Merge Copter 4.4.4 commit 'db53a28f321dc8233ee49d3cc6b395b5835c768b' …

…into Copter-4.4-AocodaRC
SnapDragonfly · Jan 18, 2024 · b9c19bf · b9c19bf
2 parents 66f89a4 + db53a28
commit b9c19bf
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diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
@@ -55,7 +55,7 @@ jobs:
         shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
         run: >-
           ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
-          python -m pip install --progress-bar off empy pexpect &&
+          python -m pip install --progress-bar off empy==3.3.4 pexpect &&
           python -m pip install --progress-bar off dronecan --upgrade &&
           cp /usr/bin/ccache /usr/local/bin/ &&
           cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
@@ -62,7 +62,7 @@ jobs:
           ./install.sh
           source ./export.sh
           cd ../..
-          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan
+          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
           which cmake
           ./waf configure --board ${{matrix.config}}
           ./waf plane

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,20 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023
+Changes from 4.4.3
+1) Autopilot related enhancement and fixes
+    - CubeOrange Sim-on-hardware compilation fix
+    - RADIX2HD supports external I2C compasses
+    - SpeedyBeeF405v4 support
+2) Bug fixes
+    - DroneCAN battery monitor with cell monitor SoC reporting fix
+    - NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+    - ProfiLED output fixed in both Notify and Scripting
+    - Scripting bug that could cause crash if parameters were added in flight
+    - STAT_BOOTCNT param fix (was not updating in some cases)
+    - Takeoff RPM check fixed where motors are attached to AUX channels
+    - don't query hobbywing DroneCAN ESC IDs while armed
+------------------------------------------------------------------
 Copter 4.4.3 14-Nov-2023
 Changes from 4.4.3-beta1
 1) AP_GPS: correct uBlox M10 configuration on low flash boards
@@ -236,7 +251,6 @@ Changes from 4.3.6
         - Touchdown detection threshold is configurable (see PLDP_THRESH)
     - Position controller angle max adjusted inflight with CH6 Tuning knob (set TUNE=59)
     - Surface tracking time constant allows tuning response (see SURFTRAK_TC)
-    - Takeoff throttle max is configurable (see TKOFF_TH_MAX)
     - Throttle-Gain boost increases attitude control gains when throttle high (see ATC_THR_G_BOOST)
     - Waypoint navigation cornering acceleration is configurable (see WPNAV_ACCEL_C)
     - WeatherVane into the wind in Auto and Guided modes (see WVANE_ENABLE)

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.4.3"
+#define THISFIRMWARE "ArduCopter V4.4.4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,3,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,4,4,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
-#define FW_PATCH 3
+#define FW_PATCH 4
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,19 @@
+Release 4.4.4-beta1 5th December 2023
+-------------------------------------
+
+Changes from 4.4.3:
+
+- CubeOrange Sim-on-hardware compilation fix
+- RADIX2HD supports external I2C compasses
+- SpeedyBeeF405v4 support
+- DroneCAN battery monitor with cell monitor SoC reporting fix
+- ProfiLED output fixed in both Notify and Scripting
+- NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+- Scripting bug that could cause crash if parameters were added in flight
+- STAT_BOOTCNT param fix (was not updating in some cases)
+- don't query hobbywing DroneCAN ESC IDs while armed
+- clamp empy version to prevent build errors
+
 Release 4.4.3 14th November 2023
 --------------------------------
 

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.4.3"
+#define THISFIRMWARE "ArduPlane V4.4.4-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,3,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,4,4,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
-#define FW_PATCH 3
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 4
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
@@ -76,21 +76,15 @@ void ModeAuto::update()
     switch (_submode) {
         case Auto_WP:
         {
-            // check if we've reached the destination
-            if (!g2.wp_nav.reached_destination() || g2.wp_nav.is_fast_waypoint()) {
-                // update navigation controller
+            // boats loiter once the waypoint is reached
+            bool keep_navigating = true;
+            if (rover.is_boat() && g2.wp_nav.reached_destination() && !g2.wp_nav.is_fast_waypoint()) {
+                keep_navigating = !start_loiter();
+            }
+
+            // update navigation controller
+            if (keep_navigating) {
                 navigate_to_waypoint();
-            } else {
-                // we have reached the destination so stay here
-                if (rover.is_boat()) {
-                    if (!start_loiter()) {
-                        start_stop();
-                    }
-                } else {
-                    start_stop();
-                }
-                // update distance to destination
-                _distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
             }
             break;
         }

diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
@@ -1,5 +1,23 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.4.0 19-Dec-2023 / Rover 4.4.0-beta11 05-Dec-2023
+Changes from 4.4.0-beta10
+1) Autopilot related enhancement and fixes
+    - CubeOrange Sim-on-hardware compilation fix
+    - RADIX2HD supports external I2C compasses
+    - SpeedyBeeF405v4 support
+2) Bug fixes
+    - DroneCAN battery monitor with cell monitor SoC reporting fix
+    - NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+    - ProfiLED output fixed in both Notify and Scripting
+    - Scripting bug that could cause crash if parameters were added in flight
+    - STAT_BOOTCNT param fix (was not updating in some cases)
+    - don't query hobbywing DroneCAN ESC IDs while armed
+3) Rover specific changes
+    - Auto mode keeps navigating while paused at waypoints (reduces overshoot)
+    - QuikTune script simplification (only tunes rate and speed controllers)
+    - Torqeedo battery nearly empty reporting fix
+------------------------------------------------------------------
 Rover 4.4.0-beta10 14-Nov-2023
 Changes from 4.4.0-beta9
 1) AP_GPS: correct uBlox M10 configuration on low flash boards

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.4.0-beta10"
+#define THISFIRMWARE "ArduRover V4.4.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,0,FIRMWARE_VERSION_TYPE_BETA+9
+#define FIRMWARE_VERSION 4,4,0,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
 #define FW_PATCH 0
-#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
+#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Tools/AP_Periph/wscript b/Tools/AP_Periph/wscript
@@ -7,7 +7,7 @@ import sys
 try:
     import em
 except ImportError:
-    print("you need to install empy with 'python -m pip install empy'")
+    print("you need to install empy with 'python -m pip install empy==3.3.4'")
     sys.exit(1)
 
 try:

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
@@ -112,7 +112,7 @@ def get_full_wsl2_error_msg(self, error_msg):
         and make sure to add it to your path during the installation. Once installed, run this
         command in Powershell or Command Prompt to install some packages:
         
-        pip.exe install empy pyserial
+        pip.exe install empy==3.3.4 pyserial
         ****************************************
         ****************************************
         """ % error_msg)

diff --git a/Tools/bootloaders/speedybeef4v4_bl.bin b/Tools/bootloaders/speedybeef4v4_bl.bin