Merge branch 'master' into master

Author: YI-BOYANG

ArduPlane/Parameters.cpp

@@ -60,7 +60,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @DisplayName: GCS PID tuning mask
     // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
     // @User: Advanced
-    // @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing
+    // @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing,5:AccZ
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
     // @Param: KFF_RDDRMIX

Tools/AP_Periph/GCS_MAVLink.h

@@ -41,6 +41,7 @@ class GCS_MAVLINK_Periph : public GCS_MAVLINK
 
     void send_nav_controller_output() const override {};
     void send_pid_tuning() override {};
+    virtual uint8_t send_available_mode(uint8_t index) const override { return 0; }
 };
 
 /*

Tools/autotest/arducopter.py

@@ -9832,28 +9832,15 @@ def RefindGPS(self):
 
     def GPSForYaw(self):
         '''Moving baseline GPS yaw'''
-        self.context_push()
         self.load_default_params_file("copter-gps-for-yaw.parm")
         self.reboot_sitl()
-        ex = None
-        try:
-            self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
-            m = self.assert_receive_message("GPS2_RAW")
-            self.progress(self.dump_message_verbose(m))
-            want = 27000
-            if abs(m.yaw - want) > 500:
-                raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
-            self.wait_ready_to_arm()
-        except Exception as e:
-            self.print_exception_caught(e)
-            ex = e
 
-        self.context_pop()
-
-        self.reboot_sitl()
-
-        if ex is not None:
-            raise ex
+        self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
+        m = self.assert_receive_message("GPS2_RAW", very_verbose=True)
+        want = 27000
+        if abs(m.yaw - want) > 500:
+            raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
+        self.wait_ready_to_arm()
 
     def SMART_RTL_EnterLeave(self):
         '''check SmartRTL behaviour when entering/leaving'''

Tools/scripts/build_ci.sh

@@ -243,6 +243,10 @@ for t in $CI_BUILD_TARGET; do
         $waf configure --board FreeflyRTK
         $waf clean
         $waf AP_Periph
+        echo "Building CubeNode-ETH peripheral fw"
+        $waf configure --board CubeNode-ETH
+        $waf clean
+        $waf AP_Periph
         continue
     fi
 

libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat

@@ -147,6 +147,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 
 # Barometer setup
 BARO DPS310 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
 
 # IMU setup
 

libraries/AP_HAL_QURT/SPIDevice.cpp

@@ -67,6 +67,12 @@ bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
         return transfer_fullduplex(send, (uint8_t*) send, send_len);
     }
 
+    // Special case handling. This can happen when a send buffer is specified
+    // even though we are doing only a read.
+    if (send == recv && send_len == recv_len) {
+        return transfer_fullduplex(send, recv, send_len);
+    }
+
     // This is a read transaction
     uint8_t buf[send_len+recv_len];
     if (send_len > 0) {