CarbonixUAV · robertlong13 · May 13, 2024 · Apr 13, 2024 · Apr 27, 2024 · Apr 30, 2024
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -23,6 +23,74 @@ Changes from 4.5.0-beta3
 ------------------------------------------------------------------
 Release 4.5.5 1st Aug 2024
 
+No changes from 4.5.5-beta2
+------------------------------------------------------------------
+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
+------------------------------------------------------------------
+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
+
+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
 ------------------------------------------------------------------
 Release 4.5.5-beta2 27 July 2024
@@ -165,6 +233,14 @@ No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 
+No changes from 4.5.0-beta4
+------------------------------------------------------------------
+Release 4.5.0 2nd April 2024
+
+No changes from 4.5.0-beta4
+------------------------------------------------------------------
+Release 4.5.0 2nd April 2024
+
 No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0-beta4 22nd March 2024

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.5"
+#define THISFIRMWARE "AntennaTracker V4.5.6"
 
 // 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_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
+#define FW_PATCH 6
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,41 @@
 ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+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
+
+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
 

diff --git a/ArduCopter/mode.h b/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;
 };
 
 

diff --git a/ArduCopter/mode_auto.cpp b/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
 

diff --git a/ArduCopter/mode_smart_rtl.cpp b/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

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.5"
+#define THISFIRMWARE "ArduCopter V4.5.6"
 
 // 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_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
+#define FW_PATCH 6
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,5 +1,37 @@
 ArduPilot Plane Release Notes:
 ------------------------------------------------------------------
+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
+
+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

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.5"
+#define THISFIRMWARE "ArduPlane V4.5.6"
 
 // 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_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
+#define FW_PATCH 6
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
@@ -1,5 +1,37 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+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
+
+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

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.5"
+#define THISFIRMWARE "ArduRover V4.5.6"
 
 // 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_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 5
+#define FW_PATCH 6
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Tools/AP_Bootloader/board_types.txt b/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

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -432,9 +432,14 @@ def configure_env(self, cfg, env):
             ]
 
         if cfg.env.DEST_OS == 'darwin':
-            env.LINKFLAGS += [
-                '-Wl,-dead_strip',
-            ]
+            if self.cc_version_gte(cfg, 15, 0):
+                env.LINKFLAGS += [
+                    '-Wl,-dead_strip,-ld_classic',
+                ]
+            else:
+                env.LINKFLAGS += [
+                    '-Wl,-dead_strip',
+                ]
         else:
             env.LINKFLAGS += [
                 '-fno-exceptions',