Merge branch 'master' into pr-taker-h743

ArduPilot · Nov 27, 2024 · 8548f18 · 8548f18
2 parents decd489 + 3a1faf6
commit 8548f18
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diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
@@ -32,8 +32,6 @@ jobs:
             name: focal
           - os: ubuntu
             name: jammy
-          - os: ubuntu
-            name: mantic
           - os: ubuntu
             name: noble
           - os: archlinux

diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
@@ -229,7 +229,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
@@ -247,7 +247,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -343,7 +343,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
@@ -230,7 +230,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
@@ -244,7 +244,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
@@ -244,7 +244,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
@@ -230,7 +230,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml
@@ -268,7 +268,7 @@ jobs:
         shell: bash
         run: |
           cd pr/
-          Tools/scripts/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin
+          Tools/scripts/build_tests/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin
 
       - name: Feature compare with  ${{ github.event.pull_request.base.ref }}
         shell: bash
@@ -301,8 +301,26 @@ jobs:
           Tools/scripts/extract_features.py "$EF_BASE_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-base_branch.txt
           Tools/scripts/extract_features.py "$EF_PR_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-pr.txt
           diff -u features-base_branch.txt features-pr.txt || true
+          diff_output=$(diff -u features-base_branch.txt features-pr.txt || true)
+          echo "### Features Diff Output" >> $GITHUB_STEP_SUMMARY
+          if [ -n "$diff_output" ]; then
+            echo '```diff' >> $GITHUB_STEP_SUMMARY
+            echo "$diff_output" >> $GITHUB_STEP_SUMMARY
+            echo '```' >> $GITHUB_STEP_SUMMARY
+          else
+            echo "No differences found." >> $GITHUB_STEP_SUMMARY
+          fi
 
       - name: Checksum compare with ${{ github.event.pull_request.base.ref }}
         shell: bash
         run: |
           diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true
+          diff_output=$(diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true || true)
+          echo "### Checksum Diff Output" >> $GITHUB_STEP_SUMMARY
+          if [ -n "$diff_output" ]; then
+            echo '```diff' >> $GITHUB_STEP_SUMMARY
+            echo "$diff_output" >> $GITHUB_STEP_SUMMARY
+            echo '```' >> $GITHUB_STEP_SUMMARY
+          else
+            echo "No differences found." >> $GITHUB_STEP_SUMMARY
+          fi
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -285,13 +285,9 @@ bool Copter::set_target_location(const Location& target_loc)
 
     return mode_guided.set_destination(target_loc);
 }
-#endif //MODE_GUIDED_ENABLED
-#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
-#if AP_SCRIPTING_ENABLED
-#if MODE_GUIDED_ENABLED
 // start takeoff to given altitude (for use by scripting)
-bool Copter::start_takeoff(float alt)
+bool Copter::start_takeoff(const float alt)
 {
     // exit if vehicle is not in Guided mode or Auto-Guided mode
     if (!flightmode->in_guided_mode()) {
@@ -304,7 +300,11 @@ bool Copter::start_takeoff(float alt)
     }
     return false;
 }
+#endif //MODE_GUIDED_ENABLED
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
+#if AP_SCRIPTING_ENABLED
+#if MODE_GUIDED_ENABLED
 // set target position (for use by scripting)
 bool Copter::set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt)
 {
@@ -411,7 +411,55 @@ bool Copter::set_target_rate_and_throttle(float roll_rate_dps, float pitch_rate_
     mode_guided.set_angle(q, ang_vel_body, throttle, true);
     return true;
 }
-#endif
+
+// Register a custom mode with given number and names
+AP_Vehicle::custom_mode_state* Copter::register_custom_mode(const uint8_t num, const char* full_name, const char* short_name)
+{
+    const Mode::Number number = (Mode::Number)num;
+
+    // See if this mode has been registered already, if it has return the state for it
+    // This allows scripting restarts
+    for (uint8_t i = 0; i < ARRAY_SIZE(mode_guided_custom); i++) {
+        if (mode_guided_custom[i] == nullptr) {
+            break;
+        }
+        if ((mode_guided_custom[i]->mode_number() == number) &&
+            (strcmp(mode_guided_custom[i]->name(), full_name) == 0) &&
+            (strncmp(mode_guided_custom[i]->name4(), short_name, 4) == 0)) {
+            return &mode_guided_custom[i]->state;
+        }
+    }
+
+    // Number already registered to existing mode
+    if (mode_from_mode_num(number) != nullptr) {
+        return nullptr;
+    }
+
+    // Find free slot
+    for (uint8_t i = 0; i < ARRAY_SIZE(mode_guided_custom); i++) {
+        if (mode_guided_custom[i] == nullptr) {
+            // Duplicate strings so were not pointing to unknown memory
+            const char* full_name_copy = strdup(full_name);
+            const char* short_name_copy = strndup(short_name, 4);
+            if ((full_name_copy != nullptr) && (short_name_copy != nullptr)) {
+                mode_guided_custom[i] = NEW_NOTHROW ModeGuidedCustom(number, full_name_copy, short_name_copy);
+            }
+            if (mode_guided_custom[i] == nullptr) {
+                // Allocation failure
+                return nullptr;
+            }
+
+            // Registration sucsessful, notify the GCS that it should re-request the avalable modes
+            gcs().available_modes_changed();
+
+            return &mode_guided_custom[i]->state;
+        }
+    }
+
+    // No free slots
+    return nullptr;
+}
+#endif // MODE_GUIDED_ENABLED
 
 #if MODE_CIRCLE_ENABLED
 // circle mode controls

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -668,12 +668,12 @@ class Copter : public AP_Vehicle {
 #if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 #if MODE_GUIDED_ENABLED
     bool set_target_location(const Location& target_loc) override;
+    bool start_takeoff(const float alt) override;
 #endif // MODE_GUIDED_ENABLED
 #endif // AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
 #if AP_SCRIPTING_ENABLED
 #if MODE_GUIDED_ENABLED
-    bool start_takeoff(float alt) override;
     bool get_target_location(Location& target_loc) override;
     bool update_target_location(const Location &old_loc, const Location &new_loc) override;
     bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;
@@ -684,6 +684,8 @@ class Copter : public AP_Vehicle {
     bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
     bool set_target_rate_and_throttle(float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps, float throttle) override;
 
+    // Register a custom mode with given number and names
+    AP_Vehicle::custom_mode_state* register_custom_mode(const uint8_t number, const char* full_name, const char* short_name) override;
 #endif
 #if MODE_CIRCLE_ENABLED
     bool get_circle_radius(float &radius_m) override;
@@ -1029,6 +1031,10 @@ class Copter : public AP_Vehicle {
 #endif
 #if MODE_GUIDED_ENABLED
     ModeGuided mode_guided;
+#if AP_SCRIPTING_ENABLED
+    // Custom modes registered at runtime
+    ModeGuidedCustom *mode_guided_custom[5];
+#endif
 #endif
     ModeLand mode_land;
 #if MODE_LOITER_ENABLED

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -1742,7 +1742,16 @@ uint8_t GCS_MAVLINK_Copter::send_available_mode(uint8_t index) const
 #endif
     };
 
-    const uint8_t mode_count = ARRAY_SIZE(modes);
+    const uint8_t base_mode_count = ARRAY_SIZE(modes);
+    uint8_t mode_count = base_mode_count;
+
+#if AP_SCRIPTING_ENABLED
+    for (uint8_t i = 0; i < ARRAY_SIZE(copter.mode_guided_custom); i++) {
+        if (copter.mode_guided_custom[i] != nullptr) {
+            mode_count += 1;
+        }
+    }
+#endif
 
     // Convert to zero indexed
     const uint8_t index_zero = index - 1;
@@ -1752,8 +1761,27 @@ uint8_t GCS_MAVLINK_Copter::send_available_mode(uint8_t index) const
     }
 
     // Ask the mode for its name and number
-    const char* name = modes[index_zero]->name();
-    uint8_t mode_number = (uint8_t)modes[index_zero]->mode_number();
+    const char* name;
+    uint8_t mode_number;
+
+    if (index_zero < base_mode_count) {
+        name = modes[index_zero]->name();
+        mode_number = (uint8_t)modes[index_zero]->mode_number();
+
+    } else {
+#if AP_SCRIPTING_ENABLED
+        const uint8_t custom_index = index_zero - base_mode_count;
+        if (copter.mode_guided_custom[custom_index] == nullptr) {
+            // Invalid index, should not happen
+            return mode_count;
+        }
+        name = copter.mode_guided_custom[custom_index]->name();
+        mode_number = (uint8_t)copter.mode_guided_custom[custom_index]->mode_number();
+#else
+        // Should not endup here
+        return mode_count;
+#endif
+    }
 
 #if MODE_AUTO_ENABLED
     // Auto RTL is odd