Merge resolving

.github/workflows/test_environment.yml

@@ -28,14 +28,14 @@ jobs:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
         include:
-          - os: ubuntu
-            name: bionic
           - os: ubuntu
             name: focal
           - os: ubuntu
             name: jammy
           - os: ubuntu
             name: lunar
+          - os: ubuntu
+            name: mantic
           - os: archlinux
             name: latest
           - os: debian
@@ -77,7 +77,7 @@ jobs:
         with:
             submodules: 'recursive'
       - name: test install environment ${{matrix.os}}.${{matrix.name}}
-        timeout-minutes: 30
+        timeout-minutes: 45
         env:
           DISABLE_MAVNATIVE: True
           DEBIAN_FRONTEND: noninteractive

.github/workflows/test_size.yml

@@ -71,6 +71,8 @@ jobs:
         config: [
             Durandal,
             MatekF405,
+            KakuteF7,
+            MatekH743-bdshot,
             Pixhawk1-1M,
             MatekF405-CAN,  # see special "build bootloader" code below
             DrotekP3Pro,  # see special "build bootloader" code below

.gitignore

@@ -92,6 +92,7 @@ logs/
 mav.log
 mav.log.raw
 mav.parm
+mission.stg
 /defaults.parm
 /ArduCopter/defaults.parm
 /ArduPlane/defaults.parm

AntennaTracker/AntennaTracker.txt

@@ -109,7 +109,7 @@ around. It might even damage itself.
 AntennaTracker (like other ardupilot software such as ArduPlane, ArduRover
 etc) has configuration values that control and tailor its operation, and which
 are stored in EEPROM on the processor. The configuration is restored from
-EEPROM every time the processsor starts.
+EEPROM every time the processor starts.
 
 You can use MissionPlanner, mavproxy or apm_planner or other mavlink compatible
 software to check and change the configuration of your AntennaTracker.
@@ -219,7 +219,7 @@ the vehicle, cd to the ArduPlane directory and run this:
 
   ../Tools/autotest/sim_arduplane.sh -T --aircraft test
 
-The -T flag tells sim_arduplane.sh to start an entenna tracker
+The -T flag tells sim_arduplane.sh to start an antenna tracker
 simulator and also start a virtual antenna tracker in a window.
 
 To start the antenna tracker running run "tracker start" in the

AntennaTracker/GCS_Mavlink.cpp

@@ -302,8 +302,10 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_SIMSTATE,
     MSG_SYSTEM_TIME,
     MSG_AHRS2,
+#if COMPASS_CAL_ENABLED
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
+#endif
     MSG_EKF_STATUS_REPORT,
 };
 static const ap_message STREAM_PARAMS_msgs[] = {

AntennaTracker/GCS_Mavlink.h

@@ -14,7 +14,7 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 protected:
 
     // telem_delay is not used by Tracker but is pure virtual, thus
-    // this implementaiton.  it probably *should* be used by Tracker,
+    // this implementation.  it probably *should* be used by Tracker,
     // as currently Tracker may brick XBees
     uint32_t telem_delay() const override { return 0; }
 

AntennaTracker/Parameters.cpp

@@ -130,7 +130,7 @@ const AP_Param::Info Tracker::var_info[] = {
 
     // @Param: ONOFF_PITCH_MINT
     // @DisplayName: Pitch minimum movement time
-    // @Description: Minimim amount of time in seconds to move in pitch
+    // @Description: Minimum amount of time in seconds to move in pitch
     // @Units: s
     // @Increment: 0.01
     // @Range: 0 2
@@ -379,6 +379,14 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
+    // @Param: PITCH2SRV_PDMX
+    // @DisplayName: Pitch axis controller PD sum maximum
+    // @Description: Pitch axis controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
+    // @Range: 0 4000
+    // @Increment: 10
+    // @Units: d%
+    // @User: Advanced
+
     GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
 
     // @Param: YAW2SRV_P
@@ -448,6 +456,14 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
+    // @Param: YAW2SRV_PDMX
+    // @DisplayName: Yaw axis controller PD sum maximum
+    // @Description: Yaw axis controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
+    // @Range: 0 4000
+    // @Increment: 10
+    // @Units: d%
+    // @User: Advanced
+
     GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
 #if AP_SCRIPTING_ENABLED
@@ -525,6 +541,18 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
 
+#if HAL_NAVEKF2_AVAILABLE
+    // @Group: EK2_
+    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
+    GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
+#endif
+
+#if HAL_NAVEKF3_AVAILABLE
+    // @Group: EK3_
+    // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
+    GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
+#endif
+
     AP_VAREND
 };
 

AntennaTracker/Parameters.h

@@ -130,6 +130,8 @@ class Parameters {
         k_param_disarm_pwm,
 
         k_param_auto_opts,
+        k_param_NavEKF2,
+        k_param_NavEKF3,
 
         k_param_logger = 253, // 253 - Logging Group
 

ArduCopter/AP_ExternalControl_Copter.cpp

@@ -19,7 +19,7 @@ bool AP_ExternalControl_Copter::set_linear_velocity_and_yaw_rate(const Vector3f
     }
     const float yaw_rate_cds = isnan(yaw_rate_rads)? 0: degrees(yaw_rate_rads)*100;
 
-    // Copter velocity is positive if aicraft is moving up which is opposite the incoming NED frame.
+    // Copter velocity is positive if aircraft is moving up which is opposite the incoming NED frame.
     Vector3f velocity_NEU_ms {
         linear_velocity.x,
         linear_velocity.y,

ArduCopter/Copter.h

@@ -234,7 +234,8 @@ class Copter : public AP_Vehicle {
     friend class ModeZigZag;
     friend class ModeAutorotate;
     friend class ModeTurtle;
-    friend class AP_ExternalControl_Copter;
+
+    friend class _AutoTakeoff;
 
     Copter(void);