Merge branch 'master' into FlywooF405S-AIOv2

AntennaTracker/ReleaseNotes.txt

@@ -1,5 +1,9 @@
 Antenna Tracker Release Notes:
 ------------------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
 Release 4.5.2-beta1 29th April 2024
 
 Changes from 4.5.1

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,9 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
 Release 4.5.2-beta1 29th April 2024
 
 Changes from 4.5.1

ArduPlane/ReleaseNotes.txt

@@ -1,5 +1,9 @@
 ArduPilot Plane Release Notes:
 ------------------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
 Release 4.5.2-beta1 29th April 2024
 
 Changes from 4.5.1

ArduPlane/quadplane.cpp

@@ -310,7 +310,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: TRIM_PITCH
     // @DisplayName: Quadplane AHRS trim pitch
-    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes TRIM_PITCH. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
+    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
     // @Units: deg
     // @Range: -10 +10
     // @Increment: 0.1

Rover/ReleaseNotes.txt

@@ -1,5 +1,9 @@
 Rover Release Notes:
 --------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
 Release 4.5.2-beta1 29th April 2024
 
 Changes from 4.5.1

Rover/Steering.cpp

@@ -10,10 +10,8 @@ void Rover::set_servos(void)
         motor_test_output();
     } else {
         // get ground speed
-        float speed;
-        if (!g2.attitude_control.get_forward_speed(speed)) {
-            speed = 0.0f;
-        }
+        float speed = 0.0f;
+        g2.attitude_control.get_forward_speed(speed);
 
         g2.motors.output(arming.is_armed(), speed, G_Dt);
     }

Tools/AP_Bootloader/board_types.txt

@@ -274,6 +274,7 @@ AP_HW_BlitzH7Pro                     1162
 AP_HW_BlitzF7Mini                    1163
 AP_HW_BlitzF7                        1164
 AP_HW_MicoAir743                     1166
+AP_HW_BlitzH7Wing                    1168
 
 AP_HW_JHEMCUF405WING                 1169
 AP_HW_MatekG474                      1170
@@ -299,6 +300,8 @@ AP_HW_JHEMCU-H743HD                  1411
 
 AP_HW_LongbowF405                    1422
 
+AP_HW_MountainEagleH743              1444
+
 AP_HW_SakuraRC-H743                  2714
 
 # IDs 5000-5099 reserved for Carbonix
@@ -327,6 +330,9 @@ AP_HW_Holybro-UM982-G4               5402
 AP_HW_Holybro-UM960-H7               5403
 AP_HW_Holybro-PERIPH-H7              5404
 
+#IDs 5501-5599 reserved for MATEKSYS
+AP_HW_MATEKH743SE                    5501
+
 # IDs 6000-6099 reserved for SpektreWorks
 
 # IDs 6600-6699 reserved for Eagle Eye Drones

Tools/ardupilotwaf/boards.py

@@ -542,6 +542,14 @@ def embed_ROMFS_files(self, ctx):
         if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES, ctx.env.ROMFS_UNCOMPRESSED):
             ctx.fatal("Failed to created ap_romfs_embedded.h")
 
+        ctx.env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
+
+        # Allow lua to load from ROMFS if any lua files are added
+        for file in ctx.env.ROMFS_FILES:
+            if file[0].startswith("scripts") and file[0].endswith(".lua"):
+                ctx.env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_LUA']
+                break
+
 Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
 
 def add_dynamic_boards_chibios():
@@ -777,14 +785,6 @@ def configure_env(self, cfg, env):
                 if fnmatch.fnmatch(f, "*.lua"):
                     env.ROMFS_FILES += [('scripts/'+f,'ROMFS/scripts/'+f)]
 
-        if len(env.ROMFS_FILES) > 0:
-            # Allow lua to load from ROMFS if any lua files are added
-            for file in env.ROMFS_FILES:
-                if file[0].startswith("scripts") and file[0].endswith(".lua"):
-                    env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_LUA']
-                    break
-            env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
-
         if cfg.options.sitl_rgbled:
             env.CXXFLAGS += ['-DWITH_SITL_RGBLED']
 
@@ -1357,13 +1357,6 @@ def configure_env(self, cfg, env):
             env.DEFINES.update(
                 HAL_PARAM_DEFAULTS_PATH='"@ROMFS/defaults.parm"',
             )
-        if len(env.ROMFS_FILES) > 0:
-            # Allow lua to load from ROMFS if any lua files are added
-            for file in env.ROMFS_FILES:
-                if file[0].startswith("scripts") and file[0].endswith(".lua"):
-                    env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_LUA']
-                    break
-            env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
 
     def build(self, bld):
         super(linux, self).build(bld)

Tools/autotest/rover.py

@@ -2608,7 +2608,7 @@ def assert_receive_mission_ack(self, mission_type,
             raise NotAchievedException("Unexpected mission type %u want=%u" %
                                        (m.mission_type, mission_type))
         if m.type != want_type:
-            raise NotAchievedException("Expected ack type got %u got %u" %
+            raise NotAchievedException("Expected ack type %u got %u" %
                                        (want_type, m.type))
 
     def assert_filepath_content(self, filepath, want):
@@ -6749,6 +6749,39 @@ def NetworkingWebServerPPP(self):
         shutil.copy('build/sitl/bin/ardurover.noppp', 'build/sitl/bin/ardurover')
         self.reboot_sitl()
 
+    def MissionRetransfer(self, target_system=1, target_component=1):
+        '''torture-test with MISSION_COUNT'''
+#        self.send_debug_trap()
+        self.mav.mav.mission_count_send(
+            target_system,
+            target_component,
+            10,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE
+        )
+        self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, 0)
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+        self.mav.mav.mission_count_send(
+            target_system,
+            target_component,
+            10000,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE
+        )
+        self.wait_statustext('Only [0-9]+ items are supported', regex=True, check_context=True)
+        self.context_pop()
+        self.assert_not_receive_message('MISSION_REQUEST')
+        self.mav.mav.mission_count_send(
+            target_system,
+            target_component,
+            10,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE
+        )
+        self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, 0)
+        self.assert_receive_mission_ack(
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
+            want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED,
+        )
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6836,6 +6869,7 @@ def tests(self):
             self.NetworkingWebServer,
             self.NetworkingWebServerPPP,
             self.RTL_SPEED,
+            self.MissionRetransfer,
         ])
         return ret