Merge branch 'master' into master

.github/workflows/qurt_build.yml

@@ -141,8 +141,8 @@ concurrency:
 
 jobs:
   build:
+    if: github.repository == 'ArduPilot/ardupilot'
     runs-on: 'ardupilot-qurt'
-
     steps:
       - uses: actions/checkout@v4
         with:

AntennaTracker/ReleaseNotes.txt

@@ -1,5 +1,14 @@
 Antenna Tracker Release Notes:
-------------------------------
+------------------------------------------------------------------
+Release 4.5.5-beta2 27 July 2024
+
+Changes from 4.5.5-beta1
+
+1) Board specific enhancements and bug fixes
+
+- CubeRed's second core disabled at boot to avoid spurious writes to RAM
+- CubeRed bootloader's dual endpoint update method fixed
+------------------------------------------------------------------
 Release 4.5.5-beta1 1st July 2024
 
 Changes from 4.5.4

ArduCopter/AP_Arming.cpp

@@ -341,10 +341,10 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
 {
     // check if fence requires GPS
     bool fence_requires_gps = false;
-    #if AP_FENCE_ENABLED
+#if AP_FENCE_ENABLED
     // if circular or polygon fence is enabled we need GPS
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
-    #endif
+#endif
 
     // check if flight mode requires GPS
     bool mode_requires_gps = copter.flightmode->requires_GPS() || fence_requires_gps || (copter.simple_mode == Copter::SimpleMode::SUPERSIMPLE);
@@ -443,10 +443,10 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
 
     // check if fence requires GPS
     bool fence_requires_gps = false;
-    #if AP_FENCE_ENABLED
+#if AP_FENCE_ENABLED
     // if circular or polygon fence is enabled we need GPS
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
-    #endif
+#endif
 
     if (mode_requires_gps || copter.option_is_enabled(Copter::FlightOption::REQUIRE_POSITION_FOR_ARMING)) {
         if (!copter.position_ok()) {

ArduCopter/Copter.cpp

@@ -659,7 +659,7 @@ void Copter::three_hz_loop()
     // check for deadreckoning failsafe
     failsafe_deadreckon_check();
 
-    // update ch6 in flight tuning
+    //update transmitter based in flight tuning
     tuning();
 
     // check if avoidance should be enabled based on alt

ArduCopter/RC_Channel.cpp

@@ -128,6 +128,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::FORCEFLYING:
     case AUX_FUNC::CUSTOM_CONTROLLER:
     case AUX_FUNC::WEATHER_VANE_ENABLE:
+    case AUX_FUNC::TRANSMITTER_TUNING:
         run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
         break;
     default:
@@ -648,6 +649,9 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
         break;
     }
 #endif
+    case AUX_FUNC::TRANSMITTER_TUNING:
+        // do nothing, used in tuning.cpp for transmitter based tuning
+        break;
 
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,14 @@
 ArduPilot Copter Release Notes:
--------------------------------
+------------------------------------------------------------------
+Release 4.5.5-beta2 27 July 2024
+
+Changes from 4.5.5-beta1
+
+1) Board specific enhancements and bug fixes
+
+- CubeRed's second core disabled at boot to avoid spurious writes to RAM
+- CubeRed bootloader's dual endpoint update method fixed
+------------------------------------------------------------------
 Release 4.5.5-beta1 1st July 2024
 
 Changes from 4.5.4

ArduCopter/mode.cpp

@@ -439,6 +439,7 @@ void Copter::update_flight_mode()
 #if AP_RANGEFINDER_ENABLED
     surface_tracking.invalidate_for_logging();  // invalidate surface tracking alt, flight mode will set to true if used
 #endif
+    attitude_control->landed_gain_reduction(copter.ap.land_complete); // Adjust gains when landed to attenuate ground oscillation
 
     flightmode->run();
 }

ArduCopter/mode_circle.cpp

@@ -68,7 +68,7 @@ void ModeCircle::run()
         }
 
         // update the orbicular rate target based on pilot roll stick inputs
-        // skip if using CH6 tuning knob for circle rate
+        // skip if using transmitter based tuning knob for circle rate
         if (g.radio_tuning != TUNING_CIRCLE_RATE) {
             const float roll_stick = channel_roll->norm_input_dz();         // roll stick normalized -1 to 1
 

ArduCopter/tuning.cpp

@@ -1,33 +1,34 @@
 #include "Copter.h"
 
 /*
- * Function to update various parameters in flight using the ch6 tuning knob
+ * Function to update various parameters in flight using the TRANSMITTER_TUNING channel knob
  * This should not be confused with the AutoTune feature which can be found in control_autotune.cpp
  */
 
-// tuning - updates parameters based on the ch6 tuning knob's position
+// tuning - updates parameters based on the ch6 TRANSMITTER_TUNING channel knob's position
 //  should be called at 3.3hz
 void Copter::tuning()
 {
-    const RC_Channel *rc6 = rc().channel(CH_6);
+    const RC_Channel *rc_tuning = rc().find_channel_for_option(RC_Channel::AUX_FUNC::TRANSMITTER_TUNING);
 
+    // exit immediately if tuning channel is not set
+    if (rc_tuning == nullptr) {
+        return;
+    }
+
     // exit immediately if the tuning function is not set or min and max are both zero
     if ((g.radio_tuning <= 0) || (is_zero(g2.tuning_min.get()) && is_zero(g2.tuning_max.get()))) {
         return;
     }
 
     // exit immediately when radio failsafe is invoked or transmitter has not been turned on
-    if (failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) {
-        return;
-    }
-
-    // exit immediately if a function is assigned to channel 6
-    if ((RC_Channel::AUX_FUNC)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
+    if (failsafe.radio || failsafe.radio_counter != 0 || rc_tuning->get_radio_in() == 0) {
         return;
     }
 
-    const uint16_t radio_in = rc6->get_radio_in();
-    float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc6->get_radio_min(), rc6->get_radio_max());
+    const uint16_t radio_in = rc_tuning->get_radio_in();
+    float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc_tuning->get_radio_min(), rc_tuning->get_radio_max());
+
 #if HAL_LOGGING_ENABLED
     Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max);
 #endif

ArduPlane/Attitude.cpp

@@ -448,6 +448,10 @@ void Plane::stabilize()
 }
 
 
+/*
+ * Set the throttle output.
+ * This is called by TECS-enabled flight modes, e.g. AUTO, GUIDED, etc.
+*/
 void Plane::calc_throttle()
 {
     if (aparm.throttle_cruise <= 1) {
@@ -458,6 +462,7 @@ void Plane::calc_throttle()
         return;
     }
 
+    // Read the TECS throttle output and set it to the throttle channel.
     float commanded_throttle = TECS_controller.get_throttle_demand();
     SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, commanded_throttle);
 }

ArduPlane/Parameters.cpp

@@ -142,12 +142,28 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: TKOFF_THR_MAX_T
     // @DisplayName: Takeoff throttle maximum time
-    // @Description: This sets the time that maximum throttle will be forced during a fixed wing takeoff without an airspeed sensor. If an airspeed sensor is being used then the throttle is set to maximum until the takeoff airspeed is reached.
+    // @Description: This sets the time that maximum throttle will be forced during a fixed wing takeoff.
     // @Units: s
     // @Range: 0 10
     // @Increment: 0.5
     // @User: Standard
     ASCALAR(takeoff_throttle_max_t,     "TKOFF_THR_MAX_T",  4),
+
+    // @Param: TKOFF_THR_MIN
+    // @DisplayName: Takeoff minimum throttle
+    // @Description: The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.
+    // @Units: %
+    // @Range: 0 100
+    // @Increment: 1
+    // @User: Standard
+    ASCALAR(takeoff_throttle_min,       "TKOFF_THR_MIN",    60),
+
+    // @Param: TKOFF_OPTIONS
+    // @DisplayName: Takeoff options
+    // @Description: This selects the mode of the takeoff in AUTO and TAKEOFF flight modes. 
+    // @Bitmask: 0: When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor.
+    // @User: Advanced
+    ASCALAR(takeoff_options,               "TKOFF_OPTIONS",       0),
 
     // @Param: TKOFF_TDRAG_ELEV
     // @DisplayName: Takeoff tail dragger elevator
@@ -1096,6 +1112,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
     // @Bitmask: 12: Enable FBWB style loiter altitude control
     // @Bitmask: 13: Indicate takeoff waiting for neutral rudder with flight control surfaces
+    // @Bitmask: 14: In AUTO - climb to next waypoint altitude immediately instead of linear climb
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
 

ArduPlane/Parameters.h

@@ -357,6 +357,8 @@ class Parameters {
         k_param_acro_yaw_rate,
         k_param_takeoff_throttle_max_t,
         k_param_autotune_options,
+        k_param_takeoff_throttle_min,
+        k_param_takeoff_options,
     };
 
     AP_Int16 format_version;

ArduPlane/Plane.h

@@ -1117,6 +1117,7 @@ class Plane : public AP_Vehicle {
     bool auto_takeoff_check(void);
     void takeoff_calc_roll(void);
     void takeoff_calc_pitch(void);
+    void takeoff_calc_throttle(const bool use_max_throttle=false);
     int8_t takeoff_tail_hold(void);
     int16_t get_takeoff_pitch_min_cd(void);
     void landing_gear_update(void);

ArduPlane/ReleaseNotes.txt

@@ -1,5 +1,14 @@
 ArduPilot Plane Release Notes:
-------------------------------
+------------------------------------------------------------------
+Release 4.5.5-beta2 27 July 2024
+
+Changes from 4.5.5-beta1
+
+1) Board specific enhancements and bug fixes
+
+- CubeRed's second core disabled at boot to avoid spurious writes to RAM
+- CubeRed bootloader's dual endpoint update method fixed
+------------------------------------------------------------------
 Release 4.5.5-beta1 1st July 2024
 
 Changes from 4.5.4

ArduPlane/altitude.cpp

@@ -81,6 +81,13 @@ void Plane::setup_glide_slope(void)
         break;
 
     case Mode::Number::AUTO:
+
+        //climb without doing glide slope if option is enabled
+        if (!above_location_current(next_WP_loc) && plane.flight_option_enabled(FlightOptions::IMMEDIATE_CLIMB_IN_AUTO)) {
+            reset_offset_altitude();
+            break;
+        }
+
         // we only do glide slide handling in AUTO when above 20m or
         // when descending. The 20 meter threshold is arbitrary, and
         // is basically to prevent situations where we try to slowly
@@ -513,9 +520,9 @@ int32_t Plane::adjusted_altitude_cm(void)
 }
 
 /*
-  return home-relative altitude adjusted for ALT_OFFSET This is useful
+  return home-relative altitude adjusted for ALT_OFFSET. This is useful
   during long flights to account for barometer changes from the GCS,
-  or to adjust the flying height of a long mission
+  or to adjust the flying height of a long mission.
  */
 int32_t Plane::adjusted_relative_altitude_cm(void)
 {

ArduPlane/commands_logic.cpp

@@ -376,7 +376,7 @@ void Plane::do_takeoff(const AP_Mission::Mission_Command& cmd)
     next_WP_loc.lat = home.lat + 10;
     next_WP_loc.lng = home.lng + 10;
     auto_state.takeoff_speed_time_ms = 0;
-    auto_state.takeoff_complete = false;                            // set flag to use gps ground course during TO.  IMU will be doing yaw drift correction
+    auto_state.takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction.
     auto_state.height_below_takeoff_to_level_off_cm = 0;
     // Flag also used to override "on the ground" throttle disable
 

ArduPlane/defines.h

@@ -168,6 +168,7 @@ enum FlightOptions {
     DISABLE_GROUND_PID_SUPPRESSION = (1<<11),
     ENABLE_LOITER_ALT_CONTROL = (1<<12),
     INDICATE_WAITING_FOR_RUDDER_NEUTRAL = (1<<13),
+    IMMEDIATE_CLIMB_IN_AUTO = (1<<14),
 };
 
 enum CrowFlapOptions {

ArduPlane/mode_takeoff.cpp

@@ -22,11 +22,11 @@ const AP_Param::GroupInfo ModeTakeoff::var_info[] = {
     // @Increment: 1
     // @Units: m
     // @User: Standard
-    AP_GROUPINFO("LVL_ALT", 2, ModeTakeoff, level_alt, 5),
+    AP_GROUPINFO("LVL_ALT", 2, ModeTakeoff, level_alt, 10),
 
     // @Param: LVL_PITCH
     // @DisplayName: Takeoff mode altitude initial pitch
-    // @Description: This is the target pitch for the initial climb to TKOFF_LVL_ALT
+    // @Description: This is the target pitch during the takeoff.
     // @Range: 0 30
     // @Increment: 1
     // @Units: deg
@@ -149,11 +149,11 @@ void ModeTakeoff::update()
 
     if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF) {
         //below TAKOFF_LVL_ALT
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100.0);
         plane.takeoff_calc_roll();
         plane.takeoff_calc_pitch();
+        plane.takeoff_calc_throttle(true);
     } else {
-        if ((altitude_cm >= alt * 100 - 200)) { //within 2m of TKOFF_ALT ,or above and loitering
+        if ((altitude_cm >= alt * 100 - 200)) { //within 2m of TKOFF_ALT, or above and loitering
 #if AP_FENCE_ENABLED
             if (!plane.have_autoenabled_fences) {
                 plane.fence.auto_enable_fence_after_takeoff();
@@ -164,7 +164,7 @@ void ModeTakeoff::update()
             plane.calc_nav_pitch();
             plane.calc_throttle();
         } else { // still climbing to TAKEOFF_ALT; may be loitering
-            plane.calc_throttle();
+            plane.takeoff_calc_throttle();
             plane.takeoff_calc_roll();
             plane.takeoff_calc_pitch();
         }