Merge branch 'ArduPilot:master' into loadFactorFix

Author: abaghiyan

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,21 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.0-beta4 27-July-2023
+Changes from 4.4.0-beta3
+1) Autopilots specific changes
+    - Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
+    - DMA for I2C disabled on F7 and H7 boards
+    - Foxeer H743v1 default serial protocol config fixes
+    - HeeWing-F405 and F405v2 support
+    - iFlight BlitzF7 support
+2) Scripts may take action based on VTOL motor loss
+3) Bug fixes
+    - BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
+    - CRSFv3 rescans at baudrates to avoid RX loss
+    - EK3_ABIAS_P_NSE param range fix
+    - Scripting restart memory corruption bug fixed
+    - Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
+------------------------------------------------------------------
 Copter 4.4.0-beta3 03-July-2023
 Changes from 4.4.0-beta2
 1) Autopilots specific changes
@@ -24,7 +40,6 @@ Changes from 4.4.0-beta2
     - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
     - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
     - SBF GPS ellipsoid height fixed
-    - Scripting restart memory corruption bug fixed
     - Ublox M10S GPS auto configuration fixed
     - ZigZag mode user takeoff fixed (users could not takeoff in ZigZag mode previously)
 ------------------------------------------------------------------

ArduPlane/config.h

@@ -238,7 +238,7 @@
 #endif
 
 #ifndef OFFBOARD_GUIDED
- #define OFFBOARD_GUIDED !HAL_MINIMIZE_FEATURES
+ #define OFFBOARD_GUIDED 1
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/qautotune.h

@@ -8,7 +8,7 @@
 
 #include "quadplane.h"
 #ifndef QAUTOTUNE_ENABLED
-  #define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED && !HAL_MINIMIZE_FEATURES
+  #define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED
 #endif
 
 #if QAUTOTUNE_ENABLED

ArduPlane/tiltrotor.cpp

@@ -54,7 +54,7 @@ const AP_Param::GroupInfo Tiltrotor::var_info[] = {
 
     // @Param: YAW_ANGLE
     // @DisplayName: Tilt minimum angle for vectored yaw
-    // @Description: This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes. This is also used to limit the forwards travel of bicopter tilts when in VTOL modes
+    // @Description: This is the angle of the tilt servos when in VTOL mode and at minimum output (fully back). This needs to be set in addition to Q_TILT_TYPE=2, to enable vectored control for yaw in tilt quadplanes. This is also used to limit the forward travel of bicopter tilts(Q_TILT_TYPE=3) when in VTOL modes.
     // @Range: 0 30
     AP_GROUPINFO("YAW_ANGLE", 7, Tiltrotor, tilt_yaw_angle, 0),
 

Rover/release-notes.txt

@@ -1,5 +1,24 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.4.0-beta4 27-July-2023
+Changes from 4.4.0-beta3
+1) Autopilots specific changes
+    - Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
+    - DMA for I2C disabled on F7 and H7 boards
+    - Foxeer H743v1 default serial protocol config fixes
+    - HeeWing-F405 and F405v2 support
+    - iFlight BlitzF7 support
+2) Rover specific enhancements
+    - QuikTune Lua script
+    - Circle mode safety improvements including handling when CIRC_SPEED set too high
+    - Velocity controller I-term build-up avoided when steering reaches limits
+3) Bug fixes
+    - BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
+    - CRSFv3 rescans at baudrates to avoid RX loss
+    - EK3_ABIAS_P_NSE param range fix
+    - Scripting restart memory corruption bug fixed
+    - Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
+------------------------------------------------------------------
 Rover 4.4.0-beta3 03-July-2023
 Changes from 4.4.0-beta2
 1) Autopilots specific changes
@@ -21,7 +40,6 @@ Changes from 4.4.0-beta2
     - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
     - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
     - SBF GPS ellipsoid height fixed
-    - Scripting restart memory corruption bug fixed
     - Ublox M10S GPS auto configuration fixed
 ------------------------------------------------------------------
 Rover 4.4.0-beta2 05-Jun-2023

Tools/ardupilotwaf/ap_library.py

@@ -271,10 +271,12 @@ def double_precision_check(tasks):
 
             src = str(t.inputs[0]).split('/')[-2:]
             if src in double_tasks:
-                single_precision_option='-fsingle-precision-constant'
                 t.env.CXXFLAGS = t.env.CXXFLAGS[:]
-                if single_precision_option in t.env.CXXFLAGS:
-                    t.env.CXXFLAGS.remove(single_precision_option)
+                for opt in ['-fsingle-precision-constant', '-cl-single-precision-constant']:
+                    try:
+                        t.env.CXXFLAGS.remove(opt)
+                    except ValueError:
+                        pass
                 t.env.CXXFLAGS.append("-DALLOW_DOUBLE_MATH_FUNCTIONS")
 
 

Tools/ardupilotwaf/ardupilotwaf.py

@@ -303,6 +303,8 @@ def ap_program(bld,
     for group in program_groups:
         _grouped_programs.setdefault(group, {}).update({tg.name : tg})
 
+    return tg
+
 
 @conf
 def ap_example(bld, **kw):
@@ -354,7 +356,7 @@ def ap_stlib_target(self):
     self.target = '#%s' % os.path.join('lib', self.target)
 
 @conf
-def ap_find_tests(bld, use=[]):
+def ap_find_tests(bld, use=[], DOUBLE_PRECISION_SOURCES=[]):
     if not bld.env.HAS_GTEST:
         return
 
@@ -368,7 +370,7 @@ def ap_find_tests(bld, use=[]):
     includes = [bld.srcnode.abspath() + '/tests/']
 
     for f in bld.path.ant_glob(incl='*.cpp'):
-        ap_program(
+        t = ap_program(
             bld,
             features=features,
             includes=includes,
@@ -379,6 +381,16 @@ def ap_find_tests(bld, use=[]):
             use_legacy_defines=False,
             cxxflags=['-Wno-undef'],
         )
+        filename = os.path.basename(f.abspath())
+        if filename in DOUBLE_PRECISION_SOURCES:
+            t.env.CXXFLAGS = t.env.CXXFLAGS[:]
+            single_precision_option='-fsingle-precision-constant'
+            if single_precision_option in t.env.CXXFLAGS:
+                t.env.CXXFLAGS.remove(single_precision_option)
+            single_precision_option='-cl-single-precision-constant'
+            if single_precision_option in t.env.CXXFLAGS:
+                t.env.CXXFLAGS.remove(single_precision_option)
+            t.env.CXXFLAGS.append("-DALLOW_DOUBLE_MATH_FUNCTIONS")
 
 _versions = []
 

Tools/ardupilotwaf/boards.py

@@ -243,23 +243,28 @@ def configure_env(self, cfg, env):
         if 'clang' in cfg.env.COMPILER_CC:
             env.CFLAGS += [
                 '-fcolor-diagnostics',
-
                 '-Wno-gnu-designator',
                 '-Wno-inconsistent-missing-override',
                 '-Wno-mismatched-tags',
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
+                '-cl-single-precision-constant',
+            ]
+            env.CXXFLAGS += [
+                '-cl-single-precision-constant',
             ]
         else:
             env.CFLAGS += [
                 '-Wno-format-contains-nul',
+                '-fsingle-precision-constant', # force const vals to be float , not double. so 100.0 means 100.0f
             ]
             if self.cc_version_gte(cfg, 7, 4):
                 env.CXXFLAGS += [
                     '-Werror=implicit-fallthrough',
                 ]
             env.CXXFLAGS += [
                 '-fcheck-new',
+                '-fsingle-precision-constant',
             ]
 
         if cfg.env.DEBUG:
@@ -878,7 +883,6 @@ def expand_path(p):
         env.CFLAGS += [
             '-fno-inline-functions',
             '-mlongcalls',
-            '-fsingle-precision-constant',
         ]
         env.CFLAGS.remove('-Werror=undef')
 
@@ -894,7 +898,6 @@ def expand_path(p):
                          '-Wno-sign-compare',
                          '-fno-inline-functions',
                          '-mlongcalls',
-                         '-fsingle-precision-constant', # force const vals to be float , not double. so 100.0 means 100.0f 
                          '-fno-threadsafe-statics',
                          '-DCYGWIN_BUILD']
         env.CXXFLAGS.remove('-Werror=undef')
@@ -957,7 +960,6 @@ def configure_env(self, cfg, env):
         env.CFLAGS += cfg.env.CPU_FLAGS + [
             '-Wlogical-op',
             '-Wframe-larger-than=1300',
-            '-fsingle-precision-constant',
             '-Wno-attributes',
             '-fno-exceptions',
             '-Wall',

Tools/autotest/arducopter.py

@@ -3833,7 +3833,7 @@ def PrecisionLanding(self):
                 new_pos = self.mav.location()
                 delta = self.get_distance(target, new_pos)
                 self.progress("Landed %f metres from target position" % delta)
-                max_delta = 1
+                max_delta = 1.5
                 if delta > max_delta:
                     raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
 
@@ -4550,7 +4550,7 @@ def precision_loiter_to_pos(self, x, y, z, timeout=40):
             # determine if we've successfully navigated to close to
             # where we should be:
             dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
-            dist_max = 0.15
+            dist_max = 1
             self.progress("dist=%f want <%f" % (dist, dist_max))
             if dist < dist_max:
                 # success!  We've gotten within our target distance
@@ -6896,7 +6896,7 @@ def shove(a, b):
                 if self.get_sim_time_cached() - tstart > 10:
                     break
                 vel = self.get_body_frame_velocity()
-                if vel.length() > 0.3:
+                if vel.length() > 0.5:
                     raise NotAchievedException("Moved too much (%s)" %
                                                (str(vel),))
                 shove(None, None)
@@ -7687,29 +7687,19 @@ def fly_rangefinder_mavlink_distance_sensor(self):
 
     def GSF(self):
         '''test the Gaussian Sum filter'''
-        ex = None
         self.context_push()
-        try:
-            self.set_parameter("EK2_ENABLE", 1)
-            self.reboot_sitl()
-            self.takeoff(20, mode='LOITER')
-            self.set_rc(2, 1400)
-            self.delay_sim_time(5)
-            self.set_rc(2, 1500)
-            self.progress("Path: %s" % self.current_onboard_log_filepath())
-            dfreader = self.dfreader_for_current_onboard_log()
-            self.do_RTL()
-        except Exception as e:
-            self.progress("Caught exception: %s" %
-                          self.get_exception_stacktrace(e))
-            ex = e
-
+        self.set_parameter("EK2_ENABLE", 1)
+        self.reboot_sitl()
+        self.takeoff(20, mode='LOITER')
+        self.set_rc(2, 1400)
+        self.delay_sim_time(5)
+        self.set_rc(2, 1500)
+        self.progress("Path: %s" % self.current_onboard_log_filepath())
+        dfreader = self.dfreader_for_current_onboard_log()
+        self.do_RTL()
         self.context_pop()
         self.reboot_sitl()
 
-        if ex is not None:
-            raise ex
-
         # ensure log messages present
         want = set(["XKY0", "XKY1", "NKY0", "NKY1"])
         still_want = want
@@ -7719,6 +7709,46 @@ def GSF(self):
                 raise NotAchievedException("Did not get %s" % want)
             still_want.remove(m.get_type())
 
+    def GSF_reset(self):
+        '''test the Gaussian Sum filter based Emergency reset'''
+        self.context_push()
+        self.set_parameters({
+            "COMPASS_ORIENT": 4,    # yaw 180
+            "COMPASS_USE2": 0,      # disable backup compasses to avoid pre-arm failures
+            "COMPASS_USE3": 0,
+        })
+        self.reboot_sitl()
+        self.change_mode('GUIDED')
+        self.wait_ready_to_arm()
+
+        # record starting position
+        startpos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
+        self.progress("startpos=%s" % str(startpos))
+
+        # arm vehicle and takeoff to at least 5m
+        self.arm_vehicle()
+        expected_alt = 5
+        self.user_takeoff(alt_min=expected_alt)
+
+        # watch for emergency yaw reset
+        self.wait_text("EKF3 IMU. emergency yaw reset", timeout=5, regex=True)
+
+        # record how far vehicle flew off
+        endpos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
+        delta_x = endpos.x - startpos.x
+        delta_y = endpos.y - startpos.y
+        dist_m = math.sqrt(delta_x*delta_x + delta_y*delta_y)
+        self.progress("GSF yaw reset triggered at %f meters" % dist_m)
+
+        self.do_RTL()
+        self.context_pop()
+        self.reboot_sitl()
+
+        # ensure vehicle did not fly too far
+        dist_m_max = 8
+        if dist_m > dist_m_max:
+            raise NotAchievedException("GSF reset failed, vehicle flew too far (%f > %f)" % (dist_m, dist_m_max))
+
     def fly_rangefinder_mavlink(self):
         self.fly_rangefinder_mavlink_distance_sensor()
 
@@ -9267,8 +9297,8 @@ def FETtecESC_safety_switch(self):
         # before the motors will spin:
         self.wait_esc_telem_rpm(
             esc=mot,
-            rpm_min=17640,
-            rpm_max=17640,
+            rpm_min=17626,
+            rpm_max=17626,
             minimum_duration=2,
             timeout=5,
         )
@@ -9277,8 +9307,8 @@ def FETtecESC_safety_switch(self):
         self.set_safetyswitch_off()
         self.wait_esc_telem_rpm(
             esc=mot,
-            rpm_min=17640,
-            rpm_max=17640,
+            rpm_min=17626,
+            rpm_max=17626,
             minimum_duration=2,
             timeout=5,
         )
@@ -9861,6 +9891,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.AltEstimation,
             self.EKFSource,
             self.GSF,
+            self.GSF_reset,
             self.AP_Avoidance,
             self.SMART_RTL,
             self.RTL_TO_RALLY,

Tools/autotest/common.py

@@ -6766,7 +6766,7 @@ def get_speed_vector(self, timeout=1):
         return Vector3(msg.vx, msg.vy, msg.vz)
 
     """Wait for a given speed vector."""
-    def wait_speed_vector(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
+    def wait_speed_vector(self, speed_vector, accuracy=0.3, timeout=30, **kwargs):
         def validator(value2, target2):
             return (math.fabs(value2.x - target2.x) <= accuracy and
                     math.fabs(value2.y - target2.y) <= accuracy and
@@ -8450,11 +8450,11 @@ def SetHome(self):
         start_loc = self.sitl_start_location()
         self.progress("SITL start loc: %s" % str(start_loc))
         delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat)
-        if delta > 0.000001:
+        if delta > 0.000006:
             raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" %
                              (orig_home.latitude * 1.0e-7, start_loc.lat, delta))
         delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng)
-        if delta > 0.000001:
+        if delta > 0.000006:
             raise ValueError("homes differ in lon  got=%f vs want=%f delta=%f" %
                              (orig_home.longitude * 1.0e-7, start_loc.lng, delta))
         if self.is_rover():

Tools/autotest/helicopter.py

@@ -403,7 +403,7 @@ def ManAutoRotation(self, timeout=600):
         self.progress("Triggering manual autorotation by disabling interlock")
         self.set_rc(3, 1300)
         self.set_rc(8, 1000)
-        self.wait_servo_channel_value(8, 1200, timeout=3)
+        self.wait_servo_channel_value(8, 1199, timeout=3)
         self.progress("channel 8 set to autorotation window")
 
         self.set_rc(8, 2000)

Tools/scripts/size_compare_branches.py

@@ -156,6 +156,7 @@ def __init__(self,
             'Pixhawk1-1M-bdshot',
             'Pixhawk1-bdshot',
             'SITL_arm_linux_gnueabihf',
+            'RADIX2HD',
         ])
 
         # blacklist all linux boards for bootloader build: