Copter, Plane, Rover, Tracker: 4.5.6-beta1 release

AntennaTracker/ReleaseNotes.txt

@@ -1,5 +1,33 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
+Release 4.5.6-beta1 20 Aug 2024
+
+Changes from 4.5.5
+
+1) Board specific enhancements and bug fixes
+
+- 3DR Control Zero H7 Rev G support
+- CUAV-7-Nano support
+- FoxeerF405v2 servo outputs increased from 9 to 11
+- Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
+- iFlight 2RAW H7 support
+- MFT-SEMA100 support
+- TMotorH743 support BMI270 baro
+- ZeroOneX6 support
+
+2) Minor enhancements and bug fixes
+
+- Cameras using MAVLink report vendor and model name correctly
+- DroneCAN fix to remove occasional NodeID registration error
+- GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
+- ICP101XX barometer slowed to avoid I2C communication errors
+- IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
+- IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
+- Logging to flash timestamp fix
+- OSD displays ESC temp instead of motor temp
+- PID controller error calculation bug fix (was using target from prev iteration)
+- Relay on MAIN pins fixed
+------------------------------------------------------------------
 Release 4.5.5 1st Aug 2024
 
 No changes from 4.5.5-beta2

AntennaTracker/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.5"
+#define THISFIRMWARE "AntennaTracker V4.5.6-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 6
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduCopter/ReleaseNotes.txt

@@ -1,4 +1,37 @@
 ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+Release 4.5.6-beta1 20 Aug 2024
+
+Changes from 4.5.5
+
+1) Board specific enhancements and bug fixes
+
+- 3DR Control Zero H7 Rev G support
+- CUAV-7-Nano support
+- FoxeerF405v2 servo outputs increased from 9 to 11
+- Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
+- iFlight 2RAW H7 support
+- MFT-SEMA100 support
+- TMotorH743 support BMI270 baro
+- ZeroOneX6 support
+
+2) Minor enhancements and bug fixes
+
+- Cameras using MAVLink report vendor and model name correctly
+- DroneCAN fix to remove occasional NodeID registration error
+- GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
+- ICP101XX barometer slowed to avoid I2C communication errors
+- IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
+- IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
+- Logging to flash timestamp fix
+- OSD displays ESC temp instead of motor temp
+- PID controller error calculation bug fix (was using target from prev iteration)
+- Relay on MAIN pins fixed
+
+3) Copter specific fixes
+
+- Payload place bug fix (calimb rate after releasing payload was unreliable)
+
 ------------------------------------------------------------------
 Release 4.5.5 1st Aug 2024
 

ArduCopter/mode.h

@@ -1507,6 +1507,10 @@ class ModeSmartRTL : public ModeRTL {
     // point while following our path home.  If we take too long we
     // may choose to land the vehicle.
     uint32_t path_follow_last_pop_fail_ms;
+
+    // backup last popped point so that it can be restored to the path
+    // if vehicle exits SmartRTL mode before reaching home. invalid if zero
+    Vector3f dest_NED_backup;
 };
 
 

ArduCopter/mode_auto.cpp

@@ -1395,24 +1395,23 @@ void PayloadPlace::run()
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
         pos_control->land_at_climb_rate_cm(-descent_speed_cms, true);
-        pos_control->update_z_controller();
-        return;
+        break;
     case State::Release:
     case State::Releasing:
     case State::Delay:
     case State::Ascent_Start:
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
         pos_control->land_at_climb_rate_cm(0.0, false);
-        pos_control->update_z_controller();
-        return;
+        break;
     case State::Ascent:
     case State::Done:
         float vel = 0.0;
         copter.flightmode->land_run_horizontal_control();
         pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0);
         break;
     }
+    pos_control->update_z_controller();
 }
 #endif
 

ArduCopter/mode_smart_rtl.cpp

@@ -35,6 +35,14 @@ bool ModeSmartRTL::init(bool ignore_checks)
 // perform cleanup required when leaving smart_rtl
 void ModeSmartRTL::exit()
 {
+    // restore last point if we hadn't reached it
+    if (smart_rtl_state == SubMode::PATH_FOLLOW && !dest_NED_backup.is_zero()) {
+        if (!g2.smart_rtl.add_point(dest_NED_backup)) {
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "SmartRTL: lost one point");
+        }
+    }
+    dest_NED_backup.zero();
+
     g2.smart_rtl.cancel_request_for_thorough_cleanup();
 }
 
@@ -83,10 +91,16 @@ void ModeSmartRTL::path_follow_run()
 {
     // if we are close to current target point, switch the next point to be our target.
     if (wp_nav->reached_wp_destination()) {
-        Vector3f dest_NED;
+
+        // clear destination backup so that it cannot be restored
+        dest_NED_backup.zero();
+
         // this pop_point can fail if the IO task currently has the
         // path semaphore.
+        Vector3f dest_NED;
         if (g2.smart_rtl.pop_point(dest_NED)) {
+            // backup destination in case we exit smart_rtl mode and need to restore it to the path
+            dest_NED_backup = dest_NED;
             path_follow_last_pop_fail_ms = 0;
             if (g2.smart_rtl.get_num_points() == 0) {
                 // this is the very last point, add 2m to the target alt and move to pre-land state

ArduCopter/version.h

@@ -9,11 +9,11 @@
 #define THISFIRMWARE "ArduCopter V4.5.5"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 6
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduPlane/ReleaseNotes.txt

@@ -1,5 +1,33 @@
 ArduPilot Plane Release Notes:
 ------------------------------------------------------------------
+Release 4.5.6-beta1 20 Aug 2024
+
+Changes from 4.5.5
+
+1) Board specific enhancements and bug fixes
+
+- 3DR Control Zero H7 Rev G support
+- CUAV-7-Nano support
+- FoxeerF405v2 servo outputs increased from 9 to 11
+- Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
+- iFlight 2RAW H7 support
+- MFT-SEMA100 support
+- TMotorH743 support BMI270 baro
+- ZeroOneX6 support
+
+2) Minor enhancements and bug fixes
+
+- Cameras using MAVLink report vendor and model name correctly
+- DroneCAN fix to remove occasional NodeID registration error
+- GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
+- ICP101XX barometer slowed to avoid I2C communication errors
+- IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
+- IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
+- Logging to flash timestamp fix
+- OSD displays ESC temp instead of motor temp
+- PID controller error calculation bug fix (was using target from prev iteration)
+- Relay on MAIN pins fixed
+------------------------------------------------------------------
 Release 4.5.5 1st Aug 2024
 
 No changes from 4.5.5-beta2

ArduPlane/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.5"
+#define THISFIRMWARE "ArduPlane V4.5.6-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 6
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

Rover/ReleaseNotes.txt

@@ -1,5 +1,33 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Release 4.5.6-beta1 20 Aug 2024
+
+Changes from 4.5.5
+
+1) Board specific enhancements and bug fixes
+
+- 3DR Control Zero H7 Rev G support
+- CUAV-7-Nano support
+- FoxeerF405v2 servo outputs increased from 9 to 11
+- Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
+- iFlight 2RAW H7 support
+- MFT-SEMA100 support
+- TMotorH743 support BMI270 baro
+- ZeroOneX6 support
+
+2) Minor enhancements and bug fixes
+
+- Cameras using MAVLink report vendor and model name correctly
+- DroneCAN fix to remove occasional NodeID registration error
+- GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
+- ICP101XX barometer slowed to avoid I2C communication errors
+- IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
+- IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
+- Logging to flash timestamp fix
+- OSD displays ESC temp instead of motor temp
+- PID controller error calculation bug fix (was using target from prev iteration)
+- Relay on MAIN pins fixed
+------------------------------------------------------------------
 Release 4.5.5 1st Aug 2024
 
 No changes from 4.5.5-beta2

Rover/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.5"
+#define THISFIRMWARE "ArduRover V4.5.6-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 6
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>

Tools/AP_Bootloader/board_types.txt

@@ -279,6 +279,7 @@ AP_HW_SDMODELH7V2                    1167
 
 AP_HW_JHEMCUF405WING                 1169
 AP_HW_MatekG474                      1170
+AP_HW_2RAWH743                       1173
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206
@@ -303,6 +304,8 @@ AP_HW_LongbowF405                    1422
 
 AP_HW_MountainEagleH743              1444
 
+AP_HW_MFT-SEMA100                    2000
+
 AP_HW_SakuraRC-H743                  2714
 
 # IDs 5000-5099 reserved for Carbonix

Tools/autotest/vehicle_test_suite.py

@@ -1491,6 +1491,16 @@ def __str__(self):
         return ret
 
 
+class ValgrindFailedResult(Result):
+    '''a custom Result to allow passing of Vaglrind failures around'''
+    def __init__(self):
+        super(ValgrindFailedResult, self).__init__(None)
+        self.passed = False
+
+    def __str__(self):
+        return "Valgrind error detected"
+
+
 class TestSuite(ABC):
     """Base abstract class.
     It implements the common function for all vehicle types.
@@ -3017,26 +3027,6 @@ def stop_SITL(self):
         util.pexpect_close(self.sitl)
         self.sitl = None
 
-    def close(self):
-        """Tidy up after running all tests."""
-
-        if self.mav is not None:
-            self.mav.close()
-            self.mav = None
-        self.stop_SITL()
-
-        valgrind_log = util.valgrind_log_filepath(binary=self.binary,
-                                                  model=self.frame)
-        files = glob.glob("*" + valgrind_log)
-        for valgrind_log in files:
-            os.chmod(valgrind_log, 0o644)
-            if os.path.getsize(valgrind_log) > 0:
-                target = self.buildlogs_path("%s-%s" % (
-                    self.log_name(),
-                    os.path.basename(valgrind_log)))
-                self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target))
-                shutil.move(valgrind_log, target)
-
     def start_test(self, description):
         self.progress("##################################################################################")
         self.progress("########## %s  ##########" % description)
@@ -11656,7 +11646,28 @@ def run_tests(self, tests) -> List[Result]:
             self.rc_thread_should_quit = True
             self.rc_thread.join()
             self.rc_thread = None
-        self.close()
+
+        if self.mav is not None:
+            self.mav.close()
+            self.mav = None
+
+        self.stop_SITL()
+
+        valgrind_log = util.valgrind_log_filepath(binary=self.binary,
+                                                  model=self.frame)
+        files = glob.glob("*" + valgrind_log)
+        valgrind_failed = False
+        for valgrind_log in files:
+            os.chmod(valgrind_log, 0o644)
+            if os.path.getsize(valgrind_log) > 0:
+                target = self.buildlogs_path("%s-%s" % (
+                    self.log_name(),
+                    os.path.basename(valgrind_log)))
+                self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target))
+                shutil.move(valgrind_log, target)
+                valgrind_failed = True
+        if valgrind_failed:
+            result_list.append(ValgrindFailedResult())
 
         return result_list