Merge branch 'master' into enforce-pre-commit

AntennaTracker/Parameters.cpp

@@ -23,6 +23,7 @@ const AP_Param::Info Tracker::var_info[] = {
     // @DisplayName: Ground station MAVLink system ID
     // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),
 

ArduCopter/Parameters.cpp

@@ -46,6 +46,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @DisplayName: My ground station number
     // @Description: Allows restricting radio overrides to only come from my ground station
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 

ArduCopter/autoyaw.cpp

@@ -114,9 +114,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
     } else {
         // absolute angle
         _fixed_yaw_offset_cd = wrap_180_cd(angle_deg * 100.0 - _yaw_angle_cd);
-        if ( direction < 0 && is_positive(_fixed_yaw_offset_cd) ) {
+        if (direction < 0 && is_positive(_fixed_yaw_offset_cd)) {
             _fixed_yaw_offset_cd -= 36000.0;
-        } else if ( direction > 0 && is_negative(_fixed_yaw_offset_cd) ) {
+        } else if (direction > 0 && is_negative(_fixed_yaw_offset_cd)) {
             _fixed_yaw_offset_cd += 36000.0;
         }
     }

ArduCopter/mode_auto.cpp

@@ -1850,8 +1850,6 @@ void ModeAuto::do_yaw(const AP_Mission::Mission_Command& cmd)
 // Do (Now) commands
 /********************************************************************************/
 
-
-
 void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
 {
     if (cmd.content.speed.target_ms > 0) {

ArduPlane/Parameters.cpp

@@ -23,6 +23,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @DisplayName: Ground station MAVLink system ID
     // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),
 

ArduPlane/mode.cpp

@@ -113,6 +113,9 @@ bool Mode::enter()
         plane.adsb.set_is_auto_mode(does_auto_navigation());
 #endif
 
+        // set the nav controller stale AFTER _enter() so that we can check if we're currently in a loiter during the mode change
+        plane.nav_controller->set_data_is_stale();
+
         // reset steering integrator on mode change
         plane.steerController.reset_I();
 

ArduPlane/mode_LoiterAltQLand.cpp

@@ -10,17 +10,13 @@ bool ModeLoiterAltQLand::_enter()
         return true;
     }
 
+    // If we were already in a loiter then use that waypoint. Else, use the current point
+    const bool already_in_a_loiter = plane.nav_controller->reached_loiter_target() && !plane.nav_controller->data_is_stale();
+    const Location loiter_wp = already_in_a_loiter ? plane.next_WP_loc : plane.current_loc;
+
     ModeLoiter::_enter();
 
-#if AP_TERRAIN_AVAILABLE
-    if (plane.terrain_enabled_in_mode(Mode::Number::QLAND)) {
-        plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_TERRAIN);
-    } else {
-        plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME);
-    }
-#else
-    plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME);
-#endif
+    handle_guided_request(loiter_wp);
 
     switch_qland();
 

ArduSub/Parameters.cpp

@@ -47,6 +47,8 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: SYSID_MYGCS
     // @DisplayName: My ground station number
     // @Description: Allows restricting radio overrides to only come from my ground station
+    // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 

Blimp/Parameters.cpp

@@ -41,6 +41,7 @@ const AP_Param::Info Blimp::var_info[] = {
     // @DisplayName: My ground station number
     // @Description: Allows restricting radio overrides to only come from my ground station
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 

Rover/Parameters.cpp

@@ -42,6 +42,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @DisplayName: MAVLink ground station ID
     // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
     // @Range: 1 255
+    // @Increment: 1
     // @User: Advanced
     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",      255),
 

Rover/RC_Channel.cpp

@@ -33,6 +33,7 @@ void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const AuxSw
     // the following functions do not need initialising:
     case AUX_FUNC::ACRO:
     case AUX_FUNC::AUTO:
+    case AUX_FUNC::CIRCLE:
     case AUX_FUNC::FOLLOW:
     case AUX_FUNC::GUIDED:
     case AUX_FUNC::HOLD:
@@ -226,6 +227,10 @@ bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit
         do_aux_function_change_mode(rover.mode_simple, ch_flag);
         break;
 
+    case AUX_FUNC::CIRCLE:
+        do_aux_function_change_mode(rover.g2.mode_circle, ch_flag);
+        break;
+
     // trigger sailboat tack
     case AUX_FUNC::SAILBOAT_TACK:
         // any switch movement interpreted as request to tack

Rover/mode_auto.cpp

@@ -82,21 +82,15 @@ void ModeAuto::update()
     switch (_submode) {
         case SubMode::WP:
         {
-            // check if we've reached the destination
-            if (!g2.wp_nav.reached_destination() || g2.wp_nav.is_fast_waypoint()) {
-                // update navigation controller
+            // boats loiter once the waypoint is reached
+            bool keep_navigating = true;
+            if (rover.is_boat() && g2.wp_nav.reached_destination() && !g2.wp_nav.is_fast_waypoint()) {
+                keep_navigating = !start_loiter();
+            }
+
+            // update navigation controller
+            if (keep_navigating) {
                 navigate_to_waypoint();
-            } else {
-                // we have reached the destination so stay here
-                if (rover.is_boat()) {
-                    if (!start_loiter()) {
-                        start_stop();
-                    }
-                } else {
-                    start_stop();
-                }
-                // update distance to destination
-                _distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
             }
             break;
         }

Tools/AP_Periph/AP_Periph.h

@@ -26,7 +26,6 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_HAL/CANIface.h>
 #include <AP_Stats/AP_Stats.h>
-#include <AP_Networking/AP_Networking.h>
 #include <AP_RPM/AP_RPM.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_ESC_Telem/AP_ESC_Telem_config.h>
@@ -77,6 +76,15 @@
 #define HAL_PERIPH_CAN_MIRROR 0
 #endif
 
+#if defined(HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT) && !defined(HAL_DEBUG_BUILD) && !defined(HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_NON_DEBUG)
+/* this checking for reboot can lose bytes on GPS modules and other
+ * serial devices. It is really only relevent on a debug build if you
+ * really want it for non-debug build then define
+ * HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_NON_DEBUG in hwdef.dat
+ */
+#undef HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT
+#endif
+
 #include "Parameters.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

Tools/AP_Periph/networking.h

@@ -1,9 +1,11 @@
 #pragma once
 
-#include "AP_Periph.h"
+#include <AP_HAL/AP_HAL_Boards.h>
 
 #ifdef HAL_PERIPH_ENABLE_NETWORKING
 
+#include <AP_Networking/AP_Networking.h>
+
 #ifndef HAL_PERIPH_NETWORK_NUM_PASSTHRU
 #define HAL_PERIPH_NETWORK_NUM_PASSTHRU 2
 #endif

Tools/AP_Periph/networking_passthru.cpp

@@ -13,7 +13,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "networking.h"
+#include "AP_Periph.h"
 
 #if defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
 

Tools/ardupilotwaf/boards.py

@@ -462,8 +462,8 @@ def configure_env(self, cfg, env):
         # We always want to use PRI format macros
         cfg.define('__STDC_FORMAT_MACROS', 1)
 
-        if cfg.options.disable_ekf2:
-            env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
+        if cfg.options.enable_ekf2:
+            env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=1']
 
         if cfg.options.disable_ekf3:
             env.CXXFLAGS += ['-DHAL_NAVEKF3_AVAILABLE=0']
@@ -654,6 +654,12 @@ def configure_env(self, cfg, env):
         cfg.define('AP_NOTIFY_LP5562_BUS', 2)
         cfg.define('AP_NOTIFY_LP5562_ADDR', 0x30)
 
+        try:
+            env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=0')
+        except ValueError:
+            pass
+        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=1']
+
         if self.with_can:
             cfg.define('HAL_NUM_CAN_IFACES', 2)
             env.DEFINES.update(CANARD_MULTI_IFACE=1,
@@ -793,6 +799,7 @@ def configure_env(self, cfg, env):
         # whitelist of compilers which we should build with -Werror
         gcc_whitelist = frozenset([
                 ('11','3','0'),
+                ('11','4','0'),
                 ('12','1','0'),
             ])
 
@@ -871,13 +878,17 @@ def configure_env(self, cfg, env):
             AP_CAN_SLCAN_ENABLED = 0,
             HAL_PROXIMITY_ENABLED = 0,
             AP_SCRIPTING_ENABLED = 0,
-            HAL_NAVEKF2_AVAILABLE = 0,
             HAL_NAVEKF3_AVAILABLE = 0,
             HAL_PWM_COUNT = 32,
             HAL_WITH_ESC_TELEM = 1,
             AP_RTC_ENABLED = 0,
         )
 
+        try:
+            env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
+        except ValueError:
+            pass
+        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
 
 class esp32(Board):
     abstract = True
@@ -1138,7 +1149,8 @@ def configure_env(self, cfg, env):
         ]
 
         env.INCLUDES += [
-            cfg.srcnode.find_dir('libraries/AP_GyroFFT/CMSIS_5/include').abspath()
+            cfg.srcnode.find_dir('libraries/AP_GyroFFT/CMSIS_5/include').abspath(),
+            cfg.srcnode.find_dir('modules/ChibiOS/ext/lwip/src/include/compat/posix').abspath()
         ]
 
         # whitelist of compilers which we should build with -Werror
@@ -1149,6 +1161,7 @@ def configure_env(self, cfg, env):
             ('9','3','1'),
             ('10','2','1'),
             ('11','3','0'),
+            ('11','4','0'),
         ])
 
         if cfg.env.HAL_CANFD_SUPPORTED:

Tools/autotest/arducopter.py

@@ -7678,6 +7678,12 @@ def RichenPower(self):
             raise NotAchievedException("Did not find expected GEN message")
 
     def IE24(self):
+        '''Test IntelligentEnergy 2.4kWh generator with V1 and V2 telemetry protocols'''
+        protocol_ver = (1, 2)
+        for ver in protocol_ver:
+            self.run_IE24(ver)
+
+    def run_IE24(self, proto_ver):
         '''Test IntelligentEnergy 2.4kWh generator'''
         elec_battery_instance = 2
         fuel_battery_instance = 1
@@ -7687,14 +7693,14 @@ def IE24(self):
             "GEN_TYPE": 2,
             "BATT%u_MONITOR" % (fuel_battery_instance + 1): 18,  # fuel-based generator
             "BATT%u_MONITOR" % (elec_battery_instance + 1): 17,
-            "SIM_IE24_ENABLE": 1,
+            "SIM_IE24_ENABLE": proto_ver,
             "LOG_DISARMED": 1,
         })
 
         self.customise_SITL_commandline(["--uartF=sim:ie24"])
 
-        self.start_subtest("ensure that BATTERY_STATUS for electrical generator message looks right")
-        self.start_subsubtest("Checking original voltage (electrical)")
+        self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for electrical generator message looks right" % proto_ver)
+        self.start_subsubtest("Protocol %i: Checking original voltage (electrical)" % proto_ver)
         # ArduPilot spits out essentially uninitialised battery
         # messages until we read things fromthe battery:
         self.delay_sim_time(30)
@@ -7712,13 +7718,13 @@ def IE24(self):
             "battery_remaining": original_elec_m.battery_remaining - 1,
         }, instance=elec_battery_instance)
 
-        self.start_subtest("ensure that BATTERY_STATUS for fuel generator message looks right")
-        self.start_subsubtest("Checking original voltage (fuel)")
+        self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for fuel generator message looks right" % proto_ver)
+        self.start_subsubtest("Protocol %i: Checking original voltage (fuel)" % proto_ver)
         # ArduPilot spits out essentially uninitialised battery
         # messages until we read things fromthe battery:
         if original_fuel_m.battery_remaining <= 90:
             raise NotAchievedException("Bad original percentage (want=>%f got %f" % (90, original_fuel_m.battery_remaining))
-        self.start_subsubtest("Ensure percentage is counting down")
+        self.start_subsubtest("Protocol %i: Ensure percentage is counting down" % proto_ver)
         self.wait_message_field_values('BATTERY_STATUS', {
             "battery_remaining": original_fuel_m.battery_remaining - 1,
         }, instance=fuel_battery_instance)
@@ -7728,15 +7734,15 @@ def IE24(self):
         self.disarm_vehicle()
 
         # Test for pre-arm check fail when state is not running
-        self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
+        self.start_subtest("Protocol %i: Without takeoff generator error should cause failsafe and disarm" % proto_ver)
         self.set_parameter("SIM_IE24_STATE", 8)
         self.wait_statustext("Status not running", timeout=40)
         self.try_arm(result=False,
                      expect_msg="Status not running")
         self.set_parameter("SIM_IE24_STATE", 2) # Explicitly set state to running
 
         # Test that error code does result in failsafe
-        self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
+        self.start_subtest("Protocol %i: Without taken off generator error should cause failsafe and disarm" % proto_ver)
         self.change_mode("STABILIZE")
         self.set_parameter("DISARM_DELAY", 0)
         self.arm_vehicle()

Tools/autotest/param_metadata/param_parse.py

@@ -109,11 +109,12 @@ def lua_applets():
 
 libraries = []
 
-# AP_Vehicle also has parameters rooted at "", but isn't referenced
-# from the vehicle in any way:
-ap_vehicle_lib = Library("", reference="VEHICLE") # the "" is tacked onto the front of param name
-setattr(ap_vehicle_lib, "Path", os.path.join('..', 'libraries', 'AP_Vehicle', 'AP_Vehicle.cpp'))
-libraries.append(ap_vehicle_lib)
+if args.vehicle != "AP_Periph":
+    # AP_Vehicle also has parameters rooted at "", but isn't referenced
+    # from the vehicle in any way:
+    ap_vehicle_lib = Library("", reference="VEHICLE") # the "" is tacked onto the front of param name
+    setattr(ap_vehicle_lib, "Path", os.path.join('..', 'libraries', 'AP_Vehicle', 'AP_Vehicle.cpp'))
+    libraries.append(ap_vehicle_lib)
 
 libraries.append(lua_applets())
 

Tools/autotest/sim_vehicle.py

@@ -378,8 +378,8 @@ def do_build(opts, frame_options):
     if opts.math_check_indexes:
         cmd_configure.append("--enable-math-check-indexes")
 
-    if opts.disable_ekf2:
-        cmd_configure.append("--disable-ekf2")
+    if opts.enable_ekf2:
+        cmd_configure.append("--enable-ekf2")
 
     if opts.disable_ekf3:
         cmd_configure.append("--disable-ekf3")
@@ -1295,7 +1295,7 @@ def generate_frame_help():
 group_sim.add_option("--fram-storage",
                      action='store_true',
                      help="use fram storage emulation")
-group_sim.add_option("--disable-ekf2",
+group_sim.add_option("--enable-ekf2",
                      action='store_true',
                      help="disable EKF2 in build")
 group_sim.add_option("--disable-ekf3",