Merge branch 'ArduPilot:master' into nd210-pressure-sensor

.github/workflows/cygwin_build.yml

@@ -202,6 +202,7 @@ jobs:
           PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
         shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
         run: >-
+          git config --global --add safe.directory /cygdrive/d/a/${GITHUB_REPOSITORY#$GITHUB_REPOSITORY_OWNER/}/${GITHUB_REPOSITORY#$GITHUB_REPOSITORY_OWNER/} &&
           export PATH=/usr/local/bin:/usr/bin:$(cygpath ${SYSTEMROOT})/system32 &&
           source ~/ccache.conf &&
           Tools/scripts/cygwin_build.sh &&

.github/workflows/macos_build.yml

@@ -188,5 +188,7 @@ jobs:
           echo $PATH
           ./waf configure --board ${{matrix.config}}
           ./waf
+          ./waf configure --board ${{matrix.config}} --debug
+          ./waf
           ccache -s
           ccache -z

.github/workflows/qurt_build.yml

@@ -0,0 +1,172 @@
+name: QURT Build
+
+on:
+  push:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'Blimp/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/Vicon/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/completion/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/geotag/**'
+      - 'Tools/gittools/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/simulink/**'
+      - 'Tools/vagrant/**'
+      # Discard python file from Tools/scripts as not used
+      - 'Tools/scripts/**.py'
+      - 'Tools/scripts/build_sizes/**'
+      - 'Tools/scripts/build_tests/**'
+      - 'Tools/scripts/CAN/**'
+      - 'Tools/scripts/signing/**'
+      # Remove autotest
+      - 'Tools/autotest/**'
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.flake8'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.pre-commit-config.yaml'
+      - './.pydevproject'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+      # Remove change on other workflows
+      - '.github/workflows/test_environment.yml'
+
+  pull_request:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'Blimp/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/simulink/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/vagrant/**'
+      - 'Tools/Vicon/**'
+      # Discard python file from Tools/scripts as not used
+      - 'Tools/scripts/**.py'
+      - 'Tools/scripts/build_sizes/**'
+      - 'Tools/scripts/build_tests/**'
+      - 'Tools/scripts/CAN/**'
+      - 'Tools/scripts/signing/**'
+      # Remove autotest
+      - 'Tools/autotest/**'
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.flake8'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.pre-commit-config.yaml'
+      - './.pydevproject'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+      # Remove change on other workflows
+      - '.github/workflows/test_environment.yml'
+
+  workflow_dispatch:
+
+concurrency:
+  group: ci-${{github.workflow}}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    if: github.repository == 'ArduPilot/ardupilot'
+    runs-on: 'ardupilot-qurt'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: Build QURT
+        run: |
+          ./waf configure --board QURT
+          ./waf copter
+          ./waf plane
+          ./waf rover
+          cp -a build/QURT/bin/arducopter build/QURT/ArduPilot.so
+          cp -a build/QURT/bin/arducopter build/QURT/ArduPilot_Copter.so
+          cp -a build/QURT/bin/arduplane build/QURT/ArduPilot_Plane.so
+          cp -a build/QURT/bin/ardurover build/QURT/ArduPilot_Rover.so
+
+      - name: Archive build
+        uses: actions/upload-artifact@v3
+        with:
+          name: qurt-binaries
+          path: |
+            build/QURT/ardupilot
+            build/QURT/ArduPilot_Copter.so
+            build/QURT/ArduPilot_Plane.so
+            build/QURT/ArduPilot_Rover.so
+            build/QURT/ArduPilot.so
+          retention-days: 7

.github/workflows/test_environment.yml

@@ -79,7 +79,7 @@ jobs:
         with:
             submodules: 'recursive'
       - name: test install environment ${{matrix.os}}.${{matrix.name}}
-        timeout-minutes: 45
+        timeout-minutes: 60
         env:
           DISABLE_MAVNATIVE: True
           DEBIAN_FRONTEND: noninteractive
@@ -103,7 +103,7 @@ jobs:
             *"archlinux"*)
             cp /etc/skel/.bashrc /root
             cp /etc/skel/.bashrc /github/home
-            git config --global --add safe.directory /__w/ardupilot/ardupilot
+            git config --global --add safe.directory ${GITHUB_WORKSPACE}
             Tools/environment_install/install-prereqs-arch.sh -qy
             ;;
           esac
@@ -123,6 +123,7 @@ jobs:
           ./waf rover
 
       - name: test build Chibios ${{matrix.os}}.${{matrix.name}}
+        if: matrix.os != 'alpine'
         env:
           DISABLE_MAVNATIVE: True
           DEBIAN_FRONTEND: noninteractive
@@ -141,3 +142,38 @@ jobs:
           git config --global --add safe.directory /__w/ardupilot/ardupilot
           ./waf configure --board CubeOrange
           ./waf plane
+
+  build-alpine:  # special case for alpine as it doesn't have bash by default
+    runs-on: ubuntu-22.04
+    container:
+      image: alpine:latest
+      options: --privileged
+    steps:
+      - name: Install Git
+        timeout-minutes: 30
+        env:
+          DEBIAN_FRONTEND: noninteractive
+          TZ: Europe/Paris
+        run: |
+          apk update && apk add --no-cache git
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+      - name: test install environment alpine
+        timeout-minutes: 60
+        env:
+          DISABLE_MAVNATIVE: True
+          TZ: Europe/Paris
+          SKIP_AP_GIT_CHECK: 1
+        run: |
+          PATH="/github/home/.local/bin:$PATH"
+          Tools/environment_install/install-prereqs-alpine.sh
+      - name: test build STIL alpine
+        env:
+          DISABLE_MAVNATIVE: True
+          TZ: Europe/Paris
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+          git config --global --add safe.directory /__w/ardupilot/ardupilot
+          ./waf configure
+          ./waf rover

.github/workflows/test_scripts.yml

@@ -30,4 +30,5 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           Tools/scripts/build_ci.sh

AntennaTracker/GCS_Mavlink.cpp

@@ -289,7 +289,9 @@ static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
 };
 static const ap_message STREAM_RC_CHANNELS_msgs[] = {
     MSG_RC_CHANNELS,
+#if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
     MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
+#endif
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,

AntennaTracker/ReleaseNotes.txt

@@ -1,5 +1,53 @@
 Antenna Tracker Release Notes:
-------------------------------
+------------------------------------------------------------------
+Release 4.5.5 1st Aug 2024
+
+No changes from 4.5.5-beta2
+------------------------------------------------------------------
+Release 4.5.5-beta2 27 July 2024
+
+Changes from 4.5.5-beta1
+
+1) Board specific enhancements and bug fixes
+
+- CubeRed's second core disabled at boot to avoid spurious writes to RAM
+- CubeRed bootloader's dual endpoint update method fixed
+------------------------------------------------------------------
+Release 4.5.5-beta1 1st July 2024
+
+Changes from 4.5.4
+
+1) Board specific enhancements and bug fixes
+
+- fixed IOMCU transmission errors when using bdshot
+- update relay parameter names on various boards
+- add ASP5033 airspeed in minimal builds
+- added RadiolinkPIX6
+- fix Aocoda-RC H743Dual motor issue
+- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
+
+2) System level minor enhancements and bug fixes
+
+- correct use-after-free in script statistics
+- added arming check for eeprom full
+- fixed a block logging issue which caused log messages to be dropped
+- enable Socket SO_REUSEADDR on LwIP
+- removed IST8310 overrun message
+- added Siyi ZT6 support
+- added BTFL sidebar symbols to the OSD
+- added CRSF extended link stats to the OSD
+- use the ESC with the highest RPM in the OSD when only one can be displayed
+- support all Tramp power levels on high power VTXs
+- emit jump count in missions even if no limit
+- improve the bitmask indicating persistent parameters on bootloader flash	
+- fix duplicate error condition in the MicroStrain7
+
+5) Other minor enhancements and bug fixes
+
+- specify pymonocypher version in more places
+- added DroneCAN dependencies to custom builds
+
+------------------------------------------------------------------
 Release 4.5.4 12th June 2024
 
 Changes from 4.5.3

AntennaTracker/config.h

@@ -3,14 +3,6 @@
 
 #include "defines.h"
 
-// Just so that it's completely clear...
-#define ENABLED                 1
-#define DISABLED                0
-
-// this avoids a very common config error
-#define ENABLE ENABLED
-#define DISABLE DISABLED
-
 #ifndef MAV_SYSTEM_ID
  // use 2 for antenna tracker by default
  # define MAV_SYSTEM_ID          2

ArduCopter/APM_Config.h

@@ -4,8 +4,6 @@
 //#define LOGGING_ENABLED       DISABLED            // disable logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
-//#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
-//#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support