fence();
+        if (fence != nullptr) {
+            // If a fence is set to auto-enable, turn on the fence
+            if (fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
+                fence->enable(true);
+                gcs().send_text(MAV_SEVERITY_INFO, "Fence: auto-enabled");
+            }
+        }
+    }
+#endif
+
     return armed;
 }
 

libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h

@@ -23,7 +23,6 @@ class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend
     bool has_cell_voltages() const override { return false; }
     bool has_temperature() const override { return false; }
     bool has_current() const override { return true; }
-    bool reset_remaining(float percentage) override { return false; }
     bool get_cycle_count(uint16_t &cycles) const override { return false; }
 
     void init(void) override;

libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.h

@@ -18,7 +18,6 @@ class AP_BattMonitor_LTC2946 : public AP_BattMonitor_Backend
     bool has_cell_voltages() const override { return false; }
     bool has_temperature() const override { return false; }
     bool has_current() const override { return true; }
-    bool reset_remaining(float percentage) override { return false; }
     bool get_cycle_count(uint16_t &cycles) const override { return false; }
 
     virtual void init(void) override;

libraries/AP_GPS/AP_GPS_UAVCAN.cpp

@@ -947,9 +947,12 @@ void AP_GPS_UAVCAN::inject_data(const uint8_t *data, uint16_t len)
     // using a different uavcan instance than the first GPS, as we
     // send the data as broadcast on all UAVCAN devive ports and we
     // don't want to send duplicates
+    const uint32_t now_ms = AP_HAL::millis();
     if (_detected_module == 0 ||
-        _detected_modules[_detected_module].ap_uavcan != _detected_modules[0].ap_uavcan) {
+        _detected_modules[_detected_module].ap_uavcan != _detected_modules[0].ap_uavcan ||
+        now_ms - _detected_modules[0].last_inject_ms > 2000) {
         _detected_modules[_detected_module].ap_uavcan->send_RTCMStream(data, len);
+        _detected_modules[_detected_module].last_inject_ms = now_ms;
     }
 }
 

libraries/AP_GPS/AP_GPS_UAVCAN.h

@@ -124,6 +124,7 @@ class AP_GPS_UAVCAN : public AP_GPS_Backend {
         AP_UAVCAN* ap_uavcan;
         uint8_t node_id;
         uint8_t instance;
+        uint32_t last_inject_ms;
         AP_GPS_UAVCAN* driver;
     } _detected_modules[GPS_MAX_RECEIVERS];
 

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -687,7 +687,8 @@ void NavEKF3_core::checkGyroCalStatus(void)
 void  NavEKF3_core::updateFilterStatus(void)
 {
     // init return value
-    filterStatus.value = 0;
+    nav_filter_status status;
+    status.value = 0;
     bool doingBodyVelNav = (PV_AidingMode != AID_NONE) && (imuSampleTime_ms - prevBodyVelFuseTime_ms < 5000);
     bool doingFlowNav = (PV_AidingMode != AID_NONE) && flowDataValid;
     bool doingWindRelNav = (!tasTimeout && assume_zero_sideslip()) || !dragTimeout;
@@ -700,28 +701,30 @@ void  NavEKF3_core::updateFilterStatus(void)
     bool hgtNotAccurate = (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) && !validOrigin;
 
     // set individual flags
-    filterStatus.flags.attitude = !stateStruct.quat.is_nan() && filterHealthy;   // attitude valid (we need a better check)
-    filterStatus.flags.horiz_vel = someHorizRefData && filterHealthy;      // horizontal velocity estimate valid
-    filterStatus.flags.vert_vel = someVertRefData && filterHealthy;        // vertical velocity estimate valid
-    filterStatus.flags.horiz_pos_rel = ((doingFlowNav && gndOffsetValid) || doingWindRelNav || doingNormalGpsNav || doingBodyVelNav) && filterHealthy;   // relative horizontal position estimate valid
-    filterStatus.flags.horiz_pos_abs = doingNormalGpsNav && filterHealthy; // absolute horizontal position estimate valid
-    filterStatus.flags.vert_pos = !hgtTimeout && filterHealthy && !hgtNotAccurate; // vertical position estimate valid
-    filterStatus.flags.terrain_alt = gndOffsetValid && filterHealthy;		// terrain height estimate valid
-    filterStatus.flags.const_pos_mode = (PV_AidingMode == AID_NONE) && filterHealthy;     // constant position mode
-    filterStatus.flags.pred_horiz_pos_rel = filterStatus.flags.horiz_pos_rel; // EKF3 enters the required mode before flight
-    filterStatus.flags.pred_horiz_pos_abs = filterStatus.flags.horiz_pos_abs; // EKF3 enters the required mode before flight
-    filterStatus.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
-    filterStatus.flags.takeoff = dal.get_takeoff_expected(); // The EKF has been told to expect takeoff is in a ground effect mitigation mode and has started the EKF-GSF yaw estimator
-    filterStatus.flags.touchdown = dal.get_touchdown_expected(); // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
-    filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE);
-    filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS); // GPS glitching is affecting navigation accuracy
-    filterStatus.flags.gps_quality_good = gpsGoodToAlign;
+    status.flags.attitude = !stateStruct.quat.is_nan() && filterHealthy;   // attitude valid (we need a better check)
+    status.flags.horiz_vel = someHorizRefData && filterHealthy;      // horizontal velocity estimate valid
+    status.flags.vert_vel = someVertRefData && filterHealthy;        // vertical velocity estimate valid
+    status.flags.horiz_pos_rel = ((doingFlowNav && gndOffsetValid) || doingWindRelNav || doingNormalGpsNav || doingBodyVelNav) && filterHealthy;   // relative horizontal position estimate valid
+    status.flags.horiz_pos_abs = doingNormalGpsNav && filterHealthy; // absolute horizontal position estimate valid
+    status.flags.vert_pos = !hgtTimeout && filterHealthy && !hgtNotAccurate; // vertical position estimate valid
+    status.flags.terrain_alt = gndOffsetValid && filterHealthy;		// terrain height estimate valid
+    status.flags.const_pos_mode = (PV_AidingMode == AID_NONE) && filterHealthy;     // constant position mode
+    status.flags.pred_horiz_pos_rel = status.flags.horiz_pos_rel; // EKF3 enters the required mode before flight
+    status.flags.pred_horiz_pos_abs = status.flags.horiz_pos_abs; // EKF3 enters the required mode before flight
+    status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
+    status.flags.takeoff = dal.get_takeoff_expected(); // The EKF has been told to expect takeoff is in a ground effect mitigation mode and has started the EKF-GSF yaw estimator
+    status.flags.touchdown = dal.get_touchdown_expected(); // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
+    status.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE);
+    status.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS); // GPS glitching is affecting navigation accuracy
+    status.flags.gps_quality_good = gpsGoodToAlign;
     // for reporting purposes we report rejecting airspeed after 3s of not fusing when we want to fuse the data
-    filterStatus.flags.rejecting_airspeed = lastTasFailTime_ms != 0 &&
+    status.flags.rejecting_airspeed = lastTasFailTime_ms != 0 &&
                                             (imuSampleTime_ms - lastTasFailTime_ms) < 1000 &&
                                             (imuSampleTime_ms - lastTasPassTime_ms) > 3000;
-    filterStatus.flags.initalized = filterStatus.flags.initalized || healthy();
-    filterStatus.flags.dead_reckoning = (PV_AidingMode != AID_NONE) && doingWindRelNav && !((doingFlowNav && gndOffsetValid) || doingNormalGpsNav || doingBodyVelNav);
+    status.flags.initalized = status.flags.initalized || healthy();
+    status.flags.dead_reckoning = (PV_AidingMode != AID_NONE) && doingWindRelNav && !((doingFlowNav && gndOffsetValid) || doingNormalGpsNav || doingBodyVelNav);
+
+    filterStatus.value = status.value;
 }
 
 void NavEKF3_core::runYawEstimatorPrediction()

libraries/AP_Scripting/AP_Scripting.cpp

@@ -216,6 +216,15 @@ void AP_Scripting::repl_stop(void) {
     // can't do any more cleanup here, closing the open FD's is the REPL's responsibility
 }
 
+/*
+  avoid optimisation of the thread function. This avoids nasty traps
+  where setjmp/longjmp does not properly handle save/restore of
+  floating point registers on exceptions. This is an extra protection
+  over the top of the fix in luaD_rawrunprotected() for the same issue
+ */
+#pragma GCC push_options
+#pragma GCC optimize ("O0")
+
 void AP_Scripting::thread(void) {
     while (true) {
         // reset flags
@@ -264,6 +273,7 @@ void AP_Scripting::thread(void) {
         }
     }
 }
+#pragma GCC pop_options
 
 void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd_in)
 {

libraries/AP_Scripting/lua/src/ldo.c

@@ -133,21 +133,29 @@ l_noret luaD_throw (lua_State *L, int errcode) {
   }
 }
 
-
+// remove optimization
+#pragma GCC push_options
+#pragma GCC optimize ("O0")
 int luaD_rawrunprotected (lua_State *L, Pfunc f, void *ud) {
   unsigned short oldnCcalls = L->nCcalls;
   struct lua_longjmp lj;
   lj.status = LUA_OK;
   lj.previous = L->errorJmp;  /* chain new error handler */
   L->errorJmp = &lj;
   LUAI_TRY(L, &lj,
+#ifdef ARM_MATH_CM7
+    __asm__("vpush {s16-s31}");
+#endif
     (*f)(L, ud);
   );
+#ifdef ARM_MATH_CM7
+  __asm__("vpop {s16-s31}");
+#endif
   L->errorJmp = lj.previous;  /* restore old error handler */
   L->nCcalls = oldnCcalls;
   return lj.status;
 }
-
+#pragma GCC pop_options
 /* }====================================================== */
 
 

libraries/GCS_MAVLink/GCS_FTP.cpp

@@ -169,7 +169,7 @@ void GCS_MAVLINK::ftp_worker(void) {
         }
 
         // if it's a rerequest and we still have the last response then send it
-        if ((request.sysid == reply.sysid) && (request.compid = reply.compid) &&
+        if ((request.sysid == reply.sysid) && (request.compid == reply.compid) &&
             (request.session == reply.session) && (request.seq_number + 1 == reply.seq_number)) {
             ftp_push_replies(reply);
             continue;