Merge branch 'master' into master

Tools/AP_Periph/AP_Periph.cpp

@@ -142,6 +142,7 @@ void AP_Periph_FW::init()
 #endif
 
 #ifdef HAL_PERIPH_ENABLE_GPS
+    gps.set_default_type_for_gps1(HAL_GPS1_TYPE_DEFAULT);
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
         serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
 #if HAL_LOGGING_ENABLED

Tools/AP_Periph/can.cpp

@@ -223,6 +223,11 @@ void AP_Periph_FW::handle_get_node_info(CanardInstance* canard_instance,
                    total_size);
 }
 
+// compatability code added Mar 2024 for 4.6:
+#ifndef AP_PERIPH_GPS_TYPE_COMPATABILITY_ENABLED
+#define AP_PERIPH_GPS_TYPE_COMPATABILITY_ENABLED 1
+#endif
+
 /*
   handle parameter GetSet request
  */
@@ -245,7 +250,18 @@ void AP_Periph_FW::handle_param_getset(CanardInstance* canard_instance, CanardRx
         vp = nullptr;
     } else if (req.name.len != 0 && req.name.len <= AP_MAX_NAME_SIZE) {
         memcpy((char *)pkt.name.data, (char *)req.name.data, req.name.len);
+#if AP_PERIPH_GPS_TYPE_COMPATABILITY_ENABLED
+        // cope with older versions of ArduPilot attempting to
+        // auto-configure AP_Periph using "GPS_TYPE" by
+        // auto-converting to "GPS1_TYPE":
+        if (strncmp((char*)req.name.data, "GPS_TYPE", req.name.len) == 0) {
+            vp = AP_Param::find("GPS1_TYPE", &ptype);
+        } else {
+            vp = AP_Param::find((char *)pkt.name.data, &ptype);
+        }
+#else
         vp = AP_Param::find((char *)pkt.name.data, &ptype);
+#endif
     } else {
         AP_Param::ParamToken token {};
         vp = AP_Param::find_by_index(req.index, &ptype, &token);

Tools/Frame_params/amovlab-p200.param

@@ -22,7 +22,7 @@ BATT_MONITOR,4
 BRD_SAFETY_DEFLT,0
 FRAME_CLASS,1
 FRAME_TYPE,1
-GPS_TYPE,2
+GPS1_TYPE,2
 INS_GYRO_FILTER,40
 MOT_BAT_VOLT_MAX,12.6
 MOT_BAT_VOLT_MIN,9.9

Tools/Frame_params/eLAB_VEK_AI_Rover.param

@@ -8,7 +8,7 @@ BATT_VOLT_PIN,-1
 CRUISE_SPEED,1.0
 EK2_ENABLE,0
 EK3_ENABLE,1
-GPS_TYPE,2
+GPS1_TYPE,2
 MIS_RESTART,1
 MODE_CH,5
 MODE1,10

Tools/autotest/arducopter.py

@@ -2680,8 +2680,8 @@ def CANGPSCopterMission(self):
         '''fly mission which tests normal operation alongside CAN GPS'''
         self.set_parameters({
             "CAN_P1_DRIVER": 1,
-            "GPS_TYPE": 9,
-            "GPS_TYPE2": 9,
+            "GPS1_TYPE": 9,
+            "GPS2_TYPE": 9,
             # disable simulated GPS, so only via DroneCAN
             "SIM_GPS_DISABLE": 1,
             "SIM_GPS2_DISABLE": 1,
@@ -2860,7 +2860,7 @@ def GuidedEKFLaneChange(self):
         self.set_parameters({
             "EK3_SRC1_POSZ": 3,
             "EK3_AFFINITY" : 1,
-            "GPS_TYPE2" : 1,
+            "GPS2_TYPE" : 1,
             "SIM_GPS2_DISABLE" : 0,
             "SIM_GPS2_GLTCH_Z" : -30
             })
@@ -3137,7 +3137,7 @@ def VisionPosition(self):
                     "EK3_SRC1_VELZ": 6,
                 })
             self.set_parameters({
-                "GPS_TYPE": 0,
+                "GPS1_TYPE": 0,
                 "VISO_TYPE": 1,
                 "SERIAL5_PROTOCOL": 1,
             })
@@ -3233,7 +3233,7 @@ def BodyFrameOdom(self):
             "EK3_SRC1_VELXY": 6,
             "EK3_SRC1_POSZ": 6,
             "EK3_SRC1_VELZ": 6,
-            "GPS_TYPE": 0,
+            "GPS1_TYPE": 0,
             "VISO_TYPE": 1,
             "SERIAL5_PROTOCOL": 1,
             "SIM_VICON_TMASK": 8,  # send VISION_POSITION_DELTA
@@ -3410,7 +3410,7 @@ def GPSViconSwitching(self):
 
             # switch to vicon, disable GPS and wait 10sec to ensure vehicle remains in Loiter
             self.set_rc(8, 1500)
-            self.set_parameter("GPS_TYPE", 0)
+            self.set_parameter("GPS1_TYPE", 0)
 
             # ensure vehicle remain in Loiter for 15 seconds
             tstart = self.get_sim_time()
@@ -6935,7 +6935,7 @@ def loiter_requires_position(self):
         self.progress("Ensure we can't enter LOITER without position")
         self.context_push()
         self.set_parameters({
-            "GPS_TYPE": 2,
+            "GPS1_TYPE": 2,
             "SIM_GPS_DISABLE": 1,
         })
         # if there is no GPS at all then we must direct EK3 to not use
@@ -7469,7 +7469,7 @@ def BeaconPosition(self):
                 "BCN_ALT": SITL_START_LOCATION.alt,
                 "BCN_ORIENT_YAW": 0,
                 "AVOID_ENABLE": 4,
-                "GPS_TYPE": 0,
+                "GPS1_TYPE": 0,
                 "EK3_ENABLE": 1,
                 "EK3_SRC1_POSXY": 4, # Beacon
                 "EK3_SRC1_POSZ": 1,  # Baro
@@ -8640,13 +8640,13 @@ def test_replay_gps_bit(self):
             "EK2_ENABLE": 1,
             "AHRS_TRIM_X": 0.01,
             "AHRS_TRIM_Y": -0.03,
-            "GPS_TYPE2": 1,
-            "GPS_POS1_X": 0.1,
-            "GPS_POS1_Y": 0.2,
-            "GPS_POS1_Z": 0.3,
-            "GPS_POS2_X": -0.1,
-            "GPS_POS2_Y": -0.02,
-            "GPS_POS2_Z": -0.31,
+            "GPS2_TYPE": 1,
+            "GPS1_POS_X": 0.1,
+            "GPS1_POS_Y": 0.2,
+            "GPS1_POS_Z": 0.3,
+            "GPS2_POS_X": -0.1,
+            "GPS2_POS_Y": -0.02,
+            "GPS2_POS_Z": -0.31,
             "INS_POS1_X": 0.12,
             "INS_POS1_Y": 0.14,
             "INS_POS1_Z": -0.02,
@@ -8717,7 +8717,7 @@ def GPSBlending(self):
         try:
             # configure:
             self.set_parameters({
-                "GPS_TYPE2": 1,
+                "GPS2_TYPE": 1,
                 "SIM_GPS2_TYPE": 1,
                 "SIM_GPS2_DISABLE": 0,
                 "GPS_AUTO_SWITCH": 2,
@@ -9010,7 +9010,7 @@ def PositionWhenGPSIsZero(self):
         self.progress("fly 50m North (or whatever)")
         old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         self.fly_guided_move_global_relative_alt(50, 0, 20)
-        self.set_parameter('GPS_TYPE', 0)
+        self.set_parameter('GPS1_TYPE', 0)
         self.drain_mav()
         tstart = self.get_sim_time()
         while True:
@@ -9289,7 +9289,7 @@ def RefindGPS(self):
         self.progress("fly 50m North (or whatever)")
         old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         self.fly_guided_move_global_relative_alt(50, 0, 50)
-        self.set_parameter('GPS_TYPE', 0)
+        self.set_parameter('GPS1_TYPE', 0)
         self.drain_mav()
         tstart = self.get_sim_time()
         while True:
@@ -9301,7 +9301,7 @@ def RefindGPS(self):
             self.progress("Distance: %f" % pos_delta)
             if pos_delta < 5:
                 raise NotAchievedException("Bug reproduced - returned to near origin")
-        self.set_parameter('GPS_TYPE', 1)
+        self.set_parameter('GPS1_TYPE', 1)
         self.do_RTL()
 
     def GPSForYaw(self):

Tools/autotest/arduplane.py

@@ -3176,7 +3176,7 @@ def fly_external_AHRS(self, sim, eahrs_type, mission):
             "EAHRS_TYPE": eahrs_type,
             "SERIAL4_PROTOCOL": 36,
             "SERIAL4_BAUD": 230400,
-            "GPS_TYPE": 21,
+            "GPS1_TYPE": 21,
             "AHRS_EKF_TYPE": 11,
             "INS_GYR_CAL": 1,
         })
@@ -3486,7 +3486,7 @@ def EKFlaneswitch(self):
             "AHRS_EKF_TYPE": 3,
             "EK3_AFFINITY": 15, # enable affinity for all sensors
             "EK3_IMU_MASK": 3, # use only 2 IMUs
-            "GPS_TYPE2": 1,
+            "GPS2_TYPE": 1,
             "SIM_GPS2_DISABLE": 0,
             "SIM_BARO_COUNT": 2,
             "SIM_BAR2_DISABLE": 0,

Tools/autotest/default_params/copter-beacon.parm

@@ -2,4 +2,4 @@ BCN_TYPE 10
 BCN_ALT 584.900024
 BCN_LATITUDE -35.363262
 BCN_LONGITUDE 149.165237
-GPS_TYPE 0
+GPS1_TYPE 0

Tools/autotest/default_params/copter-gps-for-yaw-nmea.parm

@@ -1,5 +1,5 @@
 # SITL GPS-for-yaw using a single simulated NMEA GPS
 EK3_SRC1_YAW 2
-GPS_TYPE 5
+GPS1_TYPE 5
 SIM_GPS_TYPE 5
 SIM_GPS_HDG 1

Tools/autotest/default_params/copter-gps-for-yaw.parm

@@ -1,10 +1,10 @@
 # SITL GPS-for-yaw using two simulated UBlox GPSs
 EK3_SRC1_YAW 2
 GPS_AUTO_CONFIG 0
-GPS_TYPE 17
-GPS_TYPE2 18
-GPS_POS1_Y -0.2
-GPS_POS2_Y 0.2
+GPS1_TYPE 17
+GPS2_TYPE 18
+GPS1_POS_Y -0.2
+GPS2_POS_Y 0.2
 SIM_GPS_POS_Y -0.2
 SIM_GPS2_POS_Y 0.2
 SIM_GPS2_DISABLE 0

Tools/autotest/default_params/periph.parm

@@ -1,6 +1,6 @@
 # parameters for SITL peripheral
 
-GPS_TYPE 1
+GPS1_TYPE 1
 COMPASS_ENABLE 1
 BARO_ENABLE 1
 ARSPD_TYPE 100

Tools/autotest/default_params/quad-can.parm

@@ -2,7 +2,7 @@ CAN_P1_DRIVER 1
 CAN_D1_UC_ESC_BM 0x0F
 SIM_CAN_SRV_MSK 0xFf
 SIM_VIB_MOT_MAX 270
-GPS_TYPE 9
+GPS1_TYPE 9
 RNGFND1_TYPE 24
 RNGFND1_MAX_CM 11000
 BATT_MONITOR 8

Tools/autotest/default_params/quadplane-can.parm

@@ -5,7 +5,7 @@ CAN_D1_UC_SRV_BM 0x0F
 CAN_D1_UC_OPTION 16
 SIM_CAN_SRV_MSK 0xfff
 SIM_VIB_MOT_MAX 270
-GPS_TYPE 9
+GPS1_TYPE 9
 ARSPD_TYPE 8
 RNGFND1_TYPE 24
 RNGFND1_MAX_CM 11000

Tools/autotest/default_params/tracker-gps-for-yaw.parm

@@ -1,10 +1,10 @@
 # SITL GPS-for-yaw using two simulated UBlox GPSs
 EK3_SRC1_YAW 2
 GPS_AUTO_CONFIG 0
-GPS_TYPE 17
-GPS_TYPE2 18
-GPS_POS1_Y -0.2
-GPS_POS2_Y 0.2
+GPS1_TYPE 17
+GPS2_TYPE 18
+GPS1_POS_Y -0.2
+GPS2_POS_Y 0.2
 SIM_GPS_POS_Y -0.2
 SIM_GPS2_POS_Y 0.2
 SIM_GPS2_DISABLE 0

Tools/autotest/default_params/vee-gull_005.param

@@ -224,25 +224,25 @@ GPS_BLEND_MASK,5
 GPS_BLEND_TC,10
 GPS_DELAY_MS,0
 GPS_DELAY_MS2,0
-GPS_GNSS_MODE,0
-GPS_GNSS_MODE2,0
+GPS1_GNSS_MODE,0
+GPS2_GNSS_MODE,0
 GPS_INJECT_TO,127
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
-GPS_POS1_X,0
-GPS_POS1_Y,0
-GPS_POS1_Z,0
-GPS_POS2_X,0
-GPS_POS2_Y,0
-GPS_POS2_Z,0
+GPS1_POS_X,0
+GPS1_POS_Y,0
+GPS1_POS_Z,0
+GPS2_POS_X,0
+GPS2_POS_Y,0
+GPS2_POS_Z,0
 GPS_RATE_MS,200
-GPS_RATE_MS2,200
+GPS2_RATE_MS,200
 GPS_RAW_DATA,0
 GPS_SAVE_CFG,0
 GPS_SBAS_MODE,2
 GPS_SBP_LOGMASK,-32768
-GPS_TYPE,1
-GPS_TYPE2,0
+GPS1_TYPE,1
+GPS2_TYPE,0
 GROUND_STEER_ALT,0
 GROUND_STEER_DPS,90
 ICE_ENABLE,0

Tools/autotest/test_param_upgrade.py

@@ -3,7 +3,7 @@
 '''
 Test parameter upgrade, master vs branch
 
-./Tools/autotest/test_param_upgrade.py --vehicle=arduplane --param GPS_TYPE=17 --param "GPS_TYPE2=37->GPS2_TYPE=37" --param GPS_GNSS_MODE=21 --param "GPS_GNSS_MODE2=45->GPS2_GNSS_MODE=45" --param GPS_RATE_MS=186 --param "GPS_RATE_MS2=123->GPS2_RATE_MS=123" --param "GPS_POS1_X=3.75->GPS_POS_X=3.75" --param "GPS_POS2_X=6.9->GPS2_POS_X=6.9"  --param "GPS_POS1_Y=2.75->GPS_POS_Y=2.75" --param "GPS_POS2_Y=5.9->GPS2_POS_Y=5.9"  --param "GPS_POS1_Z=12.1->GPS_POS_Z=12.1" --param "GPS_POS2_Z=-6.9->GPS2_POS_Z=-6.9" --param "GPS_DELAY_MS=987" --param "GPS_DELAY_MS2=2345->GPS2_DELAY_MS=2345" --param "GPS_COM_PORT=19" --param "GPS_COM_PORT2=100->GPS2_COM_PORT=100" --param "GPS_CAN_NODEID1=109->GPS_CAN_NODEID=109" --param "GPS_CAN_NODEID2=102->GPS2_CAN_NODEID=102" --param "GPS1_CAN_OVRIDE=34->GPS_CAN_OVRIDE=34" --param "GPS2_CAN_OVRIDE=67" --param "GPS_MB1_TYPE=1->GPS_MB_TYPE=1" --param "GPS_MB1_OFS_X=3.14->GPS_MB_OFS_X=3.14"  --param "GPS_MB1_OFS_Y=2.18->GPS_MB_OFS_Y=2.18"  --param "GPS_MB1_OFS_Z=17.6->GPS_MB_OFS_Z=17.6"  --param "GPS_MB2_TYPE=13->GPS2_MB_TYPE=13" --param "GPS_MB2_OFS_X=17.14->GPS2_MB_OFS_X=17.14"  --param "GPS_MB2_OFS_Y=12.18->GPS2_MB_OFS_Y=12.18"  --param "GPS_MB2_OFS_Z=27.6->GPS2_MB_OFS_Z=27.6"  # noqa
+./Tools/autotest/test_param_upgrade.py --vehicle=arduplane --param "GPS_TYPE=17->GPS1_TYPE=17" --param "GPS_TYPE2=37->GPS2_TYPE=37" --param "GPS_GNSS_MODE=21->GPS1_GNSS_MODE=21" --param "GPS_GNSS_MODE2=45->GPS2_GNSS_MODE=45" --param "GPS_RATE_MS=186->GPS1_RATE_MS=186" --param "GPS_RATE_MS2=123->GPS2_RATE_MS=123" --param "GPS_POS1_X=3.75->GPS1_POS_X=3.75" --param "GPS_POS2_X=6.9->GPS2_POS_X=6.9"  --param "GPS_POS1_Y=2.75->GPS1_POS_Y=2.75" --param "GPS_POS2_Y=5.9->GPS2_POS_Y=5.9"  --param "GPS_POS1_Z=12.1->GPS1_POS_Z=12.1" --param "GPS_POS2_Z=-6.9->GPS2_POS_Z=-6.9" --param "GPS_DELAY_MS=987->GPS1_DELAY_MS=987" --param "GPS_DELAY_MS2=2345->GPS2_DELAY_MS=2345" --param "GPS_COM_PORT=19->GPS1_COM_PORT=19" --param "GPS_COM_PORT2=100->GPS2_COM_PORT=100" --param "GPS_CAN_NODEID1=109->GPS1_CAN_NODEID=109" --param "GPS_CAN_NODEID2=102->GPS2_CAN_NODEID=102" --param "GPS1_CAN_OVRIDE=34->GPS1_CAN_OVRIDE=34" --param "GPS2_CAN_OVRIDE=67" --param "GPS_MB1_TYPE=1->GPS1_MB_TYPE=1" --param "GPS_MB1_OFS_X=3.14->GPS1_MB_OFS_X=3.14"  --param "GPS_MB1_OFS_Y=2.18->GPS1_MB_OFS_Y=2.18"  --param "GPS_MB1_OFS_Z=17.6->GPS1_MB_OFS_Z=17.6"  --param "GPS_MB2_TYPE=13->GPS2_MB_TYPE=13" --param "GPS_MB2_OFS_X=17.14->GPS2_MB_OFS_X=17.14"  --param "GPS_MB2_OFS_Y=12.18->GPS2_MB_OFS_Y=12.18"  --param "GPS_MB2_OFS_Z=27.6->GPS2_MB_OFS_Z=27.6"  # noqa
 
 AP_FLAKE8_CLEAN
 '''

Tools/autotest/vehicle_test_suite.py

@@ -12062,7 +12062,7 @@ def wait_gps_fix_type_gte(self, fix_type, timeout=30, message_type="GPS_RAW_INT"
     def NMEAOutput(self):
         '''Test AHRS NMEA Output can be read by out NMEA GPS'''
         self.set_parameter("SERIAL5_PROTOCOL", 20) # serial5 is NMEA output
-        self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA
+        self.set_parameter("GPS2_TYPE", 5) # GPS2 is NMEA
         port = self.spare_network_port()
         self.customise_SITL_commandline([
             "--serial4=tcp:%u" % port, # GPS2 is NMEA....
@@ -13633,7 +13633,7 @@ def GPSTypes(self):
             self.set_parameter("SERIAL3_PROTOCOL", serial_protocol)
             if gps_type is None:
                 gps_type = 1  # auto-detect
-            self.set_parameter("GPS_TYPE", gps_type)
+            self.set_parameter("GPS1_TYPE", gps_type)
             self.context_clear_collection('STATUSTEXT')
             self.reboot_sitl()
             if detect_prefix == "probing":
@@ -13656,10 +13656,10 @@ def MultipleGPS(self):
         '''check ArduPilot behaviour across multiple GPS units'''
         self.assert_message_rate_hz('GPS2_RAW', 0)
 
-        # we start sending GPS_TYPE2 - but it will never actually be
+        # we start sending GPS2_TYPE - but it will never actually be
         # filled in as _port[1] is only filled in in AP_GPS::init()
         self.start_subtest("Get GPS2_RAW as soon as we're configured for a second GPS")
-        self.set_parameter("GPS_TYPE2", 1)
+        self.set_parameter("GPS2_TYPE", 1)
         self.assert_message_rate_hz('GPS2_RAW', 5)
 
         self.start_subtest("Ensure correct fix type when no connected GPS")
@@ -13671,7 +13671,7 @@ def MultipleGPS(self):
         self.start_subtest("Ensure detection when sim gps connected")
         self.set_parameter("SIM_GPS2_TYPE", 1)
         self.set_parameter("SIM_GPS2_DISABLE", 0)
-        # a reboot is required after setting GPS_TYPE2.  We start
+        # a reboot is required after setting GPS2_TYPE.  We start
         # sending GPS2_RAW out, once the parameter is set, but a
         # reboot is required because _port[1] is only set in
         # AP_GPS::init() at boot time, so it will never be detected.