Merge remote-tracking branch 'upstream/master'

upstream updates

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,9 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.3 14-Nov-2023
+Changes from 4.4.3-beta1
+1) AP_GPS: correct uBlox M10 configuration on low flash boards
+------------------------------------------------------------------
 Copter 4.4.3-beta1 07-Nov-2023
 Changes from 4.4.2
 1) Autopilot related enhancements and fixes
@@ -232,7 +236,6 @@ Changes from 4.3.6
         - Touchdown detection threshold is configurable (see PLDP_THRESH)
     - Position controller angle max adjusted inflight with CH6 Tuning knob (set TUNE=59)
     - Surface tracking time constant allows tuning response (see SURFTRAK_TC)
-    - Takeoff throttle max is configurable (see TKOFF_TH_MAX)
     - Throttle-Gain boost increases attitude control gains when throttle high (see ATC_THR_G_BOOST)
     - Waypoint navigation cornering acceleration is configurable (see WPNAV_ACCEL_C)
     - WeatherVane into the wind in Auto and Guided modes (see WVANE_ENABLE)

ArduCopter/system.cpp

@@ -524,6 +524,7 @@ void Copter::allocate_motors(void)
     convert_pid_parameters();
 #if FRAME_CONFIG == HELI_FRAME
     convert_tradheli_parameters();
+    motors->heli_motors_param_conversions();
 #endif
 
 #if HAL_PROXIMITY_ENABLED

ArduPlane/ReleaseNotes.txt

@@ -1,5 +1,5 @@
-Release 4.4.3-beta1 4th November 2023
--------------------------------------
+Release 4.4.3 14th November 2023
+--------------------------------
 
 Changes from 4.4.2:
 
@@ -14,6 +14,7 @@ Changes from 4.4.2:
  - protect against notch filtering with uninitialised RPM source in ESC telemetry
  - allow lua scripts to populate full ESC telemetry data
  - added YJUAV_A6SE_H743 support
+ - fixed uBlox M10 GPS support on boards with 1M flash
 
 Release 4.4.2 23th October 2023
 -------------------------------

Rover/release-notes.txt

@@ -1,7 +1,11 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.4.0-beta10 14-Nov-2023
+Changes from 4.4.0-beta9
+1) AP_GPS: correct uBlox M10 configuration on low flash boards
+------------------------------------------------------------------
 Rover 4.4.0-beta9 07-Nov-2023
-Changes from 4.4.2
+Changes from 4.4.0-beta8
 1) Autopilot related enhancements and fixes
     - BETAFTP-F405 board configuration fixes
     - CubeOrangePlus-BG edition ICM45486 IMU setup fixed

Tools/AP_Bootloader/board_types.txt

@@ -254,6 +254,9 @@ AP_HW_TMOTORH7                       1138
 AP_HW_MICOAIR405                     1139
 AP_HW_PixPilot-C3                    1140
 AP_HW_YJUAV_A6SE_H743                1141
+AP_HW_FSO_POWER_STACK                1142
+AP_HW_ATOMRCF405NAVI_DLX             1143
+
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

Tools/autotest/arducopter.py

@@ -3226,6 +3226,71 @@ def FlyMissionTwice(self):
             self.wait_disarmed()
             self.delay_sim_time(20)
 
+    def FlyMissionTwiceWithReset(self):
+        '''Fly a mission twice in a row without changing modes in between.
+        Allow the mission to complete, then reset the mission state machine and restart the mission.'''
+
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+
+        num_wp = self.get_mission_count()
+        self.set_parameter("AUTO_OPTIONS", 3)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        for i in 1, 2:
+            self.progress("run %u" % i)
+            # Use the "Reset Mission" param of DO_SET_MISSION_CURRENT to reset mission state machine
+            self.set_current_waypoint_using_mav_cmd_do_set_mission_current(seq=0, reset=1)
+            self.arm_vehicle()
+            self.wait_waypoint(num_wp-1, num_wp-1)
+            self.wait_disarmed()
+            self.delay_sim_time(20)
+
+    def MissionIndexValidity(self):
+        '''Confirm that attempting to select an invalid mission item is rejected.'''
+
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+
+        num_wp = self.get_mission_count()
+        accepted_indices = [0, 1, num_wp-1]
+        denied_indices = [-1, num_wp]
+
+        for seq in accepted_indices:
+            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
+                         p1=seq,
+                         timeout=1,
+                         want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+
+        for seq in denied_indices:
+            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
+                         p1=seq,
+                         timeout=1,
+                         want_result=mavutil.mavlink.MAV_RESULT_DENIED)
+
+    def InvalidJumpTags(self):
+        '''Verify the behaviour when selecting invalid jump tags.'''
+
+        MAX_TAG_NUM = 65535
+        # Jump tag is not present, so expect FAILED
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
+                     p1=MAX_TAG_NUM,
+                     timeout=1,
+                     want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+
+        # Jump tag is too big, so expect DENIED
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
+                     p1=MAX_TAG_NUM+1,
+                     timeout=1,
+                     want_result=mavutil.mavlink.MAV_RESULT_DENIED)
+
     def GPSViconSwitching(self):
         """Fly GPS and Vicon switching test"""
         self.customise_SITL_commandline(["--uartF=sim:vicon:"])
@@ -10544,6 +10609,9 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.ThrottleGainBoost,
             self.ScriptMountPOI,
             self.FlyMissionTwice,
+            self.FlyMissionTwiceWithReset,
+            self.MissionIndexValidity,
+            self.InvalidJumpTags,
             self.IMUConsistency,
             self.AHRSTrimLand,
             self.GuidedYawRate,

Tools/autotest/rover.py

@@ -6055,7 +6055,7 @@ def MAV_CMD_DO_SET_MISSION_CURRENT(self, target_sysid=None, target_compid=1):
             timeout=1,
             target_sysid=target_sysid,
             target_compid=target_compid,
-            want_result=mavutil.mavlink.MAV_RESULT_FAILED,
+            want_result=mavutil.mavlink.MAV_RESULT_DENIED,
         )
 
     def FlashStorage(self):

Tools/autotest/vehicle_test_suite.py

@@ -5911,10 +5911,12 @@ def run_cmd_get_ack(self, command, want_result, timeout, quiet=False, mav=None,
     def set_current_waypoint_using_mav_cmd_do_set_mission_current(
             self,
             seq,
+            reset=0,
             target_sysid=1,
             target_compid=1):
         self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
                      p1=seq,
+                     p2=reset,
                      timeout=1,
                      target_sysid=target_sysid,
                      target_compid=target_compid)
@@ -13179,7 +13181,7 @@ def GPSTypes(self):
             (6, "SBP", None, "SBP", 5, 'detected'),
             # (7, "SBP2", 9, "SBP2", 5),  # broken, "waiting for config data"
             (8, "NOVA", 15, "NOVA", 5, 'detected'),  # no attempt to auto-detect this in AP_GPS
-            (11, "GSOF", 11, "GSOF", 5, 'detected'),
+            (11, "GSOF", 11, "GSOF", 5, 'specified'), # no attempt to auto-detect this in AP_GPS
             (19, "MSP", 19, "MSP", 32, 'specified'),  # no attempt to auto-detect this in AP_GPS
             # (9, "FILE"),
         ]

Tools/scripts/build_options.py

@@ -213,6 +213,7 @@ def __init__(self,
     Feature('Rangefinder', 'RANGEFINDER_BLPING', 'AP_RANGEFINDER_BLPING_ENABLED', "Enable Rangefinder - BLPing", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_GYUS42V2', 'AP_RANGEFINDER_GYUS42V2_ENABLED', "Enable Rangefinder - GYUS42V2", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_HC_SR04', 'AP_RANGEFINDER_HC_SR04_ENABLED', "Enable Rangefinder - HC_SR04", 0, "RANGEFINDER"),   # NOQA: E501
+    Feature('Rangefinder', 'RANGEFINDER_JRE_SERIAL', 'AP_RANGEFINDER_JRE_SERIAL_ENABLED', "Enable Rangefinder - JRE_SERIAL", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_LANBAO', 'AP_RANGEFINDER_LANBAO_ENABLED', "Enable Rangefinder - Lanbao", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_LEDDARONE', 'AP_RANGEFINDER_LEDDARONE_ENABLED', "Enable Rangefinder - LeddarOne", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_LEDDARVU8', 'AP_RANGEFINDER_LEDDARVU8_ENABLED', "Enable Rangefinder - LeddarVU8", 0, "RANGEFINDER"),   # NOQA: E501

Tools/scripts/decode_devid.py

@@ -64,6 +64,8 @@ def num(s):
     0x12 : "DEVTYPE_RM3100",
     0x13 : "DEVTYPE_MMC5883",
     0x14 : "DEVTYPE_AK09918",
+    0x15 : "DEVTYPE_AK09915",
+    0x16 : "DEVTYPE_QMC5883P",
 }
 
 imu_types = {

Tools/scripts/extract_features.py

@@ -82,6 +82,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_RANGEFINDER_LWI2C_ENABLED', r'AP_RangeFinder_LightWareI2C::update\b',),
             ('AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED', r'AP_RangeFinder_MaxsonarSerialLV::get_reading\b',),
             ('AP_RANGEFINDER_TRI2C_ENABLED', r'AP_RangeFinder_TeraRangerI2C::update\b',),
+            ('AP_RANGEFINDER_JRE_SERIAL_ENABLED', r'AP_RangeFinder_JRE_Serial::get_reading\b',),
 
             ('AP_GPS_{type}_ENABLED', r'AP_GPS_(?P<type>.*)::read\b',),
 

libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp

@@ -58,6 +58,42 @@ const AP_Param::GroupInfo AP_BattMonitor_FuelLevel_Analog::var_info[] = {
     // @Values: -1:Not Used,11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6/Pixhawk2 ADC,103:Pixhawk SBUS
     AP_GROUPINFO("FL_PIN", 43, AP_BattMonitor_FuelLevel_Analog, _pin, -1),
 
+    // @Param: FL_VLT_MAX
+    // @DisplayName: Full fuel level voltage
+    // @Description: The voltage seen on the analog pin when the fuel tank is full.
+    // @Range: 0 10
+    // @Units: V
+    // @User: Advanced
+    AP_GROUPINFO("FL_VLT_MAX", 44, AP_BattMonitor_FuelLevel_Analog, _fuel_level_max_voltage, -1),
+
+    // @Param: FL_FF
+    // @DisplayName: First order term
+    // @Description: First order polynomial fit term
+    // @Range: 0 10
+    // @User: Advanced
+    AP_GROUPINFO("FL_FF", 45, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_first_order_coeff, 1),
+
+    // @Param: FL_FS
+    // @DisplayName: Second order term
+    // @Description: Second order polynomial fit term
+    // @Range: 0 10
+    // @User: Advanced
+    AP_GROUPINFO("FL_FS", 46, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_second_order_coeff, 0),
+
+    // @Param: FL_FT
+    // @DisplayName: Third order term
+    // @Description: Third order polynomial fit term
+    // @Range: 0 10
+    // @User: Advanced
+    AP_GROUPINFO("FL_FT", 47, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_third_order_coeff, 0),
+
+    // @Param: FL_OFF
+    // @DisplayName: Offset term
+    // @Description: Offset polynomial fit term
+    // @Range: 0 10
+    // @User: Advanced
+    AP_GROUPINFO("FL_OFF", 48, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_offset, 0),    
+
     // Param indexes must be between 40 and 49 to avoid conflict with other battery monitor param tables loaded by pointer
 
     AP_GROUPEND
@@ -96,16 +132,24 @@ void AP_BattMonitor_FuelLevel_Analog::read()
     const uint32_t tnow = AP_HAL::micros();
     const uint32_t dt_us = tnow - _state.last_time_micros;
 
-    // get voltage from an ADC pin and filter it
-    const float voltage = _analog_source->voltage_average();
+    // get voltage from an ADC pin
+    const float raw_voltage = _analog_source->voltage_average();
+
+    // Converting sensor reading to actual volume in tank in Litres (quadratic fit)
+    const float voltage = 
+        (_fuel_fit_third_order_coeff * raw_voltage * raw_voltage * raw_voltage) +
+        (_fuel_fit_second_order_coeff * raw_voltage * raw_voltage) + 
+        (_fuel_fit_first_order_coeff * raw_voltage) +
+        _fuel_fit_offset;
+
     const float filtered_voltage = _voltage_filter.apply(voltage, float(dt_us) * 1.0e-6f);
-    const float &voltage_used = (_fuel_level_filter_frequency >= 0) ? filtered_voltage : voltage;
 
     // output the ADC voltage to the voltage field for easier calibration of sensors
     // also output filtered voltage as a measure of tank slosh filtering
     // this could be useful for tuning the LPF
-    _state.voltage = voltage;
-    _state.current_amps = filtered_voltage;
+    const float &voltage_used = (_fuel_level_filter_frequency >= 0) ? filtered_voltage : voltage;
+
+    _state.voltage = filtered_voltage;
 
     // this driver assumes that CAPACITY is set to tank volume in millilitres.
     // _fuel_level_voltage_mult is calculated by the user as 1 / (full_voltage - empty_voltage)
@@ -115,6 +159,8 @@ void AP_BattMonitor_FuelLevel_Analog::read()
     // map consumed_mah to consumed millilitres
     _state.consumed_mah = fuel_level_used_ratio * _params._pack_capacity;
 
+    _state.current_amps = 0;   
+
     // map consumed_wh using fixed voltage of 1
     _state.consumed_wh = _state.consumed_mah;
 

libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.h

@@ -23,6 +23,7 @@
 
 #include <Filter/LowPassFilter.h>
 #include "AP_BattMonitor.h"
+#include <Filter/Filter.h>             // Filter library
 
 class AP_BattMonitor_FuelLevel_Analog : public AP_BattMonitor_Backend
 {
@@ -40,20 +41,25 @@ class AP_BattMonitor_FuelLevel_Analog : public AP_BattMonitor_Backend
     bool has_consumed_energy() const override { return true; }
 
     // returns true if battery monitor provides current info
-    bool has_current() const override { return true; }
+    bool has_current() const override { return false; }
 
     void init(void) override {}
 
 private:
 
     AP_Float _fuel_level_empty_voltage;
+    AP_Float _fuel_level_max_voltage;
     AP_Float _fuel_level_voltage_mult;
     AP_Float _fuel_level_filter_frequency;
     AP_Int8  _pin;
-
+    AP_Float _fuel_fit_first_order_coeff;
+    AP_Float _fuel_fit_second_order_coeff;
+    AP_Float _fuel_fit_third_order_coeff;
+    AP_Float _fuel_fit_offset;
     AP_HAL::AnalogSource *_analog_source;
 
     LowPassFilterFloat _voltage_filter;
+
 };
 
 #endif  // AP_BATTERY_FUELLEVEL_ANALOG_ENABLED

libraries/AP_Compass/AP_Compass.cpp

@@ -27,6 +27,7 @@
 #if AP_COMPASS_DRONECAN_ENABLED
 #include "AP_Compass_DroneCAN.h"
 #endif
+#include "AP_Compass_QMC5883P.h"
 #include "AP_Compass_MMC3416.h"
 #include "AP_Compass_MMC5xx3.h"
 #include "AP_Compass_MAG3110.h"
@@ -1132,6 +1133,26 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
 #endif  // AP_COMPASS_QMC5883L_ENABLED
 
+#if AP_COMPASS_QMC5883P_ENABLED
+    //external i2c bus
+    FOREACH_I2C_EXTERNAL(i) {
+        ADD_BACKEND(DRIVER_QMC5883P, AP_Compass_QMC5883P::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883P_I2C_ADDR),
+                    true, HAL_COMPASS_QMC5883P_ORIENTATION_EXTERNAL));
+    }
+
+    // internal i2c bus
+#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+    if (all_external) {
+        // only probe QMC5883P on internal if we are treating internals as externals
+        FOREACH_I2C_INTERNAL(i) {
+            ADD_BACKEND(DRIVER_QMC5883P, AP_Compass_QMC5883P::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883P_I2C_ADDR),
+                        all_external,
+                        all_external?HAL_COMPASS_QMC5883P_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883P_ORIENTATION_INTERNAL));
+        }
+    }
+#endif
+#endif  // AP_COMPASS_QMC5883P_ENABLED
+
 #ifndef HAL_BUILD_AP_PERIPH
     // AK09916 on ICM20948
 #if AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED

libraries/AP_Compass/AP_Compass.h

@@ -481,7 +481,10 @@ friend class AP_Compass_Backend;
 #if AP_COMPASS_MMC5XX3_ENABLED
         DRIVER_MMC5XX3  =19,
 #endif
-    };
+#if AP_COMPASS_QMC5883P_ENABLED
+        DRIVER_QMC5883P =20,
+#endif
+};
 
     bool _driver_enabled(enum DriverType driver_type);
 

libraries/AP_Compass/AP_Compass_Backend.h

@@ -73,6 +73,7 @@ class AP_Compass_Backend
         DEVTYPE_MMC5983 = 0x13,
         DEVTYPE_AK09918 = 0x14,
         DEVTYPE_AK09915 = 0x15,
+    	DEVTYPE_QMC5883P = 0x16,
     };
 
 #if AP_COMPASS_MSP_ENABLED