ArduPilot · tridge · May 16, 2024 · May 13, 2024 · Apr 13, 2024 · Apr 27, 2024
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,31 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+
+Release 4.5.3-beta1 16th May 2024
+
+Changes from 4.5.2
+
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
+
+3) Copter specific changes
+
+- fixed speed constraint during avoidance backoff
+
+------------------------------------------------------------------
 Release 4.5.2 14th May 2024
 
 No changes from 4.5.2-beta1

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.2"
+#define THISFIRMWARE "ArduCopter V4.5.3-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,3,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 2
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 3
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,5 +1,31 @@
 ArduPilot Plane Release Notes:
 ------------------------------
+
+Release 4.5.3-beta1 16th May 2024
+
+Changes from 4.5.2
+
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
+
+3) Plane specific changes
+
+- fixed cancelling of FWD_GAIN setting for tiltrotors
+
+------------------------------------------------------------------
 Release 4.5.2 14th May 2024
 
 No changes from 4.5.2-beta1

diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp
@@ -295,7 +295,7 @@ void Tiltrotor::continuous_update(void)
         // operate in all VTOL modes except Q_AUTOTUNE. Forward rotor tilt is used to produce
         // forward thrust equivalent to what would have been produced by a forward thrust motor
         // set to quadplane.forward_throttle_pct()
-        const float fwd_g_demand = 0.01f * quadplane.forward_throttle_pct() / plane.quadplane.q_fwd_thr_gain;
+        const float fwd_g_demand = 0.01 * quadplane.forward_throttle_pct();
         const float fwd_tilt_deg = MIN(degrees(atanf(fwd_g_demand)), (float)max_angle_deg);
         slew(MIN(fwd_tilt_deg * (1/90.0), get_forward_flight_tilt()));
         return;

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.2"
+#define THISFIRMWARE "ArduPlane V4.5.3-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,3,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 2
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 3
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
@@ -1,5 +1,31 @@
 Rover Release Notes:
 --------------------
+
+Release 4.5.3-beta1 16th May 2024
+
+Changes from 4.5.2
+
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
+
+3) Rover specific changes
+
+- correct clamping of RTL_SPEED for fractional speed values
+
+------------------------------------------------------------------
 Release 4.5.2 14th May 2024
 
 No changes from 4.5.2-beta1

diff --git a/Rover/mode_rtl.cpp b/Rover/mode_rtl.cpp
@@ -8,7 +8,7 @@ bool ModeRTL::_enter()
     }
 
     // initialise waypoint navigation library
-    g2.wp_nav.init(MAX(0, g2.rtl_speed));
+    g2.wp_nav.init(MAX(0.0f, g2.rtl_speed));
 
     // set target to the closest rally point or home
 #if HAL_RALLY_ENABLED

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.2"
+#define THISFIRMWARE "ArduRover V4.5.3-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,3,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 2
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 3
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
@@ -65,11 +65,11 @@ Reserved "NXP ucans32k146"             34
 # values from external vendors
 EXT_HW_RADIOLINK_MINI_PIX               3
 
-# NOTE: the full range from 1000 to 1999 (inclusive) is reserved for
+# NOTE: the full range from 1000 to 19999 (inclusive) is reserved for
 # use by the ArduPilot bootloader. Do not allocate IDs in this range
 # except via changes to the ArduPilot code
 
-# Do not allocate IDs in the range 1000 to 1999 except via a PR
+# Do not allocate IDs in the range 1000 to 19999 except via a PR
 # against this file in https://github.com/ArduPilot/ardupilot/tree/master/Tools/AP_Bootloader/board_types.txt
 
 # values starting with AP_ are implemented in the ArduPilot bootloader
@@ -227,7 +227,7 @@ AP_HW_YJUAV_A6                       1113
 AP_HW_YJUAV_A6Nano                   1114
 AP_HW_ACNS_CM4PILOT                  1115
 AP_HW_ACNS_F405AIO                   1116
-AP_HW_BLITZF7                        1117
+AP_HW_BLITZF7AIO                     1117
 AP_HW_RADIX2HD                       1118
 AP_HW_HEEWING_F405                   1119
 AP_HW_PodmanH7                       1120
@@ -264,9 +264,21 @@ AP_HW_BotBloxSwitch                  1148
 AP_HW_MatekH7A3                      1149
 AP_HW_MicoAir405v2                   1150
 AP_HW_ORAQF405PRO                    1155
+AP_HW_CBU_StampH743                  1156
 AP_HW_FOXEERF405_V2                  1157
+AP_HW_CSKY405                        1158
+AP_HW_NxtPX4v2                       1159
+AP_HW_PixPilot-V6PRO                 1160
+AP_HW_MicoAir405Mini                 1161
+AP_HW_BlitzH7Pro                     1162
 AP_HW_BlitzF7Mini                    1163
 AP_HW_BlitzF7                        1164
+AP_HW_MicoAir743                     1166
+AP_HW_BlitzH7Wing                    1168
+AP_HW_SDMODELH7V2                    1167
+
+AP_HW_JHEMCUF405WING                 1169
+AP_HW_MatekG474                      1170
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206
@@ -283,7 +295,15 @@ AP_HW_VIMDRONES_PERIPH               1407
 
 AP_HW_PIXHAWK6X_PERIPH               1408
 AP_HW_CUBERED_PERIPH                 1409
+AP_HW_RadiolinkPIX6                  1410
+
+AP_HW_JHEMCU-H743HD                  1411
+
+AP_HW_LongbowF405                    1422
+
+AP_HW_MountainEagleH743              1444
 
+AP_HW_SakuraRC-H743                  2714
 
 # IDs 5000-5099 reserved for Carbonix
 # IDs 5100-5199 reserved for SYPAQ Systems
@@ -305,8 +325,22 @@ AP_HW_Sierra-TrueFlow                5307
 AP_HW_Sierra-TrueNavIC-Pro           5308
 AP_HW_Sierra-F1-Pro                  5309
 
+#IDs 5401-5499 reserved for holybro
+AP_HW_Holybro-PMU-F4                 5401
+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
+
 # OpenDroneID enabled boards. Use 10000 + the base board ID
 AP_HW_CubeOrange_ODID               10140
 AP_HW_Pixhawk6_ODID                 10053
+
+# do not allocate board IDs above 10,000 for non-ODID boards.
+# do not allocate board IDs above 19,999 in this file.
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -1602,6 +1602,58 @@ def MaxAltFence(self):
 
         self.zero_throttle()
 
+    # MaxAltFence - fly up and make sure fence action does not trigger
+    # Also check that the vehicle will not try and descend too fast when trying to backup from a max alt fence due to avoidance
+    def MaxAltFenceAvoid(self):
+        '''Test Max Alt Fence Avoidance'''
+        self.takeoff(10, mode="LOITER")
+        """Hold loiter position."""
+
+        # enable fence, only max altitude, defualt is 100m
+        # No action, rely on avoidance to prevent the breach
+        self.set_parameters({
+            "FENCE_ENABLE": 1,
+            "FENCE_TYPE": 1,
+            "FENCE_ACTION": 0,
+        })
+
+        # Try and fly past the fence
+        self.set_rc(3, 1920)
+
+        # Avoid should prevent the vehicle flying past the fence, so the altitude wait should timeouts
+        try:
+            self.wait_altitude(140, 150, timeout=90, relative=True)
+            raise NotAchievedException("Avoid should prevent reaching altitude")
+        except AutoTestTimeoutException:
+            pass
+        except Exception as e:
+            raise e
+
+        # Check descent is not too fast, allow 10% above the configured backup speed
+        max_descent_rate = -self.get_parameter("AVOID_BACKUP_SPD") * 1.1
+
+        def get_climb_rate(mav, m):
+            m_type = m.get_type()
+            if m_type != 'VFR_HUD':
+                return
+            if m.climb < max_descent_rate:
+                raise NotAchievedException("Decending too fast want %f got %f" % (max_descent_rate, m.climb))
+
+        self.context_push()
+        self.install_message_hook_context(get_climb_rate)
+
+        # Reduce fence alt, this will result in a fence breach, but there is no action.
+        # Avoid should then backup the vehicle to be under the new fence alt.
+        self.set_parameters({
+            "FENCE_ALT_MAX": 50,
+        })
+        self.wait_altitude(40, 50, timeout=90, relative=True)
+
+        self.context_pop()
+
+        self.set_rc(3, 1500)
+        self.do_RTL()
+
     # fly_alt_min_fence_test - fly down until you hit the fence floor
     def MinAltFence(self):
         '''Test Min Alt Fence'''
@@ -10124,6 +10176,7 @@ def tests1d(self):
              self.HorizontalFence,
              self.HorizontalAvoidFence,
              self.MaxAltFence,
+             self.MaxAltFenceAvoid,
              self.MinAltFence,
              self.FenceFloorEnabledLanding,
              self.AutoTuneSwitch,

diff --git a/Tools/bootloaders/BlitzH743Pro_bl.bin b/Tools/bootloaders/BlitzH743Pro_bl.bin