Merge branch 'ArduPilot:master' into L1windcomp

.github/workflows/colcon.yml

@@ -156,7 +156,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/cygwin_build.yml

@@ -177,7 +177,7 @@ jobs:
           source ~/ccache.conf &&
           ccache -s
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: D:/a/ardupilot/ardupilot/ccache
           key: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/macos_build.yml

@@ -169,7 +169,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{matrix.config}}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_chibios.yml

@@ -182,7 +182,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{ matrix.gcc }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_coverage.yml

@@ -48,7 +48,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_dds.yml

@@ -161,7 +161,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.config }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_linux_sbc.yml

@@ -181,7 +181,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_replay.yml

@@ -170,7 +170,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_scripts.yml

@@ -19,6 +19,7 @@ jobs:
             python-cleanliness,
             astyle-cleanliness,
             validate_board_list,
+            logger_metadata,
        ]
     steps:
       # git checkout the PR

.github/workflows/test_sitl_blimp.yml

@@ -182,7 +182,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_sitl_copter.yml

@@ -181,7 +181,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -302,7 +302,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_sitl_periph.yml

@@ -172,7 +172,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -222,7 +222,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_sitl_plane.yml

@@ -181,7 +181,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_sitl_rover.yml

@@ -180,7 +180,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_sitl_sub.yml

@@ -184,7 +184,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_sitl_tracker.yml

@@ -183,7 +183,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_size.yml

@@ -97,7 +97,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/test_unit_tests.yml

@@ -126,7 +126,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}

AntennaTracker/version.h

@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.6.0-dev"
+#define THISFIRMWARE "AntennaTracker V4.7.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 6
+#define FW_MINOR 7
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

ArduCopter/Copter.cpp

@@ -688,12 +688,29 @@ void Copter::three_hz_loop()
     low_alt_avoidance();
 }
 
+// ap_value calculates a 32-bit bitmask representing various pieces of
+// state about the Copter.  It replaces a global variable which was
+// used to track this state.
+uint32_t Copter::ap_value() const
+{
+    uint32_t ret = 0;
+
+    const bool *b = (const bool *)≈
+    for (uint8_t i=0; i<sizeof(ap); i++) {
+        if (b[i]) {
+            ret |= 1U<<i;
+        }
+    }
+
+    return ret;
+}
+
 // one_hz_loop - runs at 1Hz
 void Copter::one_hz_loop()
 {
 #if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_ANY)) {
-        Log_Write_Data(LogDataID::AP_STATE, ap.value);
+        Log_Write_Data(LogDataID::AP_STATE, ap_value());
     }
 #endif
 

ArduCopter/Copter.h

@@ -347,46 +347,48 @@ class Copter : public AP_Vehicle {
 # include USERHOOK_VARIABLES
 #endif
 
-    // Documentation of GLobals:
-    typedef union {
-        struct {
-            uint8_t unused1                 : 1; // 0
-            uint8_t unused_was_simple_mode  : 2; // 1,2
-            uint8_t pre_arm_rc_check        : 1; // 3       // true if rc input pre-arm checks have been completed successfully
-            uint8_t pre_arm_check           : 1; // 4       // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
-            uint8_t auto_armed              : 1; // 5       // stops auto missions from beginning until throttle is raised
-            uint8_t logging_started         : 1; // 6       // true if logging has started
-            uint8_t land_complete           : 1; // 7       // true if we have detected a landing
-            uint8_t new_radio_frame         : 1; // 8       // Set true if we have new PWM data to act on from the Radio
-            uint8_t usb_connected_unused    : 1; // 9       // UNUSED
-            uint8_t rc_receiver_present_unused : 1; // 10      // UNUSED
-            uint8_t compass_mot             : 1; // 11      // true if we are currently performing compassmot calibration
-            uint8_t motor_test              : 1; // 12      // true if we are currently performing the motors test
-            uint8_t initialised             : 1; // 13      // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
-            uint8_t land_complete_maybe     : 1; // 14      // true if we may have landed (less strict version of land_complete)
-            uint8_t throttle_zero           : 1; // 15      // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
-            uint8_t system_time_set_unused  : 1; // 16      // true if the system time has been set from the GPS
-            uint8_t gps_glitching           : 1; // 17      // true if GPS glitching is affecting navigation accuracy
-            uint8_t using_interlock         : 1; // 20      // aux switch motor interlock function is in use
-            uint8_t land_repo_active        : 1; // 21      // true if the pilot is overriding the landing position
-            uint8_t motor_interlock_switch  : 1; // 22      // true if pilot is requesting motor interlock enable
-            uint8_t in_arming_delay         : 1; // 23      // true while we are armed but waiting to spin motors
-            uint8_t initialised_params      : 1; // 24      // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
-            uint8_t unused3                 : 1; // 25      // was compass_init_location; true when the compass's initial location has been set
-            uint8_t unused2                 : 1; // 26      // aux switch rc_override is allowed
-            uint8_t armed_with_airmode_switch : 1; // 27      // we armed using a arming switch
-            uint8_t prec_land_active        : 1; // 28      // true if precland is active
-        };
-        uint32_t value;
-    } ap_t;
-
-    ap_t ap;
+    // ap_value calculates a 32-bit bitmask representing various pieces of
+    // state about the Copter.  It replaces a global variable which was
+    // used to track this state.
+    uint32_t ap_value() const;
+
+    // These variables are essentially global variables.  These should
+    // be removed over time.  It is critical that the offsets of these
+    // variables remain unchanged - the logging is dependent on this
+    // ordering!
+    struct PACKED {
+        bool unused1;                        //  0
+        bool unused_was_simple_mode_byte1;   //  1
+        bool unused_was_simple_mode_byte2;   //  2
+        bool pre_arm_rc_check;               //  3 true if rc input pre-arm checks have been completed successfully
+        bool pre_arm_check;                  //  4 true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
+        bool auto_armed;                     //  5 stops auto missions from beginning until throttle is raised
+        bool unused_log_started;             //  6
+        bool land_complete;                  //  7 true if we have detected a landing
+        bool new_radio_frame;                //  8 Set true if we have new PWM data to act on from the Radio
+        bool unused_usb_connected;           //  9
+        bool unused_receiver_present;        // 10
+        bool compass_mot;                    // 11 true if we are currently performing compassmot calibration
+        bool motor_test;                     // 12 true if we are currently performing the motors test
+        bool initialised;                    // 13 true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
+        bool land_complete_maybe;            // 14 true if we may have landed (less strict version of land_complete)
+        bool throttle_zero;                  // 15 true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
+        bool system_time_set_unused;         // 16 true if the system time has been set from the GPS
+        bool gps_glitching;                  // 17 true if GPS glitching is affecting navigation accuracy
+        bool using_interlock;                // 18 aux switch motor interlock function is in use
+        bool land_repo_active;               // 19 true if the pilot is overriding the landing position
+        bool motor_interlock_switch;         // 20 true if pilot is requesting motor interlock enable
+        bool in_arming_delay;                // 21 true while we are armed but waiting to spin motors
+        bool initialised_params;             // 22 true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
+        bool unused_compass_init_location;   // 23
+        bool unused2_aux_switch_rc_override_allowed; // 24
+        bool armed_with_airmode_switch;      // 25 we armed using a arming switch
+        bool prec_land_active;               // 26 true if precland is active
+    } ap;
 
     AirMode air_mode; // air mode is 0 = not-configured ; 1 = disabled; 2 = enabled;
     bool force_flying; // force flying is enabled when true;
 
-    static_assert(sizeof(uint32_t) == sizeof(ap), "ap_t must be uint32_t");
-
     // This is the state of the flight control system
     // There are multiple states defined such as STABILIZE, ACRO,
     Mode *flightmode;

ArduCopter/ReleaseNotes.txt

@@ -305,7 +305,7 @@ Changes from 4.5.0-beta1:
  - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
 
 ------------------------------------------------------------------
-Copter 4.5.0-beta1 30-Jan-2025
+Copter 4.5.0-beta1 30-Jan-2024
 Changes from 4.4.4
 1) New autopilots supported
     - ACNS-F405AIO
@@ -989,7 +989,7 @@ Changes from 4.3.6
     e) Memory corruption bug in the STM32H757 (very rare)
     f) RC input on IOMCU bug fix (RC might not be regained if lost)
 ------------------------------------------------------------------
-Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023
+Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6-beta2 27-Mar-2023
 Changes from 4.3.5
 1) Bi-directional DShot fix for possible motor stop approx 72min after startup 
 ------------------------------------------------------------------

ArduCopter/mode_poshold.cpp

@@ -535,11 +535,7 @@ void ModePosHold::update_brake_angle_from_velocity(float &brake_angle, float vel
     }
 
     // calculate velocity-only based lean angle
-    if (velocity >= 0) {
-        lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (velocity + 60.0f));
-    } else {
-        lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (-velocity + 60.0f));
-    }
+    lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (fabsf(velocity) + 60.0f));
 
     // do not let lean_angle be too far from brake_angle
     brake_angle = constrain_float(lean_angle, brake_angle - brake_rate, brake_angle + brake_rate);
@@ -592,7 +588,7 @@ void ModePosHold::update_wind_comp_estimate()
     }
 
     // limit acceleration
-    const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * 981.0f;
+    const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * (GRAVITY_MSS*100);
     const float wind_comp_ef_len = wind_comp_ef.length();
     if (!is_zero(accel_lim_cmss) && (wind_comp_ef_len > accel_lim_cmss)) {
         wind_comp_ef *= accel_lim_cmss / wind_comp_ef_len;

ArduCopter/system.cpp

@@ -347,7 +347,6 @@ void Copter::update_auto_armed()
  */
 bool Copter::should_log(uint32_t mask)
 {
-    ap.logging_started = logger.logging_started();
     return logger.should_log(mask);
 }
 #endif

ArduCopter/version.h

@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.6.0-dev"
+#define THISFIRMWARE "ArduCopter V4.7.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 6
+#define FW_MINOR 7
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV