Merge branch 'master' of https://github.com/ArduPilot/ardupilot

.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()) {
@@ -601,11 +601,11 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 
     // check throttle
     if (check_enabled(ARMING_CHECK_RC)) {
-         #if FRAME_CONFIG == HELI_FRAME
+#if FRAME_CONFIG == HELI_FRAME
         const char *rc_item = "Collective";
-        #else
+#else
         const char *rc_item = "Throttle";
-        #endif
+#endif
         // check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto 
         if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
             // above top of deadband is too always high
@@ -614,12 +614,12 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
                 return false;
             }
             // in manual modes throttle must be at zero
-            #if FRAME_CONFIG != HELI_FRAME
+#if FRAME_CONFIG != HELI_FRAME
             if ((copter.flightmode->has_manual_throttle() || copter.flightmode->mode_number() == Mode::Number::DRIFT) && copter.channel_throttle->get_control_in() > 0) {
                 check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
                 return false;
             }
-            #endif
+#endif
         }
     }
 

ArduCopter/Copter.cpp

@@ -474,13 +474,13 @@ bool Copter::update_target_location(const Location &old_loc, const Location &new
 
 #endif // AP_SCRIPTING_ENABLED
 
-// returns true if vehicle is landing. Only used by Lua scripts
+// returns true if vehicle is landing.
 bool Copter::is_landing() const
 {
     return flightmode->is_landing();
 }
 
-// returns true if vehicle is taking off. Only used by Lua scripts
+// returns true if vehicle is taking off.
 bool Copter::is_taking_off() const
 {
     return flightmode->is_taking_off();
@@ -583,9 +583,11 @@ void Copter::ten_hz_logging_loop()
     }
     if (should_log(MASK_LOG_RCIN)) {
         logger.Write_RCIN();
+#if AP_RSSI_ENABLED
         if (rssi.enabled()) {
             logger.Write_RSSI();
         }
+#endif
     }
     if (should_log(MASK_LOG_RCOUT)) {
         logger.Write_RCOUT();
@@ -657,7 +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/Parameters.cpp

@@ -634,10 +634,12 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
 #endif
 
+#if AP_RSSI_ENABLED
     // @Group: RSSI_
     // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
     GOBJECT(rssi, "RSSI_",  AP_RSSI),
-
+#endif
+
 #if AP_RANGEFINDER_ENABLED
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp

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/fence.cpp

@@ -10,8 +10,10 @@ void Copter::fence_check()
 {
     const uint8_t orig_breaches = fence.get_breaches();
 
+    bool is_landing_or_landed = flightmode->is_landing() || ap.land_complete  || !motors->armed();
+
     // check for new breaches; new_breaches is bitmask of fence types breached
-    const uint8_t new_breaches = fence.check();
+    const uint8_t new_breaches = fence.check(is_landing_or_landed);
 
     // we still don't do anything when disarmed, but we do check for fence breaches.
     // fence pre-arm check actually checks if any fence has been breached 
@@ -24,7 +26,7 @@ void Copter::fence_check()
     if (new_breaches) {
 
         if (!copter.ap.land_complete) {
-            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
+            fence.print_fence_message("breached", new_breaches);
         }
 
         // if the user wants some kind of response and motors are armed
@@ -81,7 +83,10 @@ void Copter::fence_check()
 
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
-    } else if (orig_breaches) {
+    } else if (orig_breaches && fence.get_breaches() == 0) {
+        if (!copter.ap.land_complete) {
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared");
+        }
         // record clearing of breach
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }

ArduCopter/mode.cpp

@@ -347,6 +347,20 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
         return false;
     }
 
+#if AP_FENCE_ENABLED
+    // may not be allowed to change mode if recovering from fence breach
+    if (!ignore_checks &&
+        fence.enabled() &&
+        fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
+        fence.get_breaches() &&
+        motors->armed() &&
+        get_control_mode_reason() == ModeReason::FENCE_BREACHED &&
+        !ap.land_complete) {
+        mode_change_failed(new_flightmode, "in fence recovery");
+        return false;
+    }
+#endif
+
     if (!new_flightmode->init(ignore_checks)) {
         mode_change_failed(new_flightmode, "init failed");
         return false;
@@ -371,10 +385,12 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
 #endif
 
 #if AP_FENCE_ENABLED
-    // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
-    // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
-    // but it should be harmless to disable the fence temporarily in these situations as well
-    fence.manual_recovery_start();
+    if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
+        // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
+        // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
+        // but it should be harmless to disable the fence temporarily in these situations as well
+        fence.manual_recovery_start();
+    }
 #endif
 
 #if AP_CAMERA_ENABLED
@@ -423,6 +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.h

@@ -596,12 +596,13 @@ class ModeAuto : public Mode {
 
 private:
 
-    enum class Options : int32_t {
+    enum class Option : int32_t {
         AllowArming                        = (1 << 0U),
         AllowTakeOffWithoutRaisingThrottle = (1 << 1U),
         IgnorePilotYaw                     = (1 << 2U),
         AllowWeatherVaning                 = (1 << 7U),
     };
+    bool option_is_enabled(Option option) const;
 
     // Enter auto rtl pseudo mode
     bool enter_auto_rtl(ModeReason reason);
@@ -1540,6 +1541,10 @@ class ModeSmartRTL : public ModeRTL {
     // point while following our path home.  If we take too long we
     // may choose to land the vehicle.
     uint32_t path_follow_last_pop_fail_ms;
+
+    // backup last popped point so that it can be restored to the path
+    // if vehicle exits SmartRTL mode before reaching home. invalid if zero
+    Vector3f dest_NED_backup;
 };
 
 

ArduCopter/mode_auto.cpp

@@ -202,15 +202,23 @@ void ModeAuto::set_submode(SubMode new_submode)
     }
 }
 
+bool ModeAuto::option_is_enabled(Option option) const
+{
+    return ((copter.g2.auto_options & (uint32_t)option) != 0);
+}
+
 bool ModeAuto::allows_arming(AP_Arming::Method method) const
 {
-    return ((copter.g2.auto_options & (uint32_t)Options::AllowArming) != 0) && !auto_RTL;
-};
+    if (auto_RTL) {
+        return false;
+    }
+    return option_is_enabled(Option::AllowArming);
+}
 
 #if WEATHERVANE_ENABLED == ENABLED
 bool ModeAuto::allows_weathervaning() const
 {
-    return (copter.g2.auto_options & (uint32_t)Options::AllowWeatherVaning) != 0;
+    return option_is_enabled(Option::AllowWeatherVaning);
 }
 #endif
 
@@ -480,11 +488,6 @@ void ModeAuto::land_start()
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
-
     // reset flag indicating if pilot has applied roll or pitch inputs during landing
     copter.ap.land_repo_active = false;
 
@@ -638,7 +641,7 @@ void PayloadPlace::start_descent()
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
 bool ModeAuto::use_pilot_yaw(void) const
 {
-    const bool allow_yaw_option = (copter.g2.auto_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
+    const bool allow_yaw_option = !option_is_enabled(Option::IgnorePilotYaw);
     const bool rtl_allow_yaw = (_mode == SubMode::RTL) && copter.mode_rtl.use_pilot_yaw();
     const bool landing = _mode == SubMode::LAND;
     return allow_yaw_option || rtl_allow_yaw || landing;
@@ -779,18 +782,6 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         // point the camera to a specified angle
         do_mount_control(cmd);
         break;
-
-    case MAV_CMD_DO_FENCE_ENABLE:
-#if AP_FENCE_ENABLED
-        if (cmd.p1 == 0) { //disable
-            copter.fence.enable(false);
-            gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
-        } else { //enable fence
-            copter.fence.enable(true);
-            gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
-        }
-#endif //AP_FENCE_ENABLED
-        break;
 
 #if AC_NAV_GUIDED == ENABLED
     case MAV_CMD_DO_GUIDED_LIMITS:                      // 220  accept guided mode limits
@@ -1039,7 +1030,7 @@ void ModeAuto::takeoff_run()
 {
     // if the user doesn't want to raise the throttle we can set it automatically
     // note that this can defeat the disarm check on takeoff
-    if ((copter.g2.auto_options & (int32_t)Options::AllowTakeOffWithoutRaisingThrottle) != 0) {
+    if (option_is_enabled(Option::AllowTakeOffWithoutRaisingThrottle)) {
         copter.set_auto_armed(true);
     }
     auto_takeoff.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/mode_guided.cpp

@@ -685,6 +685,9 @@ void ModeGuided::takeoff_run()
     auto_takeoff.run();
     if (auto_takeoff.complete && !takeoff_complete) {
         takeoff_complete = true;
+#if AP_FENCE_ENABLED
+        copter.fence.auto_enable_fence_after_takeoff();
+#endif
 #if AP_LANDINGGEAR_ENABLED
         // optionally retract landing gear
         copter.landinggear.retract_after_takeoff();

ArduCopter/mode_land.cpp

@@ -41,11 +41,6 @@ bool ModeLand::init(bool ignore_checks)
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
-
 #if AC_PRECLAND_ENABLED
     // initialise precland state machine
     copter.precland_statemachine.init();