Merge branch 'master' into master

ArduPilot · Nov 14, 2024 · e9b52bf · e9b52bf
2 parents 145e4d0 + f07df39
commit e9b52bf
Show file tree

Hide file tree

Showing 425 changed files with 21,735 additions and 5,112 deletions.
diff --git a/.github/workflows/colcon.yml b/.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}}

diff --git a/.github/workflows/cygwin_build.yml b/.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}}
@@ -188,8 +188,8 @@ jobs:
         shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
         run: >-
           ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
-          python -m pip install --progress-bar off empy==3.3.4 pexpect &&
-          python -m pip install --progress-bar off dronecan --upgrade &&
+          python3 -m pip install --progress-bar off empy==3.3.4 pexpect &&
+          python3 -m pip install --progress-bar off dronecan --upgrade &&
           cp /usr/bin/ccache /usr/local/bin/ &&
           cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&
           ln -s ccache /usr/local/bin/g++ &&

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
@@ -178,7 +178,7 @@ jobs:
           sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
           update-alternatives --query python
-          python --version
+          python3 --version
           pip3 install gevent
 
           # we actualy want 3.11 .. but the above only gave us 3.10, not ok with esp32 builds.
@@ -188,7 +188,7 @@ jobs:
           sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools
           update-alternatives --query python
           pip3 install gevent
-          python --version
+          python3 --version
           python3.11 --version
           which python3.11
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
@@ -229,7 +229,7 @@ jobs:
           ./install.sh
           source ./export.sh
           cd ../..
-          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
+          python3 -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
           which cmake
           ./waf configure --board ${{matrix.config}} 
           echo './waf configure --board ${{matrix.config}}' >> $GITHUB_STEP_SUMMARY  

diff --git a/.github/workflows/macos_build.yml b/.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}}

diff --git a/.github/workflows/qurt_build.yml b/.github/workflows/qurt_build.yml
@@ -157,6 +157,9 @@ jobs:
           cp -a build/QURT/bin/arducopter build/QURT/ArduPilot_Copter.so
           cp -a build/QURT/bin/arduplane build/QURT/ArduPilot_Plane.so
           cp -a build/QURT/bin/ardurover build/QURT/ArduPilot_Rover.so
+          libraries/AP_HAL_QURT/packaging/make_package.sh ArduCopter arducopter
+          libraries/AP_HAL_QURT/packaging/make_package.sh ArduPlane arduplane
+          libraries/AP_HAL_QURT/packaging/make_package.sh Rover ardurover
 
       - name: Archive build
         uses: actions/upload-artifact@v4
@@ -168,4 +171,5 @@ jobs:
             build/QURT/ArduPilot_Plane.so
             build/QURT/ArduPilot_Rover.so
             build/QURT/ArduPilot.so
+            libraries/AP_HAL_QURT/packaging/*.deb
           retention-days: 7
diff --git a/.github/workflows/test_chibios.yml b/.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}}

diff --git a/.github/workflows/test_coverage.yml b/.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}}

diff --git a/.github/workflows/test_dds.yml b/.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}}

diff --git a/.github/workflows/test_linux_sbc.yml b/.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}}

diff --git a/.github/workflows/test_replay.yml b/.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}}

diff --git a/.github/workflows/test_scripts.yml b/.github/workflows/test_scripts.yml
@@ -19,6 +19,7 @@ jobs:
             python-cleanliness,
             astyle-cleanliness,
             validate_board_list,
+            logger_metadata,
        ]
     steps:
       # git checkout the PR

diff --git a/.github/workflows/test_sitl_blimp.yml b/.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}}

diff --git a/.github/workflows/test_sitl_copter.yml b/.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}}

diff --git a/.github/workflows/test_sitl_periph.yml b/.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}}

diff --git a/.github/workflows/test_sitl_plane.yml b/.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}}

diff --git a/.github/workflows/test_sitl_rover.yml b/.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}}

diff --git a/.github/workflows/test_sitl_sub.yml b/.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}}

diff --git a/.github/workflows/test_sitl_tracker.yml b/.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}}

diff --git a/.github/workflows/test_size.yml b/.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}}

diff --git a/.github/workflows/test_unit_tests.yml b/.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}}

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
@@ -276,10 +276,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_NAV_CONTROLLER_OUTPUT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
 };
@@ -315,7 +321,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_BATTERY_STATUS,
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
-    MSG_NEXT_PARAM
+    MSG_NEXT_PARAM,
+    MSG_AVAILABLE_MODES
 };
 
 const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
@@ -643,3 +650,43 @@ void GCS_MAVLINK_Tracker::send_global_position_int()
         0,                        // Z speed cm/s (+ve Down)
         tracker.ahrs.yaw_sensor); // compass heading in 1/100 degree
 }
+
+// Send the mode with the given index (not mode number!) return the total number of modes
+// Index starts at 1
+uint8_t GCS_MAVLINK_Tracker::send_available_mode(uint8_t index) const
+{
+    const Mode* modes[] {
+        &tracker.mode_manual,
+        &tracker.mode_stop,
+        &tracker.mode_scan,
+        &tracker.mode_guided,
+        &tracker.mode_servotest,
+        &tracker.mode_auto,
+        &tracker.mode_initialising,
+    };
+
+    const uint8_t mode_count = ARRAY_SIZE(modes);
+
+    // Convert to zero indexed
+    const uint8_t index_zero = index - 1;
+    if (index_zero >= mode_count) {
+        // Mode does not exist!?
+        return mode_count;
+    }
+
+    // Ask the mode for its name and number
+    const char* name = modes[index_zero]->name();
+    const uint8_t mode_number = (uint8_t)modes[index_zero]->number();
+
+    mavlink_msg_available_modes_send(
+        chan,
+        mode_count,
+        index,
+        MAV_STANDARD_MODE::MAV_STANDARD_MODE_NON_STANDARD,
+        mode_number,
+        0, // MAV_MODE_PROPERTY bitmask
+        name
+    );
+
+    return mode_count;
+}
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
@@ -30,6 +30,10 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
 
+    // Send the mode with the given index (not mode number!) return the total number of modes
+    // Index starts at 1
+    uint8_t send_available_mode(uint8_t index) const override;
+
 private:
 
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;