Merge branch 'ArduPilot:master' into hwdef_add_MicoAir405Mini

ArduCopter/RC_Channel.cpp

@@ -108,6 +108,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::SIMPLE_HEADING_RESET:
     case AUX_FUNC::ARMDISARM_AIRMODE:
     case AUX_FUNC::TURBINE_START:
+    case AUX_FUNC::FLIGHTMODE_PAUSE:
         break;
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
@@ -566,6 +567,21 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             }
             break;
 
+        case AUX_FUNC::FLIGHTMODE_PAUSE:
+            switch (ch_flag) {
+                case AuxSwitchPos::HIGH:
+                    if (!copter.flightmode->pause()) {
+                        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Flight Mode Pause failed");
+                    }
+                    break;
+                case AuxSwitchPos::MIDDLE:
+                    break;
+                case AuxSwitchPos::LOW:
+                    copter.flightmode->resume();
+                    break;
+            }
+            break;
+
         case AUX_FUNC::ZIGZAG_Auto:
 #if MODE_ZIGZAG_ENABLED == ENABLED
             if (copter.flightmode == &copter.mode_zigzag) {

ArduCopter/autoyaw.cpp

@@ -8,13 +8,14 @@ float Mode::AutoYaw::roi_yaw() const
     return get_bearing_cd(copter.inertial_nav.get_position_xy_cm(), roi.xy());
 }
 
+// returns a yaw in degrees, direction of vehicle travel:
 float Mode::AutoYaw::look_ahead_yaw()
 {
     const Vector3f& vel = copter.inertial_nav.get_velocity_neu_cms();
     const float speed_sq = vel.xy().length_squared();
     // Commanded Yaw to automatically look ahead.
     if (copter.position_ok() && (speed_sq > (YAW_LOOK_AHEAD_MIN_SPEED * YAW_LOOK_AHEAD_MIN_SPEED))) {
-        _look_ahead_yaw = degrees(atan2f(vel.y,vel.x))*100.0f;
+        _look_ahead_yaw = degrees(atan2f(vel.y,vel.x));
     }
     return _look_ahead_yaw;
 }
@@ -80,7 +81,7 @@ void Mode::AutoYaw::set_mode(Mode yaw_mode)
 
     case Mode::LOOK_AHEAD:
         // Commanded Yaw to automatically look ahead.
-        _look_ahead_yaw = copter.ahrs.yaw_sensor;
+        _look_ahead_yaw = copter.ahrs.yaw_sensor * 0.01;  // cdeg -> deg
         break;
 
     case Mode::RESETTOARMEDYAW:
@@ -230,7 +231,7 @@ float Mode::AutoYaw::yaw_cd()
 
     case Mode::LOOK_AHEAD:
         // Commanded Yaw to automatically look ahead.
-        _yaw_angle_cd = look_ahead_yaw();
+        _yaw_angle_cd = look_ahead_yaw() * 100.0;
         break;
 
     case Mode::RESETTOARMEDYAW:

ArduCopter/mode.h

@@ -341,7 +341,9 @@ class Mode {
         // rate_cds(): desired yaw rate in centidegrees/second:
         float rate_cds();
 
+        // returns a yaw in degrees, direction of vehicle travel:
         float look_ahead_yaw();
+
         float roi_yaw() const;
 
         // auto flight mode's yaw mode

ArduPlane/quadplane.cpp

@@ -33,7 +33,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @DisplayName: Transition time
     // @Description: Transition time in milliseconds after minimum airspeed is reached
     // @Units: ms
-    // @Range: 2000 30000
+    // @Range: 500 30000
     // @User: Advanced
     AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000),
 
@@ -1714,7 +1714,7 @@ void SLT_Transition::update()
         // after airspeed is reached we degrade throttle over the
         // transition time, but continue to stabilize
         const uint32_t transition_timer_ms = now - transition_low_airspeed_ms;
-        const float trans_time_ms = constrain_float(quadplane.transition_time_ms,2000,30000);
+        const float trans_time_ms = constrain_float(quadplane.transition_time_ms,500,30000);
         if (transition_timer_ms > unsigned(trans_time_ms)) {
             transition_state = TRANSITION_DONE;
             in_forced_transition = false;

Tools/autotest/fakepos.py

@@ -36,22 +36,6 @@ def write(self, buf):
             pass
 
 
-def ft2m(x):
-    return x * 0.3048
-
-
-def m2ft(x):
-    return x / 0.3048
-
-
-def kt2mps(x):
-    return x * 0.514444444
-
-
-def mps2kt(x):
-    return x / 0.514444444
-
-
 udp = udp_out("127.0.0.1:5501")
 
 latitude = -35

Tools/autotest/locations.txt

@@ -99,3 +99,5 @@ RF_Garage=37.621798,-2.646596,788,0
 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
+

Tools/autotest/pysim/fg_display.py

@@ -44,21 +44,6 @@ def write(self, buf):
             pass
 
 
-def ft2m(x):
-    return x * 0.3048
-
-
-def m2ft(x):
-    return x / 0.3048
-
-
-def kt2mps(x):
-    return x * 0.514444444
-
-
-def mps2kt(x):
-    return x / 0.514444444
-
 udp = udp_socket("127.0.0.1:5123")
 fgout = udp_socket("127.0.0.1:5124", is_input=False)
 

Tools/autotest/pysim/util.py

@@ -29,24 +29,6 @@
 windowID = []
 
 
-def m2ft(x):
-    """Meters to feet."""
-    return float(x) / 0.3048
-
-
-def ft2m(x):
-    """Feet to meters."""
-    return float(x) * 0.3048
-
-
-def kt2mps(x):
-    return x * 0.514444444
-
-
-def mps2kt(x):
-    return x / 0.514444444
-
-
 def topdir():
     """Return top of git tree where autotest is running from."""
     d = os.path.dirname(os.path.realpath(__file__))
@@ -439,7 +421,7 @@ def start_SITL(binary,
                model=None,
                speedup=1,
                sim_rate_hz=None,
-               defaults_filepath=None,
+               defaults_filepath=[],
                unhide_parameters=False,
                gdbserver=False,
                breakpoints=[],
@@ -524,6 +506,13 @@ def start_SITL(binary,
             raise RuntimeError("DISPLAY was not set")
 
     cmd.append(binary)
+
+    if defaults_filepath is None:
+        defaults_filepath = []
+    if not isinstance(defaults_filepath, list):
+        defaults_filepath = [defaults_filepath]
+    defaults = [reltopdir(path) for path in defaults_filepath]
+
     if not supplementary:
         if wipe:
             cmd.append('-w')
@@ -533,7 +522,12 @@ def start_SITL(binary,
             cmd.extend(['--home', home])
         cmd.extend(['--model', model])
         if speedup is not None and speedup != 1:
-            cmd.extend(['--speedup', str(speedup)])
+            ntf = tempfile.NamedTemporaryFile(mode="w", delete=False)
+            print(f"SIM_SPEEDUP {speedup}", file=ntf)
+            ntf.close()
+            # prepend it so that a caller can override the speedup in
+            # passed-in defaults:
+            defaults = [ntf.name] + defaults
         if sim_rate_hz is not None:
             cmd.extend(['--rate', str(sim_rate_hz)])
         if unhide_parameters:
@@ -543,13 +537,8 @@ def start_SITL(binary,
         if enable_fgview_output:
             cmd.append("--enable-fgview")
 
-    if defaults_filepath is not None:
-        if isinstance(defaults_filepath, list):
-            defaults = [reltopdir(path) for path in defaults_filepath]
-            if len(defaults):
-                cmd.extend(['--defaults', ",".join(defaults)])
-        else:
-            cmd.extend(['--defaults', reltopdir(defaults_filepath)])
+    if len(defaults):
+        cmd.extend(['--defaults', ",".join(defaults)])
 
     cmd.extend(customisations)
 

libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/Readme.md

@@ -0,0 +1,118 @@
+# Matek H7A3-slim Flight Controller
+
+https://www.mateksys.com/?portfolio=h7a3-slim.
+
+
+## Features
+    Processor
+        STM32H7A3RIT6 Cortex-M7 280 MHz, 2MB flash
+    Sensors
+        ICM-42688p Acc/Gyro
+        SPL06-001 barometer
+        AT7456E OSD
+        W25N01GV dataflash
+    Power
+        2S - 6S Lipo input voltage with voltage monitoring
+        9V, 2A BEC for powering Video Transmitter and camera controlled by GPIO
+        5V, 2A BEC for internal and peripherals
+    Interfaces
+        11x PWM outputs DShot capable
+        6x UARTs
+        1x CAN
+        1x I2C
+        4x ADC
+        128MB NAND for logging
+        USB-C port
+    LED
+        Red, 3.3V power indicator
+        Blue and Green, FC status
+    Size
+        36 x 36mm PCB with 30.5mm M3 mounting
+
+
+## Overview
+
+![MATEKH7A3-SLIM](H7A3-SLIM.jpg)
+
+## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (MAVLink2 telem)  (DMA capable)
+ - SERIAL2 -> USART2 (Serial RC input) (DMA capable)
+ - SERIAL3 -> USART3 (GPS)  (DMA capable)
+ - SERIAL4 -> UART4  (User) (NO DMA)
+ - SERIAL5 -> UART5  (User) (NO DMA)
+ - SERIAL6 -> USART6 (User) (NO DMA)
+
+## CAN and I2C
+
+H7A3-SLIM supports 1x CAN bus and 1x I2C bus
+multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
+
+## RC Input
+
+RC input is configured on the USART2(SERIAL2). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
+- PPM is not supported.
+- CRSF requires Tx2 & Rx2 connection, and set SERIAL2_OPTIONS to “0” (default).
+- SBUS/DSM/SRXL connects to the Rx2 pin, but SBUS requires that the SERIAL2_OPTIONS be set to “3”.
+- FPort requires connection to Tx2, and set SERIAL2_OPTIONS to “7”.
+- SRXL2 requires a connection to Tx2, and automatically provides telemetry. Set SERIAL2_OPTIONS to “4”.
+
+
+## OSD Support
+
+H7A3-SLIM supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+H7A3-SLIM supports up to 11 PWM outputs. All outputs support DShot.
+The PWM is in 5 groups:
+
+ - PWM 1,2    TIM1
+ - PWM 3,4    TIM2
+ - PWM 5,6,7,8  TIM3
+ - PWM 9,10   TIM4
+ - PWM 11     TIM16
+
+## Battery Monitoring
+
+The board has 2x built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor
+
+The correct battery setting parameters are set by default and are:
+
+ - BATT_MONITOR 4
+
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 21.0 ("Vbat" pad support 5.5~30V input, limited by onboard regulator chips)
+ - BATT_AMP_PERVLT X  ("Curr" pad, set it according to external current sensor spec)
+
+ - BATT2_VOLT_PIN 18
+ - BATT2_CURR_PIN 8
+ - BATT2_VOLT_MULT 21.0  ("VB2" pad support Max.69V voltage sense)
+ - BATT_AMP_PERVLT X ("CU2" pad, set it according to external current sensor spec)
+
+
+## Compass
+
+H7A3-SLIM does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## VTX power control
+
+GPIO 81 controls the 9V BEC output to pins marked "9V". Setting this GPIO high removes voltage supply to pins. Default GPIO 81 is low(9V output enable)
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled MatekH7A3.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "ardu*_with_bl.hex" firmware, using your favourite DFU loading tool. eg STM32CubeProgrammer
+
+Subsequently, you can update firmware with Mission Planner.
+
+

libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat

@@ -115,14 +115,14 @@ PB12 CAN2_RX CAN2
 PB13 CAN2_TX CAN2
 
 # PWM
-PA9  TIM1_CH2  TIM1  PWM(1)  GPIO(50)
-PA10 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
-PA15 TIM2_CH1  TIM2  PWM(3)  GPIO(52)
-PB3  TIM2_CH2  TIM2  PWM(4)  GPIO(53)
-PB0  TIM3_CH3  TIM3  PWM(5)  GPIO(54)
+PA9  TIM1_CH2  TIM1  PWM(1)  GPIO(50) BIDIR
+PA10 TIM1_CH3  TIM1  PWM(2)  GPIO(51) BIDIR
+PA15 TIM2_CH1  TIM2  PWM(3)  GPIO(52) BIDIR
+PB3  TIM2_CH2  TIM2  PWM(4)  GPIO(53) 
+PB0  TIM3_CH3  TIM3  PWM(5)  GPIO(54) BIDIR
 PB1  TIM3_CH4  TIM3  PWM(6)  GPIO(55)
 PB4  TIM3_CH1  TIM3  PWM(7)  GPIO(56)
-PB5  TIM3_CH2  TIM3  PWM(8)  GPIO(57)
+PB5  TIM3_CH2  TIM3  PWM(8)  GPIO(57) BIDIR
 PB6  TIM4_CH1  TIM4  PWM(9)  GPIO(58)
 PB7  TIM4_CH2  TIM4  PWM(10) GPIO(59)
 PB8  TIM16_CH1 TIM16 PWM(11) GPIO(60)

libraries/RC_Channel/RC_Channel.cpp

@@ -237,6 +237,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter, Rover, Plane, Blimp}: 175:Camera Lens
     // @Values{Plane}: 176:Quadplane Fwd Throttle Override enable
     // @Values{Copter, Rover, Plane, Blimp}: 177:Mount LRF enable
+    // @Values{Copter}: 178:FlightMode Pause/Resume
     // @Values{Rover}: 201:Roll
     // @Values{Rover}: 202:Pitch
     // @Values{Rover}: 207:MainSail
@@ -673,7 +674,9 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     // not really aux functions:
     case AUX_FUNC::LOWEHEISER_THROTTLE:
         break;
+#if HAL_ADSB_ENABLED
     case AUX_FUNC::AVOID_ADSB:
+#endif
     case AUX_FUNC::AVOID_PROXIMITY:
     case AUX_FUNC::FENCE:
     case AUX_FUNC::GPS_DISABLE:
@@ -1338,9 +1341,11 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         do_aux_function_mission_reset(ch_flag);
         break;
 
+#if HAL_ADSB_ENABLED
     case AUX_FUNC::AVOID_ADSB:
         do_aux_function_avoid_adsb(ch_flag);
         break;
+#endif
 
     case AUX_FUNC::FFT_NOTCH_TUNE:
         do_aux_function_fft_notch_tune(ch_flag);

libraries/RC_Channel/RC_Channel.h

@@ -250,6 +250,7 @@ class RC_Channel {
         CAMERA_LENS =        175, // camera lens selection
         VFWD_THR_OVERRIDE =  176, // force enabled VTOL forward throttle method
         MOUNT_LRF_ENABLE =   177,  // mount LRF enable/disable
+        FLIGHTMODE_PAUSE =   178,  // e.g. pause movement towards waypoint
 
 
         // inputs from 200 will eventually used to replace RCMAP