Merge branch 'ArduPilot:master' into fc_support

ArduPilot · Oct 4, 2024 · e381d3b · e381d3b
2 parents 2929897 + be1c87f
commit e381d3b
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diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
@@ -4,3 +4,6 @@
 
 # Tools: ros2: Run ament_black on all files
 85172b56467668bee9fa0e68081027b13bc18c4a
+
+# Tools: ros2: Reformat
+4d9822131354dc7dc3351f24660969f58720a1de
diff --git a/.github/problem-matchers/autotestfail.json b/.github/problem-matchers/autotestfail.json
@@ -1,12 +1,12 @@
 {
-    "__comment": "by buzz try to match common autotest warnings and errors that arent caught by gcc.json or python.json",
+    "__comment": "by buzz try to match autotest test failures",
     "problemMatcher": [
         {
             "owner": "autotest-fail-matcher",
             "severity": "error",
             "pattern": [
                 {
-                    "regexp": "^(.*)(TIMEOUT|Build failed|FAILED STEP):(.*)$",
+                    "regexp": "^(.*)(TIMEOUT|Build failed|FAILED STEP|FAILED):(.*)$",
                     "column": 1,
                     "code": 2,
                     "message": 3

diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml
@@ -198,7 +198,7 @@ jobs:
         shell: 'bash'
         run: |
           source install/setup.bash
-          colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+
+          colcon test --executor sequential --parallel-workers 0 --base-paths src/ardupilot --event-handlers=console_cohesion+
       - name: Report colcon test results
         run: |
           colcon test-result --all --verbose

diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
@@ -215,7 +215,7 @@ jobs:
           fail: true
 
       - name: Archive build
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: binaries
           path: artifacts

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
@@ -256,7 +256,7 @@ jobs:
           ls bootloader* partition* Ardu*.elf Ardu*.bin >> $GITHUB_STEP_SUMMARY
 
       - name: Archive artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: esp32-binaries -${{matrix.config}}
            path: |

diff --git a/.github/workflows/qurt_build.yml b/.github/workflows/qurt_build.yml
@@ -159,7 +159,7 @@ jobs:
           cp -a build/QURT/bin/ardurover build/QURT/ArduPilot_Rover.so
 
       - name: Archive build
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: qurt-binaries
           path: |

diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
@@ -156,6 +156,7 @@ jobs:
             build-options-defaults-test,
             signing,
             CubeOrange-PPP,
+            CubeRed-EKF2,
             SOHW,
             Pixhawk6X-PPPGW,
             new-check,

diff --git a/.github/workflows/test_dds.yml b/.github/workflows/test_dds.yml
@@ -179,7 +179,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}

diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
@@ -159,6 +159,10 @@ jobs:
             toolchain: armhf-musl
           - config: linux
             toolchain: base # GCC
+          - config: navigator64
+            toolchain: aarch64
+          - config: linux
+            toolchain: base # GCC
         exclude:
           - config: navigator
             toolchain: armhf

diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
@@ -192,7 +192,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{ matrix.toolchain }}-${{matrix.config}}

diff --git a/.github/workflows/test_scripting.yml b/.github/workflows/test_scripting.yml
@@ -66,7 +66,7 @@ jobs:
           python ./libraries/AP_Scripting/tests/docs_check.py "./libraries/AP_Scripting/docs/docs.lua" "./libraries/AP_Scripting/docs/current_docs.lua"
 
       - name: Upload docs
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: Docs
           path: ScriptingDocs.md

diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
@@ -247,7 +247,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -261,7 +261,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs

diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
@@ -173,6 +173,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
+
       # Put ccache into github cache for faster build
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -226,6 +227,19 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
+
+      - name: Register gcc problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/gcc.json"
+
+      - name: Register python problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/python.json"
+
+      - name: Register autotest warn matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"
+
+      - name: Register autotest fail matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"
+
       # Put ccache into github cache for faster build
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -251,7 +265,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -265,7 +279,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
@@ -347,7 +361,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -361,7 +375,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs

diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
@@ -213,7 +213,8 @@ jobs:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
         config: [
-            sitltest-plane,
+            sitltest-plane-tests1a,
+            sitltest-plane-tests1b,
             sitltest-quadplane,
         ]
 
@@ -247,7 +248,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -261,7 +262,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs

diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
@@ -224,6 +224,19 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
+
+      - name: Register gcc problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/gcc.json"
+
+      - name: Register python problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/python.json"
+
+      - name: Register autotest warn matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"
+
+      - name: Register autotest fail matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"
+
       # Put ccache into github cache for faster build
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -249,7 +262,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -263,7 +276,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs

diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
@@ -176,6 +176,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
+
       # Put ccache into github cache for faster build
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -223,6 +224,19 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
+
+      - name: Register gcc problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/gcc.json"
+
+      - name: Register python problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/python.json"
+
+      - name: Register autotest warn matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"
+
+      - name: Register autotest fail matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"
+
       # Put ccache into github cache for faster build
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -248,7 +262,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -262,7 +276,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs

diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
@@ -248,7 +248,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -262,7 +262,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs

diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
@@ -164,7 +164,7 @@ jobs:
           Tools/autotest/unittest/annotate_params_unittest.py
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
            name: fail-${{ matrix.toolchain }}-${{matrix.config}}

diff --git a/.gitignore b/.gitignore
@@ -171,3 +171,7 @@ ENV/
 env.bak/
 venv.bak/
 autotest_result_*_junit.xml
+
+# Ignore ESP-IDF SDK defines
+/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
+/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
@@ -264,6 +264,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
     MSG_SCALED_PRESSURE,
     MSG_SCALED_PRESSURE2,
     MSG_SCALED_PRESSURE3,
+#if AP_AIRSPEED_ENABLED
+    MSG_AIRSPEED,
+#endif
 };
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,

diff --git a/AntennaTracker/Log.cpp b/AntennaTracker/Log.cpp
@@ -7,9 +7,7 @@
 // Write an attitude packet
 void Tracker::Log_Write_Attitude()
 {
-    Vector3f targets;
-    targets.y = nav_status.pitch * 100.0f;
-    targets.z = wrap_360_cd(nav_status.bearing * 100.0f);
+    const Vector3f targets{0.0f, nav_status.pitch, nav_status.bearing};
     ahrs.Write_Attitude(targets);
     AP::ahrs().Log_Write();
 }

diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,5 +1,32 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
+Release 4.5.7-beta1 26 Sep 2024
+
+Changes from 4.5.6
+
+1) Bug fixes and minor enhancements
+
+- VUAV-V7pro support
+- CUAV-7-Nano correction for LEDs and battery volt and current scaling
+- DroneCAN deadlock and saturation of CAN bus fixed
+- DroneCAN DNA server init fix (caused logging issues and spam on bus)
+- F4 boards with inverter support correctly uninvert RX/TX
+- Nanoradar M72 radar driver fix for object avoidance path planning
+- RC support for latest version of GHST
+- Septentrio GPS sat count correctly drops to zero when 255 received
+
+2) ROS2/DDS and other developer focused enhancements
+
+- AP quaternions normalised for ROS2 to avoid warnings
+- Dependencies fixed for easier installation
+- ROS2 SITL launch file enhancements including displaying console and map
+- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
+- Python 3.12 support
+------------------------------------------------------------------
+Release 4.5.6 03 Sep 2024
+
+No changes from 4.5.6-beta1
+------------------------------------------------------------------
 Release 4.5.6-beta1 20 Aug 2024
 
 Changes from 4.5.5