Merge branch 'ArduPilot:master' into master

ArduPilot · Feb 22, 2024 · 8b633b4 · 8b633b4
2 parents b92a373 + b19f8ed
commit 8b633b4
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diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
@@ -148,6 +148,22 @@ jobs:
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
+      - name: Unittest extract_param_defaults
+        env:
+          PYTHONPATH: "${{ github.workspace }}/Tools/scripts:${{ github.workspace }}/modules/mavlink/pymavlink"
+        if: matrix.config == 'unit-tests'
+        run: |
+          Tools/autotest/unittest/extract_param_defaults_unittest.py
+
+      - name: Unittest annotate_params
+        env:
+          PYTHONPATH: "${{ github.workspace }}/Tools/scripts"
+        if: matrix.config == 'unit-tests'
+        run: |
+          python -m pip install --upgrade pip
+          pip install requests mock
+          Tools/autotest/unittest/annotate_params_unittest.py
+
       - name: Archive buildlog artifacts
         uses: actions/upload-artifact@v3
         if: failure()

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -236,9 +236,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_TERRAIN_AVAILABLE
     SCHED_TASK(terrain_update,        10,    100, 144),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75, 147),
-#endif
 #if AP_WINCH_ENABLED
     SCHED_TASK_CLASS(AP_Winch,             &copter.g2.winch,            update,          50,  50, 150),
 #endif

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -110,10 +110,6 @@
  #include <AC_WPNav/AC_WPNav_OA.h>
  #include <AC_Avoidance/AP_OAPathPlanner.h>
 #endif
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
- # include <AP_Gripper/AP_Gripper.h>
-#endif
 #if AC_PRECLAND_ENABLED
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AC_PrecLand/AC_PrecLand_StateMachine.h>

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -817,11 +819,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // 12 was AP_Stats
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
-#endif
+    // 13 was AP_Gripper
 
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
@@ -1393,6 +1391,21 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 13;       // Old parameter index in g2
+        const uint16_t old_top_element = 4045; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
 }

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -6,10 +6,6 @@
 #include "RC_Channel.h"
 #include <AP_Proximity/AP_Proximity.h>
 
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
- # include <AP_Gripper/AP_Gripper.h>
-#endif
 #if MODE_FOLLOW_ENABLED == ENABLED
  # include <AP_Follow/AP_Follow.h>
 #endif
@@ -508,10 +504,6 @@ class ParametersG2 {
     AP_Button *button_ptr;
 #endif
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if MODE_THROW_ENABLED == ENABLED
     // Throw mode parameters
     AP_Int8 throw_nextmode;

diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
@@ -172,7 +172,7 @@ void Copter::thrust_loss_check()
 
 #if AP_GRIPPER_ENABLED
         if ((copter.g2.flight_options & uint32_t(FlightOptions::RELEASE_GRIPPER_ON_THRUST_LOSS)) != 0) {
-            copter.g2.gripper.release();
+            gripper.release();
         }
 #endif
     }

diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
@@ -504,7 +504,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
 
 #if AP_GRIPPER_ENABLED
     if (failsafe_option(FailsafeOption::RELEASE_GRIPPER)) {
-        copter.g2.gripper.release();
+        gripper.release();
     }
 #endif
 }

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -1235,8 +1235,7 @@ void PayloadPlace::run()
 
 #if AP_GRIPPER_ENABLED == ENABLED
     // if pilot releases load manually:
-    if (AP::gripper() != nullptr &&
-        AP::gripper()->valid() && AP::gripper()->released()) {
+    if (AP::gripper().valid() && AP::gripper().released()) {
         switch (state) {
         case State::FlyToLocation:
         case State::Descent_Start:
@@ -1334,9 +1333,9 @@ void PayloadPlace::run()
         // Reinitialise vertical position controller to remove discontinuity due to touch down of payload
         pos_control->init_z_controller_no_descent();
 #if AP_GRIPPER_ENABLED == ENABLED
-        if (g2.gripper.valid()) {
+        if (AP::gripper().valid()) {
             gcs().send_text(MAV_SEVERITY_INFO, "%s Releasing the gripper", prefix_str);
-            g2.gripper.release();
+            AP::gripper().release();
             state = State::Releasing;
         } else {
             state = State::Delay;
@@ -1347,8 +1346,8 @@ void PayloadPlace::run()
         break;
 
     case State::Releasing:
-#if AP_GRIPPER_ENABLED == ENABLED
-        if (g2.gripper.valid() && !g2.gripper.released()) {
+#if AP_GRIPPER_ENABLED
+        if (AP::gripper().valid() && !AP::gripper().released()) {
             break;
         }
 #endif

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
@@ -15,11 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-    // init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // init winch
 #if AP_WINCH_ENABLED
     g2.winch.init();

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -132,9 +132,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
-#endif
 #if AP_LANDINGGEAR_ENABLED
     SCHED_TASK(landing_gear_update, 5, 50, 159),
 #endif

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Plane.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
  *  ArduPlane parameter definitions
  *
@@ -1068,11 +1070,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("HOME_RESET_ALT", 11, ParametersG2, home_reset_threshold, 0),
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 12, ParametersG2, AP_Gripper),
-#endif
+    // 12 was AP_Gripper
 
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
@@ -1558,6 +1556,21 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 12;       // Old parameter index in g2
+        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
@@ -3,7 +3,6 @@
 #define AP_PARAM_VEHICLE_NAME plane
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Gripper/AP_Gripper.h>
 
 // Global parameter class.
 //
@@ -512,11 +511,6 @@ class ParametersG2 {
     // home reset altitude threshold
     AP_Int8 home_reset_threshold;
 
-#if AP_GRIPPER_ENABLED
-    // Payload Gripper
-    AP_Gripper gripper;
-#endif
-
     AP_Int32 flight_options;
 
     AP_Int8 takeoff_throttle_accel_count;

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
@@ -136,10 +136,10 @@ class Mode
     virtual bool is_taking_off() const;
 
     // true if throttle min/max limits should be applied
-    bool use_throttle_limits() const;
+    virtual bool use_throttle_limits() const;
 
     // true if voltage correction should be applied to throttle
-    bool use_battery_compensation() const;
+    virtual bool use_battery_compensation() const;
 
 protected:
 
@@ -400,10 +400,10 @@ class ModeManual : public Mode
     void run() override;
 
     // true if throttle min/max limits should be applied
-    bool use_throttle_limits() const { return false; }
+    bool use_throttle_limits() const override { return false; }
 
     // true if voltage correction should be applied to throttle
-    bool use_battery_compensation() const { return false; }
+    bool use_battery_compensation() const override { return false; }
 
 };
 

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
@@ -132,11 +132,6 @@ void Plane::init_ardupilot()
         optflow.init(-1);
     }
 #endif
-
-// init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
 }
 
 //********************************************************************************

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>
diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
@@ -102,9 +102,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_RPM,              &sub.rpm_sensor,   update,              10, 200,  66),
 #endif
     SCHED_TASK(terrain_update,        10,    100,  72),
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,   update,              10,  75,  75),
-#endif
 #if AP_STATS_ENABLED
     SCHED_TASK(stats_update,           1,    200,  76),
 #endif

diff --git a/ArduSub/Attitude.cpp b/ArduSub/Attitude.cpp
@@ -123,46 +123,6 @@ float Sub::get_pilot_desired_climb_rate(float throttle_control)
     return desired_rate;
 }
 
-// get_surface_tracking_climb_rate - hold vehicle at the desired distance above the ground
-//      returns climb rate (in cm/s) which should be passed to the position controller
-float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
-{
-#if RANGEFINDER_ENABLED == ENABLED
-    static uint32_t last_call_ms = 0;
-    float distance_error;
-    float velocity_correction;
-    float current_alt = inertial_nav.get_position_z_up_cm();
-
-    uint32_t now = AP_HAL::millis();
-
-    // reset target altitude if this controller has just been engaged
-    if (now - last_call_ms > RANGEFINDER_TIMEOUT_MS) {
-        target_rangefinder_alt = rangefinder_state.alt_cm + current_alt_target - current_alt;
-    }
-    last_call_ms = now;
-
-    // adjust rangefinder target alt if motors have not hit their limits
-    if ((target_rate<0 && !motors.limit.throttle_lower) || (target_rate>0 && !motors.limit.throttle_upper)) {
-        target_rangefinder_alt += target_rate * dt;
-    }
-
-    // do not let target altitude get too far from current altitude above ground
-    target_rangefinder_alt = constrain_float(target_rangefinder_alt,
-        rangefinder_state.alt_cm - pos_control.get_pos_error_z_down_cm(),
-        rangefinder_state.alt_cm + pos_control.get_pos_error_z_up_cm());
-
-    // calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
-    distance_error = (target_rangefinder_alt - rangefinder_state.alt_cm) - (current_alt_target - current_alt);
-    velocity_correction = distance_error * g.rangefinder_gain;
-    velocity_correction = constrain_float(velocity_correction, -THR_SURFACE_TRACKING_VELZ_MAX, THR_SURFACE_TRACKING_VELZ_MAX);
-
-    // return combined pilot climb rate + rate to correct rangefinder alt error
-    return (target_rate + velocity_correction);
-#else
-    return (float)target_rate;
-#endif
-}
-
 // rotate vector from vehicle's perspective to North-East frame
 void Sub::rotate_body_frame_to_NE(float &x, float &y)
 {

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -144,6 +144,9 @@ bool GCS_MAVLINK_Sub::send_info()
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
     send_named_float("RollPitch", sub.roll_pitch_flag);
 
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("RFTarget", sub.mode_surftrak.get_rangefinder_target_cm() / 100.0f);
+
     return true;
 }
 

diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
@@ -28,7 +28,13 @@ void Sub::Log_Write_Control_Tuning()
     // get terrain altitude
     float terr_alt = 0.0f;
 #if AP_TERRAIN_AVAILABLE
-    terrain.height_above_terrain(terr_alt, true);
+    if (terrain.enabled()) {
+        terrain.height_above_terrain(terr_alt, true);
+    } else {
+        terr_alt = rangefinder_state.rangefinder_terrain_offset_cm * 0.01f;
+    }
+#else
+    terr_alt = rangefinder_state.rangefinder_terrain_offset_cm * 0.01f;
 #endif
 
     struct log_Control_Tuning pkt = {
@@ -41,7 +47,7 @@ void Sub::Log_Write_Control_Tuning()
         desired_alt         : pos_control.get_pos_target_z_cm() / 100.0f,
         inav_alt            : inertial_nav.get_position_z_up_cm() * 0.01f,
         baro_alt            : barometer.get_altitude(),
-        desired_rangefinder_alt   : (int16_t)target_rangefinder_alt,
+        desired_rangefinder_alt   : (int16_t)mode_surftrak.get_rangefinder_target_cm(),
         rangefinder_alt           : rangefinder_state.alt_cm,
         terr_alt            : terr_alt,
         target_climb_rate   : (int16_t)pos_control.get_vel_target_z_cms(),
Original file line number	Diff line number	Diff line change
Expand Up		@@ -17,3 +17,4 @@
		#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV

		#include <AP_Common/AP_FWVersionDefine.h>
		#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>