ArduPilot · rmackay9 · Jul 3, 2024 · Jun 12, 2024 · May 30, 2024 · May 30, 2024
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,5 +1,40 @@
 Antenna Tracker Release Notes:
 ------------------------------
+Release 4.5.5-beta1 1st July 2024
+
+Changes from 4.5.4
+
+1) Board specific enhancements and bug fixes
+
+- fixed IOMCU transmission errors when using bdshot
+- update relay parameter names on various boards
+- add ASP5033 airspeed in minimal builds
+- added RadiolinkPIX6
+- fix Aocoda-RC H743Dual motor issue
+- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
+
+2) System level minor enhancements and bug fixes
+
+- correct use-after-free in script statistics
+- added arming check for eeprom full
+- fixed a block logging issue which caused log messages to be dropped
+- enable Socket SO_REUSEADDR on LwIP
+- removed IST8310 overrun message
+- added Siyi ZT6 support
+- added BTFL sidebar symbols to the OSD
+- added CRSF extended link stats to the OSD
+- use the ESC with the highest RPM in the OSD when only one can be displayed
+- support all Tramp power levels on high power VTXs
+- emit jump count in missions even if no limit
+- improve the bitmask indicating persistent parameters on bootloader flash	
+- fix duplicate error condition in the MicroStrain7
+
+5) Other minor enhancements and bug fixes
+
+- specify pymonocypher version in more places
+- added DroneCAN dependencies to custom builds
+
+------------------------------------------------------------------
 Release 4.5.4 12th June 2024
 
 Changes from 4.5.3

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.4"
+#define THISFIRMWARE "AntennaTracker V4.5.5-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,4,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 4
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 5
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,48 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+Release 4.5.5-beta1 1st July 2024
+
+Changes from 4.5.4
+
+1) Board specific enhancements and bug fixes
+
+- fixed IOMCU transmission errors when using bdshot
+- update relay parameter names on various boards
+- add ASP5033 airspeed in minimal builds
+- added RadiolinkPIX6
+- fix Aocoda-RC H743Dual motor issue
+- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
+
+2) System level minor enhancements and bug fixes
+
+- correct use-after-free in script statistics
+- added arming check for eeprom full
+- fixed a block logging issue which caused log messages to be dropped
+- enable Socket SO_REUSEADDR on LwIP
+- removed IST8310 overrun message
+- added Siyi ZT6 support
+- added BTFL sidebar symbols to the OSD
+- added CRSF extended link stats to the OSD
+- use the ESC with the highest RPM in the OSD when only one can be displayed
+- support all Tramp power levels on high power VTXs
+- emit jump count in missions even if no limit
+- improve the bitmask indicating persistent parameters on bootloader flash	
+- fix duplicate error condition in the MicroStrain7
+
+3) AHRS / EKF fixes
+
+- fix infinite climb bug when using EK3_OGN_HGT_MASK
+
+4) Copter specific changes
+
+- fix MAV_CMD_CONDITION_YAW with relative angle
+
+5) Other minor enhancements and bug fixes
+
+- specify pymonocypher version in more places
+- added DroneCAN dependencies to custom builds
+
+------------------------------------------------------------------
 Release 4.5.4 12th June 2024
 
 Changes from 4.5.3

diff --git a/ArduCopter/autoyaw.cpp b/ArduCopter/autoyaw.cpp
@@ -110,6 +110,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
 
     // calculate final angle as relative to vehicle heading or absolute
     if (relative_angle) {
+        if (_mode == Mode::HOLD) {
+            _yaw_angle_cd = copter.ahrs.yaw_sensor;
+        }
         _fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0);
     } else {
         // absolute angle

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.4"
+#define THISFIRMWARE "ArduCopter V4.5.5-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,4,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 4
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 5
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -639,7 +639,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: MIN_GROUNDSPEED
     // @DisplayName: Minimum ground speed
-    // @Description: Minimum ground speed in cm/s when under airspeed control
+    // @Description: Minimum ground speed when under airspeed control
     // @Units: m/s
     // @User: Advanced
     ASCALAR(min_groundspeed,      "MIN_GROUNDSPEED",  MIN_GROUNDSPEED),

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,5 +1,51 @@
 ArduPilot Plane Release Notes:
 ------------------------------
+Release 4.5.5-beta1 1st July 2024
+
+Changes from 4.5.4
+
+1) Board specific enhancements and bug fixes
+
+- fixed IOMCU transmission errors when using bdshot
+- update relay parameter names on various boards
+- add ASP5033 airspeed in minimal builds
+- added RadiolinkPIX6
+- fix Aocoda-RC H743Dual motor issue
+- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
+
+2) System level minor enhancements and bug fixes
+
+- correct use-after-free in script statistics
+- added arming check for eeprom full
+- fixed a block logging issue which caused log messages to be dropped
+- enable Socket SO_REUSEADDR on LwIP
+- removed IST8310 overrun message
+- added Siyi ZT6 support
+- added BTFL sidebar symbols to the OSD
+- added CRSF extended link stats to the OSD
+- use the ESC with the highest RPM in the OSD when only one can be displayed
+- support all Tramp power levels on high power VTXs
+- emit jump count in missions even if no limit
+- improve the bitmask indicating persistent parameters on bootloader flash	
+- fix duplicate error condition in the MicroStrain7
+
+3) AHRS / EKF fixes
+
+- fix infinite climb bug when using EK3_OGN_HGT_MASK
+
+4) Plane specific changes
+
+- fix rangefinder correction when terrain following is off
+- correct description of MIN_GROUNDSPEED parameter
+- correct Q_TRIM_PITCH description
+- ensure the dshot type gets set at startup
+
+5) Other minor enhancements and bug fixes
+
+- specify pymonocypher version in more places
+- added DroneCAN dependencies to custom builds
+
+------------------------------------------------------------------
 Release 4.5.4 12th June 2024
 
 Changes from 4.5.3

diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
@@ -711,9 +711,8 @@ void Plane::rangefinder_height_update(void)
     }
 
     if (rangefinder_state.in_range) {
-        // base correction is the difference between baro altitude and
-        // rangefinder estimate
-        float correction = adjusted_relative_altitude_cm()*0.01 - rangefinder_state.height_estimate;
+        // If not using terrain data, we expect zero correction when our height above target is equal to our rangefinder measurement
+        float correction = height_above_target() - rangefinder_state.height_estimate;
 
 #if AP_TERRAIN_AVAILABLE
         // if we are terrain following then correction is based on terrain data

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -310,7 +310,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: TRIM_PITCH
     // @DisplayName: Quadplane AHRS trim pitch
-    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes TRIM_PITCH. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
+    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
     // @Units: deg
     // @Range: -10 +10
     // @Increment: 0.1

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
@@ -135,6 +135,7 @@ void Plane::init_ardupilot()
     if (g2.oneshot_mask != 0) {
         hal.rcout->set_output_mode(g2.oneshot_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
     }
+    hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
 
     set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED);
 

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.4"
+#define THISFIRMWARE "ArduPlane V4.5.5-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,4,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 4
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 5
+#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 +1,40 @@
 Rover Release Notes:
 --------------------
+Release 4.5.5-beta1 1st July 2024
+
+Changes from 4.5.4
+
+1) Board specific enhancements and bug fixes
+
+- fixed IOMCU transmission errors when using bdshot
+- update relay parameter names on various boards
+- add ASP5033 airspeed in minimal builds
+- added RadiolinkPIX6
+- fix Aocoda-RC H743Dual motor issue
+- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
+
+2) System level minor enhancements and bug fixes
+
+- correct use-after-free in script statistics
+- added arming check for eeprom full
+- fixed a block logging issue which caused log messages to be dropped
+- enable Socket SO_REUSEADDR on LwIP
+- removed IST8310 overrun message
+- added Siyi ZT6 support
+- added BTFL sidebar symbols to the OSD
+- added CRSF extended link stats to the OSD
+- use the ESC with the highest RPM in the OSD when only one can be displayed
+- support all Tramp power levels on high power VTXs
+- emit jump count in missions even if no limit
+- improve the bitmask indicating persistent parameters on bootloader flash	
+- fix duplicate error condition in the MicroStrain7
+
+5) Other minor enhancements and bug fixes
+
+- specify pymonocypher version in more places
+- added DroneCAN dependencies to custom builds
+
+------------------------------------------------------------------
 Release 4.5.4 12th June 2024
 
 Changes from 4.5.3

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.4"
+#define THISFIRMWARE "ArduRover V4.5.5-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,4,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,5,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 4
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 5
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_highpolh.bin b/Tools/IO_Firmware/iofirmware_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_lowpolh.bin b/Tools/IO_Firmware/iofirmware_lowpolh.bin
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
@@ -233,8 +233,13 @@ def sign_firmware(image, private_keyfile):
     try:
         import monocypher
     except ImportError:
-        Logs.error("Please install monocypher with: python3 -m pip install pymonocypher")
+        Logs.error("Please install monocypher with: python3 -m pip install pymonocypher==3.1.3.2")
         return None
+
+    if monocypher.__version__ != "3.1.3.2":
+        Logs.error("must use monocypher 3.1.3.2, please run: python3 -m pip install pymonocypher==3.1.3.2")
+        return None
+
     try:
         key = open(private_keyfile, 'r').read()
     except Exception as ex:

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
@@ -2444,7 +2444,6 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_WAVE_LENGTH",
             "SIM_WAVE_SPEED",
             "SIM_WIND_DIR_Z",
-            "SIM_WIND_T",
         ])
 
         vinfo_key = self.vehicleinfo_key()

diff --git a/Tools/bootloaders/RadiolinkPIX6_bl.bin b/Tools/bootloaders/RadiolinkPIX6_bl.bin