From 9fb8a0f1ac5e6f00d94a938af023d62f60e40f93 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Fri, 2 Aug 2024 13:45:17 +0900 Subject: [PATCH 001/314] AC_PosControl: support 3D pos, vel, accel offsets Co-authored-by: Randy Mackay --- .../AC_AttitudeControl/AC_PosControl.cpp | 437 +++++++++++++----- libraries/AC_AttitudeControl/AC_PosControl.h | 145 ++++-- .../AC_PosControl_Logging.cpp | 61 ++- libraries/AC_AttitudeControl/LogStructure.h | 84 +++- 4 files changed, 572 insertions(+), 155 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index f08f36c70f83a..525b737b2e067 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -74,6 +74,9 @@ extern const AP_HAL::HAL& hal; #define POSCONTROL_VIBE_COMP_P_GAIN 0.250f #define POSCONTROL_VIBE_COMP_I_GAIN 0.125f +// velocity offset targets timeout if not updated within 3 seconds +#define POSCONTROL_POSVELACCEL_OFFSET_TARGET_TIMEOUT_MS 3000 + const AP_Param::GroupInfo AC_PosControl::var_info[] = { // 0 was used for HOVER @@ -358,30 +361,26 @@ AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav, /// The jerk limit defines the acceleration error decay in the kinematic path as the system approaches constant acceleration. /// The jerk limit also defines the time taken to achieve the maximum acceleration. /// The function alters the input velocity to be the velocity that the system could reach zero acceleration in the minimum time. -void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_offset_z, float pos_offset_z_buffer) +void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_terrain_target, float terrain_buffer) { // Terrain following velocity scalar must be calculated before we remove the position offset - const float offset_z_scaler = pos_offset_z_scaler(pos_offset_z, pos_offset_z_buffer); - - // remove terrain offsets for flat earth assumption - _pos_target.z -= _pos_offset_z; - _vel_desired.z -= _vel_offset_z; - _accel_desired.z -= _accel_offset_z; + const float offset_z_scaler = pos_offset_z_scaler(pos_terrain_target, terrain_buffer); + set_pos_terrain_target_cm(pos_terrain_target); // calculated increased maximum acceleration and jerk if over speed const float overspeed_gain = calculate_overspeed_gain(); const float accel_max_z_cmss = _accel_max_z_cmss * overspeed_gain; const float jerk_max_z_cmsss = _jerk_max_z_cmsss * overspeed_gain; - update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); + update_pos_vel_accel_xy(_pos_desired.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); // adjust desired altitude if motors have not hit their limits - update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); + update_pos_vel_accel(_pos_desired.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); // calculate the horizontal and vertical velocity limits to travel directly to the destination defined by pos float vel_max_xy_cms = 0.0f; float vel_max_z_cms = 0.0f; - Vector3f dest_vector = (pos - _pos_target).tofloat(); + Vector3f dest_vector = (pos - _pos_desired).tofloat(); if (is_positive(dest_vector.length_squared()) ) { dest_vector.normalize(); float dest_vector_xy_length = dest_vector.xy().length(); @@ -396,23 +395,15 @@ void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_offset_z, float Vector2f vel; Vector2f accel; - shape_pos_vel_accel_xy(pos.xy(), vel, accel, _pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), + shape_pos_vel_accel_xy(pos.xy(), vel, accel, _pos_desired.xy(), _vel_desired.xy(), _accel_desired.xy(), vel_max_xy_cms, _accel_max_xy_cmss, _jerk_max_xy_cmsss, _dt, false); float posz = pos.z; shape_pos_vel_accel(posz, 0, 0, - _pos_target.z, _vel_desired.z, _accel_desired.z, + _pos_desired.z, _vel_desired.z, _accel_desired.z, -vel_max_z_cms, vel_max_z_cms, -constrain_float(accel_max_z_cmss, 0.0f, 750.0f), accel_max_z_cmss, jerk_max_z_cmsss, _dt, false); - - // update the vertical position, velocity and acceleration offsets - update_pos_offset_z(pos_offset_z); - - // add terrain offsets - _pos_target.z += _pos_offset_z; - _vel_desired.z += _vel_offset_z; - _accel_desired.z += _accel_offset_z; } @@ -422,7 +413,7 @@ float AC_PosControl::pos_offset_z_scaler(float pos_offset_z, float pos_offset_z_ if (is_zero(pos_offset_z_buffer)) { return 1.0; } - float pos_offset_error_z = _inav.get_position_z_up_cm() - (_pos_target.z - _pos_offset_z + pos_offset_z); + float pos_offset_error_z = _inav.get_position_z_up_cm() - (_pos_target.z + (pos_offset_z - _pos_terrain)); return constrain_float((1.0 - (fabsf(pos_offset_error_z) - 0.5 * pos_offset_z_buffer) / (0.5 * pos_offset_z_buffer)), 0.01, 1.0); } @@ -466,12 +457,13 @@ void AC_PosControl::set_correction_speed_accel_xy(float speed_cms, float accel_c /// init_xy_controller_stopping_point - initialise the position controller to the stopping point with zero velocity and acceleration. /// This function should be used when the expected kinematic path assumes a stationary initial condition but does not specify a specific starting position. -/// The starting position can be retrieved by getting the position target using get_pos_target_cm() after calling this function. +/// The starting position can be retrieved by getting the position target using get_pos_desired_cm() after calling this function. void AC_PosControl::init_xy_controller_stopping_point() { init_xy_controller(); - get_stopping_point_xy_cm(_pos_target.xy()); + get_stopping_point_xy_cm(_pos_desired.xy()); + _pos_target.xy() = _pos_desired.xy() + _pos_offset.xy(); _vel_desired.xy().zero(); _accel_desired.xy().zero(); } @@ -496,6 +488,7 @@ void AC_PosControl::soften_for_landing_xy() // decay position error to zero if (is_positive(_dt)) { _pos_target.xy() += (_inav.get_position_xy_cm().topostype() - _pos_target.xy()) * (_dt / (_dt + POSCONTROL_RELAX_TC)); + _pos_desired.xy() = _pos_target.xy() - _pos_offset.xy(); } // Prevent I term build up in xy velocity controller. @@ -507,6 +500,9 @@ void AC_PosControl::soften_for_landing_xy() /// This function is the default initialisation for any position control that provides position, velocity and acceleration. void AC_PosControl::init_xy_controller() { + // initialise offsets to target offsets and ensure offset targets are zero if they have not been updated. + init_offsets_xy(); + // set roll, pitch lean angle targets to current attitude const Vector3f &att_target_euler_cd = _attitude_control.get_att_target_euler_cd(); _roll_target = att_target_euler_cd.x; @@ -516,10 +512,10 @@ void AC_PosControl::init_xy_controller() _angle_max_override_cd = 0.0; _pos_target.xy() = _inav.get_position_xy_cm().topostype(); + _pos_desired.xy() = _pos_target.xy() - _pos_offset.xy(); - const Vector2f &curr_vel = _inav.get_velocity_xy_cms(); - _vel_desired.xy() = curr_vel; - _vel_target.xy() = curr_vel; + _vel_target.xy() = _inav.get_velocity_xy_cms(); + _vel_desired.xy() = _vel_target.xy() - _vel_offset.xy(); // Set desired accel to zero because raw acceleration is prone to noise _accel_desired.xy().zero(); @@ -553,11 +549,8 @@ void AC_PosControl::init_xy_controller() /// The jerk limit also defines the time taken to achieve the maximum acceleration. void AC_PosControl::input_accel_xy(const Vector3f& accel) { - // check for ekf xy position reset - handle_ekf_xy_reset(); - - update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); - shape_accel_xy(accel, _accel_desired, _jerk_max_xy_cmsss, _dt); + update_pos_vel_accel_xy(_pos_desired.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); + shape_accel_xy(accel.xy(), _accel_desired.xy(), _jerk_max_xy_cmsss, _dt); } /// input_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration. @@ -567,7 +560,7 @@ void AC_PosControl::input_accel_xy(const Vector3f& accel) /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel, bool limit_output) { - update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); + update_pos_vel_accel_xy(_pos_desired.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); shape_vel_accel_xy(vel, accel, _vel_desired.xy(), _accel_desired.xy(), _accel_max_xy_cmss, _jerk_max_xy_cmsss, _dt, limit_output); @@ -582,29 +575,51 @@ void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel, boo /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. void AC_PosControl::input_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel, bool limit_output) { - update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); + update_pos_vel_accel_xy(_pos_desired.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); - shape_pos_vel_accel_xy(pos, vel, accel, _pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), + shape_pos_vel_accel_xy(pos, vel, accel, _pos_desired.xy(), _vel_desired.xy(), _accel_desired.xy(), _vel_max_xy_cms, _accel_max_xy_cmss, _jerk_max_xy_cmsss, _dt, limit_output); update_pos_vel_accel_xy(pos, vel, accel, _dt, Vector2f(), Vector2f(), Vector2f()); } +/// update the horizontal position and velocity offsets +/// this moves the offsets (e.g _pos_offset, _vel_offset, _accel_offset) towards the targets (e.g. _pos_offset_target, _vel_offset_target, _accel_offset_target) +void AC_PosControl::update_offsets_xy() +{ + // check for offset target timeout + uint32_t now_ms = AP_HAL::millis(); + if (now_ms - _posvelaccel_offset_target_xy_ms > POSCONTROL_POSVELACCEL_OFFSET_TARGET_TIMEOUT_MS) { + _pos_offset_target.xy().zero(); + _vel_offset_target.xy().zero(); + _accel_offset_target.xy().zero(); + } + + // update position, velocity, accel offsets for this iteration + update_pos_vel_accel_xy(_pos_offset_target.xy(), _vel_offset_target.xy(), _accel_offset_target.xy(), _dt, Vector2f(), Vector2f(), Vector2f()); + update_pos_vel_accel_xy(_pos_offset.xy(), _vel_offset.xy(), _accel_offset.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); + + // input shape horizontal position, velocity and acceleration offsets + shape_pos_vel_accel_xy(_pos_offset_target.xy(), _vel_offset_target.xy(), _accel_offset_target.xy(), + _pos_offset.xy(), _vel_offset.xy(), _accel_offset.xy(), + _vel_max_xy_cms, _accel_max_xy_cmss, _jerk_max_xy_cmsss, _dt, false); +} + /// stop_pos_xy_stabilisation - sets the target to the current position to remove any position corrections from the system void AC_PosControl::stop_pos_xy_stabilisation() { _pos_target.xy() = _inav.get_position_xy_cm().topostype(); + _pos_desired.xy() = _pos_target.xy() - _pos_offset.xy(); } /// stop_vel_xy_stabilisation - sets the target to the current position and velocity to the current velocity to remove any position and velocity corrections from the system void AC_PosControl::stop_vel_xy_stabilisation() { _pos_target.xy() = _inav.get_position_xy_cm().topostype(); - - const Vector2f &curr_vel = _inav.get_velocity_xy_cms(); - _vel_desired.xy() = curr_vel; - // with zero position error _vel_target = _vel_desired - _vel_target.xy() = curr_vel; + _pos_desired.xy() = _pos_target.xy() - _pos_offset.xy(); + + _vel_target.xy() = _inav.get_velocity_xy_cms();; + _vel_desired.xy() = _vel_target.xy() - _vel_offset.xy(); // initialise I terms from lean angles _pid_vel_xy.reset_filter(); @@ -640,37 +655,44 @@ void AC_PosControl::update_xy_controller() float ahrsGndSpdLimit, ahrsControlScaleXY; AP::ahrs().getControlLimits(ahrsGndSpdLimit, ahrsControlScaleXY); + // update the position, velocity and acceleration offsets + update_offsets_xy(); + // Position Controller - const Vector3f &curr_pos = _inav.get_position_neu_cm(); + _pos_target.xy() = _pos_desired.xy() + _pos_offset.xy(); + // determine the combined position of the actual position and the disturbance from system ID mode + const Vector3f &curr_pos = _inav.get_position_neu_cm(); Vector3f comb_pos = curr_pos; comb_pos.xy() += _disturb_pos; + Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, comb_pos); + _pos_desired.xy() = _pos_target.xy() - _pos_offset.xy(); + + // Velocity Controller // add velocity feed-forward scaled to compensate for optical flow measurement induced EKF noise vel_target *= ahrsControlScaleXY; - _vel_target.xy() = vel_target; - _vel_target.xy() += _vel_desired.xy(); - // Velocity Controller + _vel_target.xy() = vel_target; + _vel_target.xy() += _vel_desired.xy() + _vel_offset.xy(); - const Vector2f &curr_vel = _inav.get_velocity_xy_cms(); // determine the combined velocity of the actual velocity and the disturbance from system ID mode + const Vector2f &curr_vel = _inav.get_velocity_xy_cms(); Vector2f comb_vel = curr_vel; comb_vel += _disturb_vel; + Vector2f accel_target = _pid_vel_xy.update_all(_vel_target.xy(), comb_vel, _dt, _limit_vector.xy()); + + // Acceleration Controller // acceleration to correct for velocity error and scale PID output to compensate for optical flow measurement induced EKF noise accel_target *= ahrsControlScaleXY; // pass the correction acceleration to the target acceleration output _accel_target.xy() = accel_target; - - // Add feed forward into the target acceleration output - _accel_target.xy() += _accel_desired.xy(); - - // Acceleration Controller + _accel_target.xy() += _accel_desired.xy() + _accel_offset.xy(); // limit acceleration using maximum lean angles float angle_max = MIN(_attitude_control.get_althold_lean_angle_max_cd(), get_lean_angle_max_cd()); @@ -693,6 +715,7 @@ void AC_PosControl::update_xy_controller() accel_to_lean_angles(_accel_target.x, _accel_target.y, _roll_target, _pitch_target); calculate_yaw_and_rate_yaw(); + // reset the disturbance from system ID mode to zero _disturb_pos.zero(); _disturb_vel.zero(); } @@ -751,10 +774,14 @@ void AC_PosControl::init_z_controller_no_descent() init_z_controller(); // remove all descent if present - _vel_desired.z = MAX(0.0, _vel_desired.z); _vel_target.z = MAX(0.0, _vel_target.z); - _accel_desired.z = MAX(0.0, _accel_desired.z); + _vel_desired.z = MAX(0.0, _vel_desired.z); + _vel_terrain = MAX(0.0, _vel_terrain); + _vel_offset.z = MAX(0.0, _vel_offset.z); _accel_target.z = MAX(0.0, _accel_target.z); + _accel_desired.z = MAX(0.0, _accel_desired.z); + _accel_terrain = MAX(0.0, _accel_terrain); + _accel_offset.z = MAX(0.0, _accel_offset.z); } /// init_z_controller_stopping_point - initialise the position controller to the stopping point with zero velocity and acceleration. @@ -765,7 +792,8 @@ void AC_PosControl::init_z_controller_stopping_point() // Initialise the position controller to the current throttle, position, velocity and acceleration. init_z_controller(); - get_stopping_point_z_cm(_pos_target.z); + get_stopping_point_z_cm(_pos_desired.z); + _pos_target.z = _pos_desired.z + _pos_offset.z; _vel_desired.z = 0.0f; _accel_desired.z = 0.0f; } @@ -787,28 +815,26 @@ void AC_PosControl::relax_z_controller(float throttle_setting) /// This function is private and contains all the shared z axis initialisation functions void AC_PosControl::init_z_controller() { + // initialise terrain targets and offsets to zero + init_terrain(); + + // initialise offsets to target offsets and ensure offset targets are zero if they have not been updated. + init_offsets_z(); + _pos_target.z = _inav.get_position_z_up_cm(); + _pos_desired.z = _pos_target.z - _pos_offset.z; - const float curr_vel_z = _inav.get_velocity_z_up_cms(); - _vel_desired.z = curr_vel_z; - // with zero position error _vel_target = _vel_desired - _vel_target.z = curr_vel_z; + _vel_target.z = _inav.get_velocity_z_up_cms(); + _vel_desired.z = _vel_target.z - _vel_offset.z; // Reset I term of velocity PID _pid_vel_z.reset_filter(); _pid_vel_z.set_integrator(0.0f); - _accel_desired.z = constrain_float(get_z_accel_cmss(), -_accel_max_z_cmss, _accel_max_z_cmss); - // with zero position error _accel_target = _accel_desired - _accel_target.z = _accel_desired.z; + _accel_target.z = constrain_float(get_z_accel_cmss(), -_accel_max_z_cmss, _accel_max_z_cmss); + _accel_desired.z = _accel_target.z - (_accel_offset.z + _accel_terrain); _pid_accel_z.reset_filter(); - // initialise vertical offsets - _pos_offset_target_z = 0.0; - _pos_offset_z = 0.0; - _vel_offset_z = 0.0; - _accel_offset_z = 0.0; - // Set accel PID I term based on the current throttle // Remove the expected P term due to _accel_desired.z being constrained to _accel_max_z_cmss // Remove the expected FF term due to non-zero _accel_target.z @@ -831,7 +857,7 @@ void AC_PosControl::input_accel_z(float accel) float jerk_max_z_cmsss = _jerk_max_z_cmsss * calculate_overspeed_gain(); // adjust desired alt if motors have not hit their limits - update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); + update_pos_vel_accel(_pos_desired.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); shape_accel(accel, _accel_desired.z, jerk_max_z_cmsss, _dt); } @@ -848,7 +874,7 @@ void AC_PosControl::input_vel_accel_z(float &vel, float accel, bool limit_output const float jerk_max_z_cmsss = _jerk_max_z_cmsss * overspeed_gain; // adjust desired alt if motors have not hit their limits - update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); + update_pos_vel_accel(_pos_desired.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); shape_vel_accel(vel, accel, _vel_desired.z, _accel_desired.z, @@ -863,21 +889,7 @@ void AC_PosControl::input_vel_accel_z(float &vel, float accel, bool limit_output /// The zero target altitude is varied to follow pos_offset_z void AC_PosControl::set_pos_target_z_from_climb_rate_cm(float vel) { - // remove terrain offsets for flat earth assumption - _pos_target.z -= _pos_offset_z; - _vel_desired.z -= _vel_offset_z; - _accel_desired.z -= _accel_offset_z; - - float vel_temp = vel; - input_vel_accel_z(vel_temp, 0.0); - - // update the vertical position, velocity and acceleration offsets - update_pos_offset_z(_pos_offset_target_z); - - // add terrain offsets - _pos_target.z += _pos_offset_z; - _vel_desired.z += _vel_offset_z; - _accel_desired.z += _accel_offset_z; + input_vel_accel_z(vel, 0.0); } /// land_at_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s @@ -906,10 +918,10 @@ void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, b const float jerk_max_z_cmsss = _jerk_max_z_cmsss * overspeed_gain; // adjust desired altitude if motors have not hit their limits - update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); + update_pos_vel_accel(_pos_desired.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); shape_pos_vel_accel(pos, vel, accel, - _pos_target.z, _vel_desired.z, _accel_desired.z, + _pos_desired.z, _vel_desired.z, _accel_desired.z, _vel_max_down_cms, _vel_max_up_cms, -constrain_float(accel_max_z_cmss, 0.0f, 750.0f), accel_max_z_cmss, jerk_max_z_cmsss, _dt, limit_output); @@ -927,19 +939,32 @@ void AC_PosControl::set_alt_target_with_slew(float pos) input_pos_vel_accel_z(pos, zero, 0); } -/// update_pos_offset_z - updates the vertical offsets used by terrain following -void AC_PosControl::update_pos_offset_z(float pos_offset_z) +/// update_offsets_z - updates the vertical offsets used by terrain following +void AC_PosControl::update_offsets_z() { - postype_t p_offset_z = _pos_offset_z; - update_pos_vel_accel(p_offset_z, _vel_offset_z, _accel_offset_z, _dt, MIN(_limit_vector.z, 0.0f), _p_pos_z.get_error(), _pid_vel_z.get_error()); - _pos_offset_z = p_offset_z; + // check for offset target timeout + uint32_t now_ms = AP_HAL::millis(); + if (now_ms - _posvelaccel_offset_target_z_ms > POSCONTROL_POSVELACCEL_OFFSET_TARGET_TIMEOUT_MS) { + _pos_offset_target.z = 0.0; + _vel_offset_target.z = 0.0; + _accel_offset_target.z = 0.0; + } + + // update position, velocity, accel offsets for this iteration + postype_t p_offset_z = _pos_offset.z; + update_pos_vel_accel(p_offset_z, _vel_offset.z, _accel_offset.z, _dt, MIN(_limit_vector.z, 0.0f), _p_pos_z.get_error(), _pid_vel_z.get_error()); + _pos_offset.z = p_offset_z; - // input shape the terrain offset - shape_pos_vel_accel(pos_offset_z, 0.0f, 0.0f, - _pos_offset_z, _vel_offset_z, _accel_offset_z, + // input shape vertical position, velocity and acceleration offsets + shape_pos_vel_accel(_pos_offset_target.z, _vel_offset_target.z, _accel_offset_target.z, + _pos_offset.z, _vel_offset.z, _accel_offset.z, get_max_speed_down_cms(), get_max_speed_up_cms(), -get_max_accel_z_cmss(), get_max_accel_z_cmss(), _jerk_max_z_cmsss, _dt, false); + + p_offset_z = _pos_offset_target.z; + update_pos_vel_accel(p_offset_z, _vel_offset_target.z, _accel_offset_target.z, _dt, 0.0, 0.0, 0.0); + _pos_offset_target.z = p_offset_z; } // is_active_z - returns true if the z position controller has been run in the previous loop @@ -968,6 +993,11 @@ void AC_PosControl::update_z_controller() } _last_update_z_ticks = AP::scheduler().ticks32(); + // update the position, velocity and acceleration offsets + update_offsets_z(); + update_terrain(); + _pos_target.z = _pos_desired.z + _pos_offset.z + _pos_terrain; + // calculate the target velocity correction float pos_target_zf = _pos_target.z; @@ -975,9 +1005,10 @@ void AC_PosControl::update_z_controller() _vel_target.z *= AP::ahrs().getControlScaleZ(); _pos_target.z = pos_target_zf; + _pos_desired.z = _pos_target.z - (_pos_offset.z + _pos_terrain); // add feed forward component - _vel_target.z += _vel_desired.z; + _vel_target.z += _vel_desired.z + _vel_offset.z + _vel_terrain; // Velocity Controller @@ -986,7 +1017,7 @@ void AC_PosControl::update_z_controller() _accel_target.z *= AP::ahrs().getControlScaleZ(); // add feed forward component - _accel_target.z += _accel_desired.z; + _accel_target.z += _accel_desired.z + _accel_offset.z + _accel_terrain; // Acceleration Controller @@ -1045,18 +1076,18 @@ float AC_PosControl::get_lean_angle_max_cd() const return _lean_angle_max * 100.0f; } -/// set position, velocity and acceleration targets +/// set the desired position, velocity and acceleration targets void AC_PosControl::set_pos_vel_accel(const Vector3p& pos, const Vector3f& vel, const Vector3f& accel) { - _pos_target = pos; + _pos_desired = pos; _vel_desired = vel; _accel_desired = accel; } -/// set position, velocity and acceleration targets +/// set the desired position, velocity and acceleration targets void AC_PosControl::set_pos_vel_accel_xy(const Vector2p& pos, const Vector2f& vel, const Vector2f& accel) { - _pos_target.xy() = pos; + _pos_desired.xy() = pos; _vel_desired.xy() = vel; _accel_desired.xy() = accel; } @@ -1079,6 +1110,136 @@ Vector3f AC_PosControl::lean_angles_to_accel(const Vector3f& att_target_euler) c }; } +/// Terrain + +/// set the terrain position, velocity and acceleration in cm, cms and cm/s/s from EKF origin in NE frame +/// this is used to initiate the offsets when initialise the position controller or do an offset reset +void AC_PosControl::init_terrain() +{ + // set terrain position and target to zero + _pos_terrain_target = 0.0; + _pos_terrain = 0.0; + + // set velocity offset to zero + _vel_terrain = 0.0; + + // set acceleration offset to zero + _accel_terrain = 0.0; +} + +// init_pos_terrain_cm - initialises the current terrain altitude and target altitude to pos_offset_terrain_cm +void AC_PosControl::init_pos_terrain_cm(float pos_terrain_cm) +{ + _pos_desired.z -= (pos_terrain_cm - _pos_terrain); + _pos_terrain_target = pos_terrain_cm; + _pos_terrain = pos_terrain_cm; +} + + +/// Offsets + +/// set the horizontal position, velocity and acceleration offsets in cm, cms and cm/s/s from EKF origin in NE frame +/// this is used to initiate the offsets when initialise the position controller or do an offset reset +void AC_PosControl::init_offsets_xy() +{ + // check for offset target timeout + uint32_t now_ms = AP_HAL::millis(); + if (now_ms - _posvelaccel_offset_target_xy_ms > POSCONTROL_POSVELACCEL_OFFSET_TARGET_TIMEOUT_MS) { + _pos_offset_target.xy().zero(); + _vel_offset_target.xy().zero(); + _accel_offset_target.xy().zero(); + } + + // set position offset to target + _pos_offset.xy() = _pos_offset_target.xy(); + + // set velocity offset to target + _vel_offset.xy() = _vel_offset_target.xy(); + + // set acceleration offset to target + _accel_offset.xy() = _accel_offset_target.xy(); +} + +/// set the horizontal position, velocity and acceleration offsets in cm, cms and cm/s/s from EKF origin in NE frame +/// this is used to initiate the offsets when initialise the position controller or do an offset reset +void AC_PosControl::init_offsets_z() +{ + // check for offset target timeout + uint32_t now_ms = AP_HAL::millis(); + if (now_ms - _posvelaccel_offset_target_z_ms > POSCONTROL_POSVELACCEL_OFFSET_TARGET_TIMEOUT_MS) { + _pos_offset_target.z = 0.0; + _vel_offset_target.z = 0.0; + _accel_offset_target.z = 0.0; + } + // set position offset to target + _pos_offset.z = _pos_offset_target.z; + + // set velocity offset to target + _vel_offset.z = _vel_offset_target.z; + + // set acceleration offset to target + _accel_offset.z = _accel_offset_target.z; +} + +#if AP_SCRIPTING_ENABLED +// add an additional offset to vehicle's target position, velocity and acceleration +// units are m, m/s and m/s/s in NED frame +// Z-axis is not currently supported and is ignored +bool AC_PosControl::set_posvelaccel_offset(const Vector3f &pos_offset_NED, const Vector3f &vel_offset_NED, const Vector3f &accel_offset_NED) +{ + set_posvelaccel_offset_target_xy_cm(pos_offset_NED.topostype().xy() * 100.0, vel_offset_NED.xy() * 100.0, accel_offset_NED.xy() * 100.0); + set_posvelaccel_offset_target_z_cm(-pos_offset_NED.topostype().z * 100.0, -vel_offset_NED.z * 100, -accel_offset_NED.z * 100.0); + return true; +} + +// get position and velocity offset to vehicle's target velocity and acceleration +// units are m and m/s in NED frame +bool AC_PosControl::get_posvelaccel_offset(Vector3f &pos_offset_NED, Vector3f &vel_offset_NED, Vector3f &accel_offset_NED) +{ + pos_offset_NED.xy() = _pos_offset_target.xy().tofloat() * 0.01; + pos_offset_NED.z = -_pos_offset_target.z * 0.01; + vel_offset_NED.xy() = _vel_offset_target.xy() * 0.01; + vel_offset_NED.z = -_vel_offset_target.z * 0.01; + accel_offset_NED.xy() = _accel_offset_target.xy() * 0.01; + accel_offset_NED.z = -_accel_offset_target.z * 0.01; + return true; +} +#endif + +/// set the horizontal position, velocity and acceleration offset targets in cm, cms and cm/s/s from EKF origin in NE frame +/// these must be set every 3 seconds (or less) or they will timeout and return to zero +void AC_PosControl::set_posvelaccel_offset_target_xy_cm(const Vector2p& pos_offset_target_xy_cm, const Vector2f& vel_offset_target_xy_cms, const Vector2f& accel_offset_target_xy_cmss) +{ + // set position offset target + _pos_offset_target.xy() = pos_offset_target_xy_cm; + + // set velocity offset target + _vel_offset_target.xy() = vel_offset_target_xy_cms; + + // set acceleration offset target + _accel_offset_target.xy() = accel_offset_target_xy_cmss; + + // record time of update so we can detect timeouts + _posvelaccel_offset_target_xy_ms = AP_HAL::millis(); +} + +/// set the vertical position, velocity and acceleration offset targets in cm, cms and cm/s/s from EKF origin in NE frame +/// these must be set every 3 seconds (or less) or they will timeout and return to zero +void AC_PosControl::set_posvelaccel_offset_target_z_cm(float pos_offset_target_z_cm, float vel_offset_target_z_cms, const float accel_offset_target_z_cmss) +{ + // set position offset target + _pos_offset_target.z = pos_offset_target_z_cm; + + // set velocity offset target + _vel_offset_target.z = vel_offset_target_z_cms; + + // set acceleration offset target + _accel_offset_target.z = accel_offset_target_z_cmss; + + // record time of update so we can detect timeouts + _posvelaccel_offset_target_z_ms = AP_HAL::millis(); +} + // returns the NED target acceleration vector for attitude control Vector3f AC_PosControl::get_thrust_vector() const { @@ -1091,10 +1252,12 @@ Vector3f AC_PosControl::get_thrust_vector() const /// function does not change the z axis void AC_PosControl::get_stopping_point_xy_cm(Vector2p &stopping_point) const { + // todo: we should use the current target position and velocity if we are currently running the position controller stopping_point = _inav.get_position_xy_cm().topostype(); - float kP = _p_pos_xy.kP(); + stopping_point -= _pos_offset.xy(); Vector2f curr_vel = _inav.get_velocity_xy_cms(); + curr_vel -= _vel_offset.xy(); // calculate current velocity float vel_total = curr_vel.length(); @@ -1102,7 +1265,8 @@ void AC_PosControl::get_stopping_point_xy_cm(Vector2p &stopping_point) const if (!is_positive(vel_total)) { return; } - + + float kP = _p_pos_xy.kP(); const float stopping_dist = stopping_distance(constrain_float(vel_total, 0.0, _vel_max_xy_cms), kP, _accel_max_xy_cmss); if (!is_positive(stopping_dist)) { return; @@ -1116,7 +1280,11 @@ void AC_PosControl::get_stopping_point_xy_cm(Vector2p &stopping_point) const /// get_stopping_point_z_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration void AC_PosControl::get_stopping_point_z_cm(postype_t &stopping_point) const { - const float curr_pos_z = _inav.get_position_z_up_cm(); + float curr_pos_z = _inav.get_position_z_up_cm(); + curr_pos_z -= _pos_offset.z; + + float curr_vel_z = _inav.get_velocity_z_up_cms(); + curr_vel_z -= _vel_offset.z; // avoid divide by zero by using current position if kP is very low or acceleration is zero if (!is_positive(_p_pos_z.kP()) || !is_positive(_accel_max_z_cmss)) { @@ -1124,7 +1292,7 @@ void AC_PosControl::get_stopping_point_z_cm(postype_t &stopping_point) const return; } - stopping_point = curr_pos_z + constrain_float(stopping_distance(_inav.get_velocity_z_up_cms(), _p_pos_z.kP(), _accel_max_z_cmss), - POSCONTROL_STOPPING_DIST_DOWN_MAX, POSCONTROL_STOPPING_DIST_UP_MAX); + stopping_point = curr_pos_z + constrain_float(stopping_distance(curr_vel_z, _p_pos_z.kP(), _accel_max_z_cmss), - POSCONTROL_STOPPING_DIST_DOWN_MAX, POSCONTROL_STOPPING_DIST_UP_MAX); } /// get_bearing_to_target_cd - get bearing to target position in centi-degrees @@ -1176,18 +1344,32 @@ void AC_PosControl::write_log() if (is_active_xy()) { float accel_x, accel_y; lean_angles_to_accel_xy(accel_x, accel_y); - Write_PSCN(get_pos_target_cm().x, _inav.get_position_neu_cm().x, - get_vel_desired_cms().x, get_vel_target_cms().x, _inav.get_velocity_neu_cms().x, - _accel_desired.x, get_accel_target_cmss().x, accel_x); - Write_PSCE(get_pos_target_cm().y, _inav.get_position_neu_cm().y, - get_vel_desired_cms().y, get_vel_target_cms().y, _inav.get_velocity_neu_cms().y, - _accel_desired.y, get_accel_target_cmss().y, accel_y); + Write_PSCN(_pos_desired.x, _pos_target.x, _inav.get_position_neu_cm().x, + _vel_desired.x, _vel_target.x, _inav.get_velocity_neu_cms().x, + _accel_desired.x, _accel_target.x, accel_x); + Write_PSCE(_pos_desired.y, _pos_target.y, _inav.get_position_neu_cm().y, + _vel_desired.y, _vel_target.y, _inav.get_velocity_neu_cms().y, + _accel_desired.y, _accel_target.y, accel_y); + + // log offsets if they are being used + if (!_pos_offset.xy().is_zero()) { + Write_PSON(_pos_offset_target.x, _pos_offset.x, _vel_offset_target.x, _vel_offset.x, _accel_offset_target.x, _accel_offset.x); + Write_PSOE(_pos_offset_target.y, _pos_offset.y, _vel_offset_target.y, _vel_offset.y, _accel_offset_target.y, _accel_offset.y); + } } if (is_active_z()) { - Write_PSCD(-get_pos_target_cm().z, -_inav.get_position_z_up_cm(), - -get_vel_desired_cms().z, -get_vel_target_cms().z, -_inav.get_velocity_z_up_cms(), - -_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss()); + Write_PSCD(-_pos_desired.z, -_pos_target.z, -_inav.get_position_z_up_cm(), + -_vel_desired.z, -_vel_target.z, -_inav.get_velocity_z_up_cms(), + -_accel_desired.z, -_accel_target.z, -get_z_accel_cmss()); + + // log down and terrain offsets if they are being used + if (!is_zero(_pos_offset.z)) { + Write_PSOD(-_pos_offset_target.z, -_pos_offset.z, -_vel_offset_target.z, -_vel_offset.z, -_accel_offset_target.z, -_accel_offset.z); + } + if (!is_zero(_pos_terrain)) { + Write_PSOT(-_pos_terrain_target, -_pos_terrain, 0, -_vel_terrain, 0, -_accel_terrain); + } } } #endif // HAL_LOGGING_ENABLED @@ -1213,6 +1395,27 @@ float AC_PosControl::crosstrack_error() const /// private methods /// +/// Terrain + +/// update_z_offsets - updates the vertical offsets used by terrain following +void AC_PosControl::update_terrain() +{ + // update position, velocity, accel offsets for this iteration + postype_t pos_terrain = _pos_terrain; + update_pos_vel_accel(pos_terrain, _vel_terrain, _accel_terrain, _dt, MIN(_limit_vector.z, 0.0f), _p_pos_z.get_error(), _pid_vel_z.get_error()); + _pos_terrain = pos_terrain; + + // input shape horizontal position, velocity and acceleration offsets + shape_pos_vel_accel(_pos_terrain_target, 0.0, 0.0, + _pos_terrain, _vel_terrain, _accel_terrain, + get_max_speed_down_cms(), get_max_speed_up_cms(), + -get_max_accel_z_cmss(), get_max_accel_z_cmss(), + _jerk_max_z_cmsss, _dt, false); + + // we do not have to update _pos_terrain_target because we assume the target velocity and acceleration are zero + // if we know how fast the terain altitude is changing we would add update_pos_vel_accel for _pos_terrain_target here +} + // get_lean_angles_to_accel - convert roll, pitch lean angles to NE frame accelerations in cm/s/s void AC_PosControl::accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const { @@ -1294,8 +1497,14 @@ void AC_PosControl::handle_ekf_xy_reset() uint32_t reset_ms = _ahrs.getLastPosNorthEastReset(pos_shift); if (reset_ms != _ekf_xy_reset_ms) { + // ToDo: move EKF steps into the offsets for modes setting absolute position and velocity + // for this we need some sort of switch to select what type of EKF handling we want to use + + // To zero real position shift during relative position modes like Loiter, PosHold, Guided velocity and accleration control. _pos_target.xy() = (_inav.get_position_xy_cm() + _p_pos_xy.get_error()).topostype(); + _pos_desired.xy() = _pos_target.xy() - _pos_offset.xy(); _vel_target.xy() = _inav.get_velocity_xy_cms() + _pid_vel_xy.get_error(); + _vel_desired.xy() = _vel_target.xy() - _vel_offset.xy(); _ekf_xy_reset_ms = reset_ms; } @@ -1316,8 +1525,14 @@ void AC_PosControl::handle_ekf_z_reset() uint32_t reset_ms = _ahrs.getLastPosDownReset(alt_shift); if (reset_ms != 0 && reset_ms != _ekf_z_reset_ms) { + // ToDo: move EKF steps into the offsets for modes setting absolute position and velocity + // for this we need some sort of switch to select what type of EKF handling we want to use + + // To zero real position shift during relative position modes like Loiter, PosHold, Guided velocity and accleration control. _pos_target.z = _inav.get_position_z_up_cm() + _p_pos_z.get_error(); + _pos_desired.z = _pos_target.z - (_pos_offset.z + _pos_terrain); _vel_target.z = _inav.get_velocity_z_up_cms() + _pid_vel_z.get_error(); + _vel_desired.z = _vel_target.z - (_vel_offset.z + _vel_terrain); _ekf_z_reset_ms = reset_ms; } diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index 0681900efad95..bdfb977c055d6 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -11,6 +11,7 @@ #include // PID library (1-axis) #include // PID library (2-axis) #include // Inertial Navigation library +#include #include "AC_AttitudeControl.h" // Attitude control library #include @@ -52,7 +53,7 @@ class AC_PosControl float get_dt() const { return _dt; } /// get_shaping_jerk_xy_cmsss - gets the jerk limit of the xy kinematic path generation in cm/s/s/s - float get_shaping_jerk_xy_cmsss() const { return _shaping_jerk_xy*100.0; } + float get_shaping_jerk_xy_cmsss() const { return _shaping_jerk_xy * 100.0; } /// @@ -62,7 +63,7 @@ class AC_PosControl /// input_pos_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_xy. - void input_pos_xyz(const Vector3p& pos, float pos_offset_z, float pos_offset_z_buffer); + void input_pos_xyz(const Vector3p& pos, float pos_terrain_target, float terrain_buffer); /// pos_offset_z_scaler - calculates a multiplier used to reduce the horizontal velocity to allow the z position controller to stay within the provided buffer range float pos_offset_z_scaler(float pos_offset_z, float pos_offset_z_buffer) const; @@ -225,9 +226,6 @@ class AC_PosControl /// using the default position control kinematic path. void set_alt_target_with_slew(float pos); - /// update_pos_offset_z - updates the vertical offsets used by terrain following - void update_pos_offset_z(float pos_offset); - // is_active_z - returns true if the z position controller has been run in the previous 5 loop times bool is_active_z() const; @@ -250,32 +248,44 @@ class AC_PosControl /// Position - /// set_pos_target_xy_cm - sets the position target, frame NEU in cm relative to the EKF origin - void set_pos_target_xy_cm(float pos_x, float pos_y) { _pos_target.x = pos_x; _pos_target.y = pos_y; } - /// get_pos_target_cm - returns the position target, frame NEU in cm relative to the EKF origin const Vector3p& get_pos_target_cm() const { return _pos_target; } - /// set_pos_target_z_cm - set altitude target in cm above the EKF origin - void set_pos_target_z_cm(float pos_target) { _pos_target.z = pos_target; } + /// set_pos_desired_xy_cm - sets the position target, frame NEU in cm relative to the EKF origin + void set_pos_desired_xy_cm(const Vector2f& pos) { _pos_desired.xy() = pos.topostype(); } + + /// get_pos_desired_cm - returns the position desired, frame NEU in cm relative to the EKF origin + const Vector3p& get_pos_desired_cm() const { return _pos_desired; } /// get_pos_target_z_cm - get target altitude (in cm above the EKF origin) float get_pos_target_z_cm() const { return _pos_target.z; } + /// set_pos_desired_z_cm - set altitude target in cm above the EKF origin + void set_pos_desired_z_cm(float pos_z) { _pos_desired.z = pos_z; } + + /// get_pos_desired_z_cm - get target altitude (in cm above the EKF origin) + float get_pos_desired_z_cm() const { return _pos_desired.z; } + + + /// Stopping Point + /// get_stopping_point_xy_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration void get_stopping_point_xy_cm(Vector2p &stopping_point) const; /// get_stopping_point_z_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration void get_stopping_point_z_cm(postype_t &stopping_point) const; + + /// Position Error + /// get_pos_error_cm - get position error vector between the current and target position - const Vector3f get_pos_error_cm() const { return (_pos_target - _inav.get_position_neu_cm().topostype()).tofloat(); } + const Vector3f get_pos_error_cm() const { return Vector3f(_p_pos_xy.get_error().x, _p_pos_xy.get_error().y, _p_pos_z.get_error()); } /// get_pos_error_xy_cm - get the length of the position error vector in the xy plane - float get_pos_error_xy_cm() const { return get_horizontal_distance_cm(_inav.get_position_xy_cm().topostype(), _pos_target.xy()); } + float get_pos_error_xy_cm() const { return _p_pos_xy.get_error().length(); } /// get_pos_error_z_cm - returns altitude error in cm - float get_pos_error_z_cm() const { return (_pos_target.z - _inav.get_position_z_up_cm()); } + float get_pos_error_z_cm() const { return _p_pos_z.get_error(); } /// Velocity @@ -286,7 +296,7 @@ class AC_PosControl /// set_vel_desired_xy_cms - sets horizontal desired velocity in NEU cm/s void set_vel_desired_xy_cms(const Vector2f &vel) {_vel_desired.xy() = vel; } - /// get_vel_desired_cms - returns desired velocity (i.e. feed forward) in cm/s in NEU + /// get_vel_desired_cms - returns desired velocity in cm/s in NEU const Vector3f& get_vel_desired_cms() { return _vel_desired; } // get_vel_target_cms - returns the target velocity in NEU cm/s @@ -301,30 +311,56 @@ class AC_PosControl /// Acceleration - // set_accel_desired_xy_cmss set desired acceleration in cm/s in xy axis + // set_accel_desired_xy_cmss - set desired acceleration in cm/s in xy axis void set_accel_desired_xy_cmss(const Vector2f &accel_cms) { _accel_desired.xy() = accel_cms; } // get_accel_target_cmss - returns the target acceleration in NEU cm/s/s const Vector3f& get_accel_target_cmss() const { return _accel_target; } + /// Terrain + + // set_pos_terrain_target_cm - set target terrain altitude in cm + void set_pos_terrain_target_cm(float pos_terrain_target) {_pos_terrain_target = pos_terrain_target;} + + // init_pos_terrain_cm - initialises the current terrain altitude and target altitude to pos_offset_terrain_cm + void init_pos_terrain_cm(float pos_offset_terrain_cm); + + // get_pos_terrain_cm - returns the current terrain altitude in cm + float get_pos_terrain_cm() { return _pos_terrain; } + + /// Offset - /// set_pos_offset_target_z_cm - set altitude offset target in cm above the EKF origin - void set_pos_offset_target_z_cm(float pos_offset_target_z) { _pos_offset_target_z = pos_offset_target_z; } +#if AP_SCRIPTING_ENABLED + // position, velocity and acceleration offset target (only used by scripting) + // gets or sets an additional offset to the vehicle's target position, velocity and acceleration + // units are m, m/s and m/s/s in NED frame + bool set_posvelaccel_offset(const Vector3f &pos_offset_NED, const Vector3f &vel_offset_NED, const Vector3f &accel_offset_NED); + bool get_posvelaccel_offset(Vector3f &pos_offset_NED, Vector3f &vel_offset_NED, Vector3f &accel_offset_NED); +#endif + + /// set the horizontal position, velocity and acceleration offset targets in cm, cms and cm/s/s from EKF origin in NE frame + /// these must be set every 3 seconds (or less) or they will timeout and return to zero + void set_posvelaccel_offset_target_xy_cm(const Vector2p& pos_offset_target_xy_cm, const Vector2f& vel_offset_target_xy_cms, const Vector2f& accel_offset_target_xy_cmss); + void set_posvelaccel_offset_target_z_cm(float pos_offset_target_z_cm, float vel_offset_target_z_cms, float accel_offset_target_z_cmss); + + /// get the position, velocity or acceleration offets in cm from EKF origin in NEU frame + const Vector3p& get_pos_offset_cm() const { return _pos_offset; } + const Vector3f& get_vel_offset_cms() const { return _vel_offset; } + const Vector3f& get_accel_offset_cmss() const { return _accel_offset; } /// set_pos_offset_z_cm - set altitude offset in cm above the EKF origin - void set_pos_offset_z_cm(float pos_offset_z) { _pos_offset_z = pos_offset_z; } + void set_pos_offset_z_cm(float pos_offset_z) { _pos_offset.z = pos_offset_z; } /// get_pos_offset_z_cm - returns altitude offset in cm above the EKF origin - float get_pos_offset_z_cm() const { return _pos_offset_z; } + float get_pos_offset_z_cm() const { return _pos_offset.z; } /// get_vel_offset_z_cm - returns current vertical offset speed in cm/s - float get_vel_offset_z_cms() const { return _vel_offset_z; } + float get_vel_offset_z_cms() const { return _vel_offset.z; } /// get_accel_offset_z_cm - returns current vertical offset acceleration in cm/s/s - float get_accel_offset_z_cmss() const { return _accel_offset_z; } - + float get_accel_offset_z_cmss() const { return _accel_offset.z; } /// Outputs @@ -407,9 +443,13 @@ class AC_PosControl static const struct AP_Param::GroupInfo var_info[]; - static void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); - static void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); - static void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCN(float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCE(float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCD(float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSON(float pos_target_offset_cm, float pos_offset_cm, float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); + static void Write_PSOE(float pos_target_offset_cm, float pos_offset_cm, float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); + static void Write_PSOD(float pos_target_offset_cm, float pos_offset_cm, float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); + static void Write_PSOT(float pos_target_offset_cm, float pos_offset_cm, float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); protected: @@ -428,6 +468,32 @@ class AC_PosControl // calculate_overspeed_gain - calculated increased maximum acceleration and jerk if over speed condition is detected float calculate_overspeed_gain(); + + /// Terrain Following + + /// set the position, velocity and acceleration offsets in cm, cms and cm/s/s from EKF origin in NE frame + /// this is used to initiate the offsets when initialise the position controller or do an offset reset + /// note that this sets the actual offsets, not the offset targets + void init_terrain(); + + /// update_terrain - updates the terrain position, velocity and acceleration estimation + /// this moves the estimated terrain position _pos_terrain towards the target _pos_terrain_target + void update_terrain(); + + + /// Offsets + + /// init_offsets - set the position, velocity and acceleration offsets in cm, cms and cm/s/s from EKF origin in NE frame + /// this is used to initiate the offsets when initialise the position controller or do an offset reset + /// note that this sets the actual offsets, not the offset targets + void init_offsets_xy(); + void init_offsets_z(); + + /// update_offsets - update the position and velocity offsets + /// this moves the offsets (e.g _pos_offset, _vel_offset, _accel_offset) towards the targets (e.g. _pos_offset_target or _vel_offset_target) + void update_offsets_xy(); + void update_offsets_z(); + /// initialise and check for ekf position resets void init_ekf_xy_reset(); void handle_ekf_xy_reset(); @@ -472,7 +538,8 @@ class AC_PosControl float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller // position controller internal variables - Vector3p _pos_target; // target location, frame NEU in cm relative to the EKF origin + Vector3p _pos_desired; // desired location, frame NEU in cm relative to the EKF origin. This is equal to the _pos_target minus offsets + Vector3p _pos_target; // target location, frame NEU in cm relative to the EKF origin. This is equal to the _pos_desired plus offsets Vector3f _vel_desired; // desired velocity in NEU cm/s Vector3f _vel_target; // velocity target in NEU cm/s calculated by pos_to_rate step Vector3f _accel_desired; // desired acceleration in NEU cm/s/s (feed forward) @@ -481,10 +548,21 @@ class AC_PosControl bool _fwd_pitch_is_limited; // true when the forward pitch demand is being limited to meet acceleration limits - float _pos_offset_target_z; // vertical position offset target, frame NEU in cm relative to the EKF origin - float _pos_offset_z; // vertical position offset, frame NEU in cm relative to the EKF origin - float _vel_offset_z; // vertical velocity offset in NEU cm/s calculated by pos_to_rate step - float _accel_offset_z; // vertical acceleration offset in NEU cm/s/s + // terrain handling variables + float _pos_terrain_target; // position terrain target in cm relative to the EKF origin in NEU frame + float _pos_terrain; // position terrain in cm from the EKF origin in NEU frame. this terrain moves towards _pos_terrain_target + float _vel_terrain; // velocity terrain in NEU cm/s calculated by pos_to_rate step. this terrain moves towards _vel_terrain_target + float _accel_terrain; // acceleration terrain in NEU cm/s/s + + // offset handling variables + Vector3p _pos_offset_target; // position offset target in cm relative to the EKF origin in NEU frame + Vector3p _pos_offset; // position offset in cm from the EKF origin in NEU frame. this offset moves towards _pos_offset_target + Vector3f _vel_offset_target; // velocity offset target in cm/s in NEU frame + Vector3f _vel_offset; // velocity offset in NEU cm/s calculated by pos_to_rate step. this offset moves towards _vel_offset_target + Vector3f _accel_offset_target; // acceleration offset target in cm/s/s in NEU frame + Vector3f _accel_offset; // acceleration offset in NEU cm/s/s + uint32_t _posvelaccel_offset_target_xy_ms; // system time that pos, vel, accel targets were set (used to implement timeouts) + uint32_t _posvelaccel_offset_target_z_ms; // system time that pos, vel, accel targets were set (used to implement timeouts) // ekf reset handling uint32_t _ekf_xy_reset_ms; // system time of last recorded ekf xy position reset @@ -502,6 +580,11 @@ class AC_PosControl private: // convenience method for writing out the identical PSCE, PSCN, PSCD - and // to save bytes - static void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCx(LogMessages ID, float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + + // a convenience function for writing out the position controller offsets + static void Write_PSOx(LogMessages id, float pos_target_offset_cm, float pos_offset_cm, + float vel_target_offset_cms, float vel_offset_cms, + float accel_target_offset_cmss, float accel_offset_cmss); }; diff --git a/libraries/AC_AttitudeControl/AC_PosControl_Logging.cpp b/libraries/AC_AttitudeControl/AC_PosControl_Logging.cpp index d02760cdeb62e..7be5f91ed7485 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl_Logging.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl_Logging.cpp @@ -8,11 +8,12 @@ #include "LogStructure.h" // a convenience function for writing out the position controller PIDs -void AC_PosControl::Write_PSCx(LogMessages id, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) +void AC_PosControl::Write_PSCx(LogMessages id, float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) { const struct log_PSCx pkt{ LOG_PACKET_HEADER_INIT(id), time_us : AP_HAL::micros64(), + pos_desired : pos_desired * 0.01f, pos_target : pos_target * 0.01f, pos : pos * 0.01f, vel_desired : vel_desired * 0.01f, @@ -25,19 +26,65 @@ void AC_PosControl::Write_PSCx(LogMessages id, float pos_target, float pos, floa AP::logger().WriteBlock(&pkt, sizeof(pkt)); } -void AC_PosControl::Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) +void AC_PosControl::Write_PSCN(float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) { - Write_PSCx(LOG_PSCN_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel); + Write_PSCx(LOG_PSCN_MSG, pos_desired, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel); } -void AC_PosControl::Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) +void AC_PosControl::Write_PSCE(float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) { - Write_PSCx(LOG_PSCE_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel); + Write_PSCx(LOG_PSCE_MSG, pos_desired, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel); } -void AC_PosControl::Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) +void AC_PosControl::Write_PSCD(float pos_desired, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel) { - Write_PSCx(LOG_PSCD_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel); + Write_PSCx(LOG_PSCD_MSG, pos_desired, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel); +} + +// a convenience function for writing out the position controller offsets +void AC_PosControl::Write_PSOx(LogMessages id, float pos_target_offset_cm, float pos_offset_cm, + float vel_target_offset_cms, float vel_offset_cms, + float accel_target_offset_cmss, float accel_offset_cmss) +{ + const struct log_PSOx pkt{ + LOG_PACKET_HEADER_INIT(id), + time_us : AP_HAL::micros64(), + pos_target_offset : pos_target_offset_cm * 0.01f, + pos_offset : pos_offset_cm * 0.01f, + vel_target_offset : vel_target_offset_cms * 0.01f, + vel_offset : vel_offset_cms * 0.01f, + accel_target_offset : accel_target_offset_cmss * 0.01f, + accel_offset : accel_offset_cmss * 0.01f, + }; + AP::logger().WriteBlock(&pkt, sizeof(pkt)); +} + +void AC_PosControl::Write_PSON(float pos_target_offset_cm, float pos_offset_cm, + float vel_target_offset_cms, float vel_offset_cms, + float accel_target_offset_cmss, float accel_offset_cmss) +{ + Write_PSOx(LOG_PSON_MSG, pos_target_offset_cm, pos_offset_cm, vel_target_offset_cms, vel_offset_cms, accel_target_offset_cmss, accel_offset_cmss); +} + +void AC_PosControl::Write_PSOE(float pos_target_offset_cm, float pos_offset_cm, + float vel_target_offset_cms, float vel_offset_cms, + float accel_target_offset_cmss, float accel_offset_cmss) +{ + Write_PSOx(LOG_PSOE_MSG, pos_target_offset_cm, pos_offset_cm, vel_target_offset_cms, vel_offset_cms, accel_target_offset_cmss, accel_offset_cmss); +} + +void AC_PosControl::Write_PSOD(float pos_target_offset_cm, float pos_offset_cm, + float vel_target_offset_cms, float vel_offset_cms, + float accel_target_offset_cmss, float accel_offset_cmss) +{ + Write_PSOx(LOG_PSOD_MSG, pos_target_offset_cm, pos_offset_cm, vel_target_offset_cms, vel_offset_cms, accel_target_offset_cmss, accel_offset_cmss); +} + +void AC_PosControl::Write_PSOT(float pos_target_offset_cm, float pos_offset_cm, + float vel_target_offset_cms, float vel_offset_cms, + float accel_target_offset_cmss, float accel_offset_cmss) +{ + Write_PSOx(LOG_PSOT_MSG, pos_target_offset_cm, pos_offset_cm, vel_target_offset_cms, vel_offset_cms, accel_target_offset_cmss, accel_offset_cmss); } #endif // HAL_LOGGING_ENABLED diff --git a/libraries/AC_AttitudeControl/LogStructure.h b/libraries/AC_AttitudeControl/LogStructure.h index 0155e7e650aa8..9b263e790f52f 100644 --- a/libraries/AC_AttitudeControl/LogStructure.h +++ b/libraries/AC_AttitudeControl/LogStructure.h @@ -6,11 +6,16 @@ LOG_PSCN_MSG, \ LOG_PSCE_MSG, \ LOG_PSCD_MSG, \ + LOG_PSON_MSG, \ + LOG_PSOE_MSG, \ + LOG_PSOD_MSG, \ + LOG_PSOT_MSG, \ LOG_ANG_MSG // @LoggerMessage: PSCN // @Description: Position Control North // @Field: TimeUS: Time since system startup +// @Field: DPN: Desired position relative to EKF origin // @Field: TPN: Target position relative to EKF origin // @Field: PN: Position relative to EKF origin // @Field: DVN: Desired velocity North @@ -23,6 +28,7 @@ // @LoggerMessage: PSCE // @Description: Position Control East // @Field: TimeUS: Time since system startup +// @Field: DPE: Desired position relative to EKF origin + Offsets // @Field: TPE: Target position relative to EKF origin // @Field: PE: Position relative to EKF origin // @Field: DVE: Desired velocity East @@ -35,6 +41,7 @@ // @LoggerMessage: PSCD // @Description: Position Control Down // @Field: TimeUS: Time since system startup +// @Field: DPD: Desired position relative to EKF origin + Offsets // @Field: TPD: Target position relative to EKF origin // @Field: PD: Position relative to EKF origin // @Field: DVD: Desired velocity Down @@ -49,6 +56,7 @@ struct PACKED log_PSCx { LOG_PACKET_HEADER; uint64_t time_us; + float pos_desired; float pos_target; float pos; float vel_desired; @@ -59,6 +67,58 @@ struct PACKED log_PSCx { float accel; }; +// @LoggerMessage: PSON +// @Description: Position Control Offsets North +// @Field: TimeUS: Time since system startup +// @Field: TPON: Target position offset North +// @Field: PON: Position offset North +// @Field: TVON: Target velocity offset North +// @Field: VON: Velocity offset North +// @Field: TAON: Target acceleration offset North +// @Field: AON: Acceleration offset North + +// @LoggerMessage: PSOE +// @Description: Position Control Offsets East +// @Field: TimeUS: Time since system startup +// @Field: TPOE: Target position offset East +// @Field: POE: Position offset East +// @Field: TVOE: Target velocity offset East +// @Field: VOE: Velocity offset East +// @Field: TAOE: Target acceleration offset East +// @Field: AOE: Acceleration offset East + +// @LoggerMessage: PSOD +// @Description: Position Control Offsets Down +// @Field: TimeUS: Time since system startup +// @Field: TPOD: Target position offset Down +// @Field: POD: Position offset Down +// @Field: TVOD: Target velocity offset Down +// @Field: VOD: Velocity offset Down +// @Field: TAOD: Target acceleration offset Down +// @Field: AOD: Acceleration offset Down + +// @LoggerMessage: PSOT +// @Description: Position Control Offsets Terrain (Down) +// @Field: TimeUS: Time since system startup +// @Field: TPOT: Target position offset Terrain +// @Field: POT: Position offset Terrain +// @Field: TVOT: Target velocity offset Terrain +// @Field: VOT: Velocity offset Terrain +// @Field: TAOT: Target acceleration offset Terrain +// @Field: AOT: Acceleration offset Terrain + +// position controller per-axis offset logging +struct PACKED log_PSOx { + LOG_PACKET_HEADER; + uint64_t time_us; + float pos_target_offset; + float pos_offset; + float vel_target_offset; + float vel_offset; + float accel_target_offset; + float accel_offset; +}; + // @LoggerMessage: RATE // @Description: Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes. // @Field: TimeUS: Time since system startup @@ -115,17 +175,29 @@ struct PACKED log_ANG { float sensor_dt; }; -#define PSCx_FMT "Qffffffff" -#define PSCx_UNITS "smmnnnooo" -#define PSCx_MULTS "F00000000" +#define PSCx_FMT "Qfffffffff" +#define PSCx_UNITS "smmmnnnooo" +#define PSCx_MULTS "F000000000" + +#define PSOx_FMT "Qffffff" +#define PSOx_UNITS "smmnnoo" +#define PSOx_MULTS "F000000" #define LOG_STRUCTURE_FROM_AC_ATTITUDECONTROL \ { LOG_PSCN_MSG, sizeof(log_PSCx), \ - "PSCN", PSCx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PSCx_UNITS, PSCx_MULTS }, \ + "PSCN", PSCx_FMT, "TimeUS,DPN,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PSCx_UNITS, PSCx_MULTS }, \ { LOG_PSCE_MSG, sizeof(log_PSCx), \ - "PSCE", PSCx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PSCx_UNITS, PSCx_MULTS }, \ + "PSCE", PSCx_FMT, "TimeUS,DPE,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PSCx_UNITS, PSCx_MULTS }, \ { LOG_PSCD_MSG, sizeof(log_PSCx), \ - "PSCD", PSCx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PSCx_UNITS, PSCx_MULTS }, \ + "PSCD", PSCx_FMT, "TimeUS,DPD,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PSCx_UNITS, PSCx_MULTS }, \ + { LOG_PSON_MSG, sizeof(log_PSOx), \ + "PSON", PSOx_FMT, "TimeUS,TPON,PON,TVON,VON,TAON,AON", PSOx_UNITS, PSOx_MULTS }, \ + { LOG_PSOE_MSG, sizeof(log_PSOx), \ + "PSOE", PSOx_FMT, "TimeUS,TPOE,POE,TVOE,VOE,TAOE,AOE", PSOx_UNITS, PSOx_MULTS }, \ + { LOG_PSOD_MSG, sizeof(log_PSOx), \ + "PSOD", PSOx_FMT, "TimeUS,TPOD,POD,TVOD,VOD,TAOD,AOD", PSOx_UNITS, PSOx_MULTS }, \ + { LOG_PSOT_MSG, sizeof(log_PSOx), \ + "PSOT", PSOx_FMT, "TimeUS,TPOT,POT,TVOT,VOT,TAOT,AOT", PSOx_UNITS, PSOx_MULTS }, \ { LOG_RATE_MSG, sizeof(log_Rate), \ "RATE", "Qfffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut,AOutSlew", "skk-kk-kk-oo--", "F?????????BB--" , true }, \ { LOG_ANG_MSG, sizeof(log_ANG),\ From c706d01d7f4fb387b4bac9aa446b355efb4b323f Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 17 Sep 2024 12:54:55 +0900 Subject: [PATCH 002/314] AC_PosControl: implement singleton --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 4 ++++ libraries/AC_AttitudeControl/AC_PosControl.h | 8 +++++++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 525b737b2e067..c50c7581e866d 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -77,6 +77,8 @@ extern const AP_HAL::HAL& hal; // velocity offset targets timeout if not updated within 3 seconds #define POSCONTROL_POSVELACCEL_OFFSET_TARGET_TIMEOUT_MS 3000 +AC_PosControl *AC_PosControl::_singleton; + const AP_Param::GroupInfo AC_PosControl::var_info[] = { // 0 was used for HOVER @@ -348,6 +350,8 @@ AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav, _jerk_max_z_cmsss(POSCONTROL_JERK_Z * 100.0) { AP_Param::setup_object_defaults(this, var_info); + + _singleton = this; } diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index bdfb977c055d6..f52c7a9c5c9ea 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -44,7 +44,8 @@ class AC_PosControl AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav, const class AP_Motors& motors, AC_AttitudeControl& attitude_control); - + // do not allow copying + CLASS_NO_COPY(AC_PosControl); /// set_dt / get_dt - dt is the time since the last time the position controllers were updated /// _dt should be set based on the time of the last IMU read used by these controllers @@ -451,6 +452,9 @@ class AC_PosControl static void Write_PSOD(float pos_target_offset_cm, float pos_offset_cm, float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); static void Write_PSOT(float pos_target_offset_cm, float pos_offset_cm, float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); + // singleton + static AC_PosControl *get_singleton(void) { return _singleton; } + protected: // get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain) @@ -587,4 +591,6 @@ class AC_PosControl float vel_target_offset_cms, float vel_offset_cms, float accel_target_offset_cmss, float accel_offset_cmss); + // singleton + static AC_PosControl *_singleton; }; From 951ff473c3fecd3459de51fb27d2f9e4d553102e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 2 Aug 2024 18:31:28 +0900 Subject: [PATCH 003/314] AC_WPNav: support pos vel accel offsets Co-authored-by: Leonard Hall --- libraries/AC_WPNav/AC_WPNav.cpp | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp index 3504e90f1f06b..b21f77b18828a 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -323,11 +323,11 @@ bool AC_WPNav::set_wp_destination(const Vector3f& destination, bool terrain_alt) if (terrain_alt) { // new destination is alt-above-terrain, previous destination was alt-above-ekf-origin _origin.z -= origin_terr_offset; - _pos_control.set_pos_offset_z_cm(_pos_control.get_pos_offset_z_cm() + origin_terr_offset); + _pos_control.init_pos_terrain_cm(origin_terr_offset); } else { // new destination is alt-above-ekf-origin, previous destination was alt-above-terrain _origin.z += origin_terr_offset; - _pos_control.set_pos_offset_z_cm(_pos_control.get_pos_offset_z_cm() - origin_terr_offset); + _pos_control.init_pos_terrain_cm(0.0); } } @@ -435,7 +435,7 @@ void AC_WPNav::shift_wp_origin_and_destination_to_stopping_point_xy() _destination.xy() = stopping_point; // move pos controller target horizontally - _pos_control.set_pos_target_xy_cm(stopping_point.x, stopping_point.y); + _pos_control.set_pos_desired_xy_cm(stopping_point); } /// get_wp_stopping_point_xy - returns vector to stopping point based on a horizontal position and velocity @@ -466,10 +466,14 @@ bool AC_WPNav::advance_wp_target_along_track(float dt) const float offset_z_scaler = _pos_control.pos_offset_z_scaler(terr_offset, get_terrain_margin() * 100.0); // input shape the terrain offset - _pos_control.update_pos_offset_z(terr_offset); + _pos_control.set_pos_terrain_target_cm(terr_offset); + + // get position controller's position offset (post input shaping) so it can be used in position error calculation + const Vector3p& psc_pos_offset = _pos_control.get_pos_offset_cm(); // get current position and adjust altitude to origin and destination's frame (i.e. _frame) - const Vector3f &curr_pos = _inav.get_position_neu_cm() - Vector3f{0, 0, terr_offset}; + Vector3f curr_pos = _inav.get_position_neu_cm() - psc_pos_offset.tofloat(); + curr_pos.z -= terr_offset; Vector3f curr_target_vel = _pos_control.get_vel_desired_cms(); curr_target_vel.z -= _pos_control.get_vel_offset_z_cms(); @@ -528,11 +532,6 @@ bool AC_WPNav::advance_wp_target_along_track(float dt) target_accel *= sq(vel_scaler_dt); target_accel += accel_offset; - // convert final_target.z to altitude above the ekf origin - target_pos.z += _pos_control.get_pos_offset_z_cm(); - target_vel.z += _pos_control.get_vel_offset_z_cms(); - target_accel.z += _pos_control.get_accel_offset_z_cmss(); - // pass new target to the position controller _pos_control.set_pos_vel_accel(target_pos.topostype(), target_vel, target_accel); @@ -778,11 +777,11 @@ bool AC_WPNav::set_spline_destination(const Vector3f& destination, bool terrain_ if (terrain_alt) { // new destination is alt-above-terrain, previous destination was alt-above-ekf-origin _origin.z -= origin_terr_offset; - _pos_control.set_pos_offset_z_cm(_pos_control.get_pos_offset_z_cm() + origin_terr_offset); + _pos_control.init_pos_terrain_cm(origin_terr_offset); } else { // new destination is alt-above-ekf-origin, previous destination was alt-above-terrain _origin.z += origin_terr_offset; - _pos_control.set_pos_offset_z_cm(_pos_control.get_pos_offset_z_cm() - origin_terr_offset); + _pos_control.init_pos_terrain_cm(0.0); } } From 9185b82b7a24026381b63b4dbc10ee08ed32b493 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Wed, 2 Oct 2024 08:56:30 +0900 Subject: [PATCH 004/314] AC_WPNav: get_closest_point_on_circle uses is_positive --- libraries/AC_WPNav/AC_Circle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp index d5ed82397b62b..082ec55dc207c 100644 --- a/libraries/AC_WPNav/AC_Circle.cpp +++ b/libraries/AC_WPNav/AC_Circle.cpp @@ -240,7 +240,7 @@ bool AC_Circle::update(float climb_rate_cms) void AC_Circle::get_closest_point_on_circle(Vector3f &result) const { // return center if radius is zero - if (_radius <= 0) { + if (!is_positive(_radius)) { result = _center.tofloat(); return; } From 9ca47cf465c132174bb3864b7e4b4cb048128876 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 2 Sep 2024 14:07:05 +0900 Subject: [PATCH 005/314] AC_Circle: integrate pos vel accel offsets Co-authored-by: Leonard Hall --- libraries/AC_WPNav/AC_Circle.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp index 082ec55dc207c..cc24c78ad6271 100644 --- a/libraries/AC_WPNav/AC_Circle.cpp +++ b/libraries/AC_WPNav/AC_Circle.cpp @@ -86,7 +86,7 @@ void AC_Circle::init() _pos_control.init_z_controller_stopping_point(); // get stopping point - const Vector3p& stopping_point = _pos_control.get_pos_target_cm(); + const Vector3p& stopping_point = _pos_control.get_pos_desired_cm(); // set circle center to circle_radius ahead of stopping point _center = stopping_point; @@ -185,7 +185,7 @@ bool AC_Circle::update(float climb_rate_cms) if (_terrain_alt) { target_z_cm = _center.z + terr_offset; } else { - target_z_cm = _pos_control.get_pos_target_z_cm(); + target_z_cm = _pos_control.get_pos_desired_z_cm(); } // if the circle_radius is zero we are doing panorama so no need to update loiter target @@ -200,7 +200,7 @@ bool AC_Circle::update(float climb_rate_cms) target.y += - _radius * sinf(-_angle); // heading is from vehicle to center of circle - _yaw = get_bearing_cd(_inav.get_position_xy_cm(), _center.tofloat().xy()); + _yaw = get_bearing_cd(_pos_control.get_pos_desired_cm().xy().tofloat(), _center.tofloat().xy()); if ((_options.get() & CircleOptions::FACE_DIRECTION_OF_TRAVEL) != 0) { _yaw += is_positive(_rate)?-9000.0f:9000.0f; @@ -313,12 +313,13 @@ void AC_Circle::init_start_angle(bool use_heading) _angle = wrap_PI(_ahrs.yaw-M_PI); } else { // if we are exactly at the center of the circle, init angle to directly behind vehicle (so vehicle will backup but not change heading) - const Vector3f &curr_pos = _inav.get_position_neu_cm(); - if (is_equal(curr_pos.x,float(_center.x)) && is_equal(curr_pos.y,float(_center.y))) { + // curr_pos_desired is the position before we add offsets and terrain + const Vector3f &curr_pos_desired= _pos_control.get_pos_desired_cm().tofloat(); + if (is_equal(curr_pos_desired.x,float(_center.x)) && is_equal(curr_pos_desired.y,float(_center.y))) { _angle = wrap_PI(_ahrs.yaw-M_PI); } else { // get bearing from circle center to vehicle in radians - float bearing_rad = atan2f(curr_pos.y-_center.y,curr_pos.x-_center.x); + float bearing_rad = atan2f(curr_pos_desired.y-_center.y, curr_pos_desired.x-_center.x); _angle = wrap_PI(bearing_rad); } } From 2753b7030bdc2ec9a30b50fd8c483119aaa11efb Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 11 Sep 2024 20:23:30 +0900 Subject: [PATCH 006/314] AC_Circle: get-closest-point-on-circle returns dist --- libraries/AC_WPNav/AC_Circle.cpp | 27 ++++++++++++++------------- libraries/AC_WPNav/AC_Circle.h | 4 ++-- 2 files changed, 16 insertions(+), 15 deletions(-) diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp index cc24c78ad6271..33d6964d6912a 100644 --- a/libraries/AC_WPNav/AC_Circle.cpp +++ b/libraries/AC_WPNav/AC_Circle.cpp @@ -234,27 +234,28 @@ bool AC_Circle::update(float climb_rate_cms) // get_closest_point_on_circle - returns closest point on the circle // circle's center should already have been set -// closest point on the circle will be placed in result +// closest point on the circle will be placed in result, dist_cm will be updated with the 3D distance to the center // result's altitude (i.e. z) will be set to the circle_center's altitude // if vehicle is at the center of the circle, the edge directly behind vehicle will be returned -void AC_Circle::get_closest_point_on_circle(Vector3f &result) const +void AC_Circle::get_closest_point_on_circle(Vector3f& result, float& dist_cm) const { + // get current position + Vector3p stopping_point; + _pos_control.get_stopping_point_xy_cm(stopping_point.xy()); + _pos_control.get_stopping_point_z_cm(stopping_point.z); + + // calc vector from stopping point to circle center + Vector3f vec = (stopping_point - _center).tofloat(); + dist_cm = vec.length(); + // return center if radius is zero if (!is_positive(_radius)) { result = _center.tofloat(); return; } - // get current position - Vector2p stopping_point; - _pos_control.get_stopping_point_xy_cm(stopping_point); - - // calc vector from stopping point to circle center - Vector2f vec = (stopping_point - _center.xy()).tofloat(); - float dist = vec.length(); - // if current location is exactly at the center of the circle return edge directly behind vehicle - if (is_zero(dist)) { + if (is_zero(dist_cm)) { result.x = _center.x - _radius * _ahrs.cos_yaw(); result.y = _center.y - _radius * _ahrs.sin_yaw(); result.z = _center.z; @@ -262,8 +263,8 @@ void AC_Circle::get_closest_point_on_circle(Vector3f &result) const } // calculate closest point on edge of circle - result.x = _center.x + vec.x / dist * _radius; - result.y = _center.y + vec.y / dist * _radius; + result.x = _center.x + vec.x / dist_cm * _radius; + result.y = _center.y + vec.y / dist_cm * _radius; result.z = _center.z; } diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h index d76fcc90ce64e..a03b23e178816 100644 --- a/libraries/AC_WPNav/AC_Circle.h +++ b/libraries/AC_WPNav/AC_Circle.h @@ -75,10 +75,10 @@ class AC_Circle // get_closest_point_on_circle - returns closest point on the circle // circle's center should already have been set - // closest point on the circle will be placed in result + // closest point on the circle will be placed in result, dist_cm will be updated with the distance to the center // result's altitude (i.e. z) will be set to the circle_center's altitude // if vehicle is at the center of the circle, the edge directly behind vehicle will be returned - void get_closest_point_on_circle(Vector3f &result) const; + void get_closest_point_on_circle(Vector3f& result, float& dist_cm) const; /// get horizontal distance to loiter target in cm float get_distance_to_target() const { return _pos_control.get_pos_error_xy_cm(); } From e20c7edf685e63000b7836c0c8cd65f569a36cca Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 17 Sep 2024 13:49:10 +0900 Subject: [PATCH 007/314] AC_Loiter: optimise get-posvelaccel-target usage --- libraries/AC_WPNav/AC_Loiter.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp index aab6fa27f3ea1..6e00781855721 100644 --- a/libraries/AC_WPNav/AC_Loiter.cpp +++ b/libraries/AC_WPNav/AC_Loiter.cpp @@ -123,8 +123,7 @@ void AC_Loiter::init_target() _pos_control.relax_velocity_controller_xy(); // initialise predicted acceleration and angles from the position controller - _predicted_accel.x = _pos_control.get_accel_target_cmss().x; - _predicted_accel.y = _pos_control.get_accel_target_cmss().y; + _predicted_accel = _pos_control.get_accel_target_cmss().xy(); _predicted_euler_angle.x = radians(_pos_control.get_roll_cd()*0.01f); _predicted_euler_angle.y = radians(_pos_control.get_pitch_cd()*0.01f); _brake_accel = 0.0f; From 37a7635c66233f6eafe13862a27405cc74db3f60 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Thu, 3 Oct 2024 10:07:52 +0900 Subject: [PATCH 008/314] AC_Loiter: updates to offset handling --- libraries/AC_WPNav/AC_Loiter.cpp | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp index 6e00781855721..3b7f9690a8dd7 100644 --- a/libraries/AC_WPNav/AC_Loiter.cpp +++ b/libraries/AC_WPNav/AC_Loiter.cpp @@ -107,7 +107,7 @@ void AC_Loiter::init_target(const Vector2f& position) _brake_accel = 0.0f; // set target position - _pos_control.set_pos_target_xy_cm(position.x, position.y); + _pos_control.set_pos_desired_xy_cm(position); } /// initialize's position and feed-forward velocity from current pos and velocity @@ -221,12 +221,10 @@ void AC_Loiter::calc_desired_velocity(bool avoidance_on) } // get loiters desired velocity from the position controller where it is being stored. - const Vector3f &desired_vel_3d = _pos_control.get_vel_desired_cms(); - Vector2f desired_vel{desired_vel_3d.x,desired_vel_3d.y}; + Vector2f desired_vel = _pos_control.get_vel_desired_cms().xy(); // update the desired velocity using our predicted acceleration - desired_vel.x += _predicted_accel.x * dt; - desired_vel.y += _predicted_accel.y * dt; + desired_vel += _predicted_accel * dt; Vector2f loiter_accel_brake; float desired_speed = desired_vel.length(); @@ -261,8 +259,7 @@ void AC_Loiter::calc_desired_velocity(bool avoidance_on) // Apply EKF limit to desired velocity - this limit is calculated by the EKF and adjusted as required to ensure certain sensor limits are respected (eg optical flow sensing) float horizSpdDem = desired_vel.length(); if (horizSpdDem > gnd_speed_limit_cms) { - desired_vel.x = desired_vel.x * gnd_speed_limit_cms / horizSpdDem; - desired_vel.y = desired_vel.y * gnd_speed_limit_cms / horizSpdDem; + desired_vel = desired_vel * gnd_speed_limit_cms / horizSpdDem; } #if AP_AVOIDANCE_ENABLED && !APM_BUILD_TYPE(APM_BUILD_ArduPlane) @@ -279,11 +276,11 @@ void AC_Loiter::calc_desired_velocity(bool avoidance_on) #endif // !APM_BUILD_ArduPlane // get loiters desired velocity from the position controller where it is being stored. - Vector2p target_pos = _pos_control.get_pos_target_cm().xy(); + Vector2p desired_pos = _pos_control.get_pos_desired_cm().xy(); - // update the target position using our predicted velocity - target_pos += (desired_vel * dt).topostype(); + // update the desired position using our desired velocity and acceleration + desired_pos += (desired_vel * dt).topostype(); // send adjusted feed forward acceleration and velocity back to the Position Controller - _pos_control.set_pos_vel_accel_xy(target_pos, desired_vel, _desired_accel); + _pos_control.set_pos_vel_accel_xy(desired_pos, desired_vel, _desired_accel); } From 91926674e9ee65f641a241855d56ce8fb935e59e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 11 Sep 2024 20:21:19 +0900 Subject: [PATCH 009/314] Copter: minor comment fix to auto mode --- ArduCopter/mode_auto.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 05d140372aba2..5cab499742ac3 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -498,7 +498,7 @@ void ModeAuto::land_start() set_submode(SubMode::LAND); } -// auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location +// circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location // we assume the caller has performed all required GPS_ok checks void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radius_m, bool ccw_turn) { From df2ae532c2d25927aefb9a40b2cf69319a3bb73f Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 11 Sep 2024 20:24:34 +0900 Subject: [PATCH 010/314] Copter: auto integrates get-closest-point-on-edge dist --- ArduCopter/mode_auto.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 5cab499742ac3..5166053c8951c 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -517,8 +517,8 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi // check our distance from edge of circle Vector3f circle_edge_neu; - copter.circle_nav->get_closest_point_on_circle(circle_edge_neu); - float dist_to_edge = (inertial_nav.get_position_neu_cm() - circle_edge_neu).length(); + float dist_to_edge; + copter.circle_nav->get_closest_point_on_circle(circle_edge_neu, dist_to_edge); // if more than 3m then fly to edge if (dist_to_edge > 300.0f) { From 0bcff6cec0ec30e16ce4621fe1db6b4aa0f0516b Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 2 Aug 2024 18:31:50 +0900 Subject: [PATCH 011/314] Copter: support set_posvelaccel_offset in auto Co-authored-by: Leonard Hall --- ArduCopter/Copter.h | 6 +-- ArduCopter/mode.h | 10 ++--- ArduCopter/mode_auto.cpp | 70 ++++++++++++++++++++------------- ArduCopter/mode_guided.cpp | 20 ++++------ ArduCopter/mode_throw.cpp | 4 +- ArduCopter/mode_zigzag.cpp | 29 ++++---------- ArduCopter/surface_tracking.cpp | 42 ++++++-------------- ArduCopter/takeoff.cpp | 10 ++--- 8 files changed, 84 insertions(+), 107 deletions(-) diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index 3bdba074d5467..5718fc11f4398 100644 --- a/ArduCopter/Copter.h +++ b/ArduCopter/Copter.h @@ -266,9 +266,9 @@ class Copter : public AP_Vehicle { // measured ground or ceiling level measured using the range finder. void update_surface_offset(); - // get/set target altitude (in cm) above ground - bool get_target_alt_cm(float &target_alt_cm) const; - void set_target_alt_cm(float target_alt_cm); + // target has already been set by terrain following so do not initalise again + // this should be called by flight modes when switching from terrain following to surface tracking (e.g. ZigZag) + void external_init(); // get target and actual distances (in m) for logging purposes bool get_target_dist_for_logging(float &target_dist) const; diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 6e87e9b4fed11..68cc1685741c5 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -182,12 +182,6 @@ class Mode { // altitude fence float get_avoidance_adjusted_climbrate(float target_rate); - const Vector3f& get_vel_desired_cms() { - // note that position control isn't used in every mode, so - // this may return bogus data: - return pos_control->get_vel_desired_cms(); - } - // send output to the motors, can be overridden by subclasses virtual void output_to_motors(); @@ -651,6 +645,10 @@ class ModeAuto : public Mode { bool shift_alt_to_current_alt(Location& target_loc) const; + // subtract position controller offsets from target location + // should be used when the location will be used as a target for the position controller + void subtract_pos_offsets(Location& target_loc) const; + void do_takeoff(const AP_Mission::Mission_Command& cmd); void do_nav_wp(const AP_Mission::Mission_Command& cmd); bool set_next_wp(const AP_Mission::Mission_Command& current_cmd, const Location &default_loc); diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 5166053c8951c..6858c7a17a6d0 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -1419,7 +1419,7 @@ void PayloadPlace::run() // vel_threshold_fraction * max velocity const float vel_threshold_fraction = 0.1; const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss(); - bool reached_altitude = copter.pos_control->get_pos_target_z_cm() >= descent_start_altitude_cm - stop_distance; + bool reached_altitude = copter.pos_control->get_pos_desired_z_cm() >= descent_start_altitude_cm - stop_distance; if (reached_altitude) { state = State::Done; } @@ -1472,6 +1472,8 @@ bool ModeAuto::shift_alt_to_current_alt(Location& target_loc) const (wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER)) { int32_t curr_rngfnd_alt_cm; if (copter.get_rangefinder_height_interpolated_cm(curr_rngfnd_alt_cm)) { + // subtract position offset (if any) + curr_rngfnd_alt_cm -= pos_control->get_pos_offset_z_cm(); // wp_nav is using rangefinder so use current rangefinder alt target_loc.set_alt_cm(MAX(curr_rngfnd_alt_cm, 200), Location::AltFrame::ABOVE_TERRAIN); return true; @@ -1486,11 +1488,21 @@ bool ModeAuto::shift_alt_to_current_alt(Location& target_loc) const return false; } - // set target_loc's alt - target_loc.set_alt_cm(currloc.alt, currloc.get_alt_frame()); + // set target_loc's alt minus position offset (if any) + target_loc.set_alt_cm(currloc.alt - pos_control->get_pos_offset_z_cm(), currloc.get_alt_frame()); return true; } +// subtract position controller offsets from target location +// should be used when the location will be used as a target for the position controller +void ModeAuto::subtract_pos_offsets(Location& target_loc) const +{ + // subtract position controller offsets from target location + const Vector3p& pos_ofs_neu_cm = pos_control->get_pos_offset_cm(); + Vector3p pos_ofs_ned_m = Vector3p{pos_ofs_neu_cm.x * 0.01, pos_ofs_neu_cm.y * 0.01, -pos_ofs_neu_cm.z * 0.01}; + target_loc.offset(-pos_ofs_ned_m); +} + /********************************************************************************/ // Nav (Must) commands /********************************************************************************/ @@ -1531,6 +1543,10 @@ void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd) { // calculate default location used when lat, lon or alt is zero Location default_loc = copter.current_loc; + + // subtract position offsets + subtract_pos_offsets(default_loc); + if (wp_nav->is_active() && wp_nav->reached_wp_destination()) { if (!wp_nav->get_wp_destination_loc(default_loc)) { // this should never happen @@ -1651,33 +1667,23 @@ void ModeAuto::do_land(const AP_Mission::Mission_Command& cmd) // note: caller should set yaw_mode void ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd) { - // convert back to location - Location target_loc(cmd.content.location); + // calculate default location used when lat, lon or alt is zero + Location default_loc = copter.current_loc; - // use current location if not provided - if (target_loc.lat == 0 && target_loc.lng == 0) { - // To-Do: make this simpler - Vector3f temp_pos; - copter.wp_nav->get_wp_stopping_point_xy(temp_pos.xy()); - const Location temp_loc(temp_pos, Location::AltFrame::ABOVE_ORIGIN); - target_loc.lat = temp_loc.lat; - target_loc.lng = temp_loc.lng; - } - - // use current altitude if not provided - // To-Do: use z-axis stopping point instead of current alt - if (target_loc.alt == 0) { - // set to current altitude but in command's alt frame - int32_t curr_alt; - if (copter.current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { - target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); - } else { - // default to current altitude as alt-above-home - target_loc.set_alt_cm(copter.current_loc.alt, - copter.current_loc.get_alt_frame()); + // subtract position offsets + subtract_pos_offsets(default_loc); + + // use previous waypoint destination as default if available + if (wp_nav->is_active() && wp_nav->reached_wp_destination()) { + if (!wp_nav->get_wp_destination_loc(default_loc)) { + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); } } + // get waypoint's location from command and send to wp_nav + const Location target_loc = loc_from_cmd(cmd, default_loc); + // start way point navigator and provide it the desired location if (!wp_start(target_loc)) { // failure to set next destination can only be because of missing terrain data @@ -1689,7 +1695,13 @@ void ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd) // do_circle - initiate moving in a circle void ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd) { - const Location circle_center = loc_from_cmd(cmd, copter.current_loc); + // calculate default location used when lat, lon or alt is zero + Location default_loc = copter.current_loc; + + // subtract position offsets + subtract_pos_offsets(default_loc); + + const Location circle_center = loc_from_cmd(cmd, default_loc); // calculate radius uint16_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1 @@ -1757,6 +1769,10 @@ void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd) { // calculate default location used when lat, lon or alt is zero Location default_loc = copter.current_loc; + + // subtract position offsets + subtract_pos_offsets(default_loc); + if (wp_nav->is_active() && wp_nav->reached_wp_destination()) { if (!wp_nav->get_wp_destination_loc(default_loc)) { // this should never happen diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp index c599f91cd1e80..f7ce7642a0981 100644 --- a/ArduCopter/mode_guided.cpp +++ b/ArduCopter/mode_guided.cpp @@ -383,10 +383,10 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa // convert origin to alt-above-terrain if necessary if (!guided_pos_terrain_alt) { // new destination is alt-above-terrain, previous destination was alt-above-ekf-origin - pos_control->set_pos_offset_z_cm(origin_terr_offset); + pos_control->init_pos_terrain_cm(origin_terr_offset); } } else { - pos_control->set_pos_offset_z_cm(0.0); + pos_control->init_pos_terrain_cm(0.0); } // set yaw state @@ -496,10 +496,10 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y // convert origin to alt-above-terrain if necessary if (!guided_pos_terrain_alt) { // new destination is alt-above-terrain, previous destination was alt-above-ekf-origin - pos_control->set_pos_offset_z_cm(origin_terr_offset); + pos_control->init_pos_terrain_cm(origin_terr_offset); } } else { - pos_control->set_pos_offset_z_cm(0.0); + pos_control->init_pos_terrain_cm(0.0); } guided_pos_target_cm = pos_target_f.topostype(); @@ -825,8 +825,7 @@ void ModeGuided::velaccel_control_run() if (!stabilizing_vel_xy() && !do_avoid) { // set the current commanded xy vel to the desired vel - guided_vel_target_cms.x = pos_control->get_vel_desired_cms().x; - guided_vel_target_cms.y = pos_control->get_vel_desired_cms().y; + guided_vel_target_cms.xy() = pos_control->get_vel_desired_cms().xy(); } pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy(), false); if (!stabilizing_vel_xy() && !do_avoid) { @@ -903,14 +902,11 @@ void ModeGuided::posvelaccel_control_run() // send position and velocity targets to position controller if (!stabilizing_vel_xy()) { // set the current commanded xy pos to the target pos and xy vel to the desired vel - guided_pos_target_cm.x = pos_control->get_pos_target_cm().x; - guided_pos_target_cm.y = pos_control->get_pos_target_cm().y; - guided_vel_target_cms.x = pos_control->get_vel_desired_cms().x; - guided_vel_target_cms.y = pos_control->get_vel_desired_cms().y; + guided_pos_target_cm.xy() = pos_control->get_pos_desired_cm().xy(); + guided_vel_target_cms.xy() = pos_control->get_vel_desired_cms().xy(); } else if (!stabilizing_pos_xy()) { // set the current commanded xy pos to the target pos - guided_pos_target_cm.x = pos_control->get_pos_target_cm().x; - guided_pos_target_cm.y = pos_control->get_pos_target_cm().y; + guided_pos_target_cm.xy() = pos_control->get_pos_desired_cm().xy(); } pos_control->input_pos_vel_accel_xy(guided_pos_target_cm.xy(), guided_vel_target_cms.xy(), guided_accel_target_cmss.xy(), false); if (!stabilizing_vel_xy()) { diff --git a/ArduCopter/mode_throw.cpp b/ArduCopter/mode_throw.cpp index 1fcfd24d32bfe..835a4e27aade0 100644 --- a/ArduCopter/mode_throw.cpp +++ b/ArduCopter/mode_throw.cpp @@ -72,9 +72,9 @@ void ModeThrow::run() // initialise the demanded height to 3m above the throw height // we want to rapidly clear surrounding obstacles if (g2.throw_type == ThrowType::Drop) { - pos_control->set_pos_target_z_cm(inertial_nav.get_position_z_up_cm() - 100); + pos_control->set_pos_desired_z_cm(inertial_nav.get_position_z_up_cm() - 100); } else { - pos_control->set_pos_target_z_cm(inertial_nav.get_position_z_up_cm() + 300); + pos_control->set_pos_desired_z_cm(inertial_nav.get_position_z_up_cm() + 300); } // Set the auto_arm status to true to avoid a possible automatic disarm caused by selection of an auto mode with throttle at minimum diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp index 57f274b2ccbc7..44e8501174a0c 100644 --- a/ArduCopter/mode_zigzag.cpp +++ b/ArduCopter/mode_zigzag.cpp @@ -245,8 +245,8 @@ void ModeZigZag::return_to_manual_control(bool maintain_target) const Vector3f& wp_dest = wp_nav->get_wp_destination(); loiter_nav->init_target(wp_dest.xy()); #if AP_RANGEFINDER_ENABLED - if (wp_nav->origin_and_destination_are_terrain_alt()) { - copter.surface_tracking.set_target_alt_cm(wp_dest.z); + if (copter.rangefinder_alt_ok() && wp_nav->rangefinder_used_and_healthy()) { + copter.surface_tracking.external_init(); } #endif } else { @@ -455,16 +455,10 @@ bool ModeZigZag::calculate_next_dest(Destination ab_dest, bool use_wpnav_alt, Ve terrain_alt = wp_nav->origin_and_destination_are_terrain_alt(); next_dest.z = wp_nav->get_wp_destination().z; } else { - // if we have a downward facing range finder then use terrain altitude targets terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used_and_healthy(); - if (terrain_alt) { -#if AP_RANGEFINDER_ENABLED - if (!copter.surface_tracking.get_target_alt_cm(next_dest.z)) { - next_dest.z = copter.rangefinder_state.alt_cm_filt.get(); - } -#endif - } else { - next_dest.z = pos_control->is_active_z() ? pos_control->get_pos_target_z_cm() : inertial_nav.get_position_z_up_cm(); + next_dest.z = pos_control->get_pos_desired_z_cm(); + if (!terrain_alt) { + next_dest.z += pos_control->get_pos_terrain_cm(); } } @@ -506,20 +500,11 @@ bool ModeZigZag::calculate_side_dest(Vector3f& next_dest, bool& terrain_alt) con // get distance from vehicle to start_pos const Vector2f curr_pos2d {inertial_nav.get_position_xy_cm()}; - next_dest.x = curr_pos2d.x + (AB_side.x * scalar); - next_dest.y = curr_pos2d.y + (AB_side.y * scalar); + next_dest.xy() = curr_pos2d + (AB_side * scalar); // if we have a downward facing range finder then use terrain altitude targets terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used_and_healthy(); - if (terrain_alt) { -#if AP_RANGEFINDER_ENABLED - if (!copter.surface_tracking.get_target_alt_cm(next_dest.z)) { - next_dest.z = copter.rangefinder_state.alt_cm_filt.get(); - } -#endif - } else { - next_dest.z = pos_control->is_active_z() ? pos_control->get_pos_target_z_cm() : inertial_nav.get_position_z_up_cm(); - } + next_dest.z = pos_control->get_pos_desired_z_cm(); return true; } diff --git a/ArduCopter/surface_tracking.cpp b/ArduCopter/surface_tracking.cpp index ecb6a397d3858..4851df6fcc8d5 100644 --- a/ArduCopter/surface_tracking.cpp +++ b/ArduCopter/surface_tracking.cpp @@ -18,7 +18,7 @@ void Copter::SurfaceTracking::update_surface_offset() AP_SurfaceDistance &rf_state = (surface == Surface::GROUND) ? copter.rangefinder_state : copter.rangefinder_up_state; // update position controller target offset to the surface's alt above the EKF origin - copter.pos_control->set_pos_offset_target_z_cm(rf_state.terrain_offset_cm); + copter.pos_control->set_pos_terrain_target_cm(rf_state.terrain_offset_cm); last_update_ms = now_ms; valid_for_logging = true; @@ -28,7 +28,7 @@ void Copter::SurfaceTracking::update_surface_offset() if (timeout || reset_target || (last_glitch_cleared_ms != rf_state.glitch_cleared_ms)) { - copter.pos_control->set_pos_offset_z_cm(rf_state.terrain_offset_cm); + copter.pos_control->init_pos_terrain_cm(rf_state.terrain_offset_cm); reset_target = false; last_glitch_cleared_ms = rf_state.glitch_cleared_ms; } @@ -36,40 +36,22 @@ void Copter::SurfaceTracking::update_surface_offset() } else { // reset position controller offsets if surface tracking is inactive // flag target should be reset when/if it next becomes active - if (timeout) { - copter.pos_control->set_pos_offset_z_cm(0); - copter.pos_control->set_pos_offset_target_z_cm(0); + if (timeout && !reset_target) { + copter.pos_control->init_pos_terrain_cm(0); + valid_for_logging = false; reset_target = true; } } } - -// get target altitude (in cm) above ground -// returns true if there is a valid target -bool Copter::SurfaceTracking::get_target_alt_cm(float &target_alt_cm) const -{ - // fail if we are not tracking downwards - if (surface != Surface::GROUND) { - return false; - } - // check target has been updated recently - if (AP_HAL::millis() - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) { - return false; - } - target_alt_cm = (copter.pos_control->get_pos_target_z_cm() - copter.pos_control->get_pos_offset_z_cm()); - return true; -} - -// set target altitude (in cm) above ground -void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm) +// target has already been set by terrain following so do not initalise again +// this should be called by flight modes when switching from terrain following to surface tracking (e.g. ZigZag) +void Copter::SurfaceTracking::external_init() { - // fail if we are not tracking downwards - if (surface != Surface::GROUND) { - return; + if ((surface == Surface::GROUND) && copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0)) { + last_update_ms = millis(); + reset_target = false; } - copter.pos_control->set_pos_offset_z_cm(copter.inertial_nav.get_position_z_up_cm() - _target_alt_cm); - last_update_ms = AP_HAL::millis(); } bool Copter::SurfaceTracking::get_target_dist_for_logging(float &target_dist) const @@ -79,7 +61,7 @@ bool Copter::SurfaceTracking::get_target_dist_for_logging(float &target_dist) co } const float dir = (surface == Surface::GROUND) ? 1.0f : -1.0f; - target_dist = dir * (copter.pos_control->get_pos_target_z_cm() - copter.pos_control->get_pos_offset_z_cm()) * 0.01f; + target_dist = dir * copter.pos_control->get_pos_desired_z_cm() * 0.01f; return true; } diff --git a/ArduCopter/takeoff.cpp b/ArduCopter/takeoff.cpp index e31ea1871001e..943cea8d525ac 100644 --- a/ArduCopter/takeoff.cpp +++ b/ArduCopter/takeoff.cpp @@ -52,7 +52,7 @@ void Mode::_TakeOff::start(float alt_cm) { // initialise takeoff state _running = true; - take_off_start_alt = copter.pos_control->get_pos_target_z_cm(); + take_off_start_alt = copter.pos_control->get_pos_desired_z_cm(); take_off_complete_alt = take_off_start_alt + alt_cm; } @@ -87,7 +87,7 @@ void Mode::_TakeOff::do_pilot_takeoff(float& pilot_climb_rate_cm) if (throttle >= MIN(copter.g2.takeoff_throttle_max, 0.9) || (copter.pos_control->get_z_accel_cmss() >= 0.5 * copter.pos_control->get_max_accel_z_cmss()) || (copter.pos_control->get_vel_desired_cms().z >= constrain_float(pilot_climb_rate_cm, copter.pos_control->get_max_speed_up_cms() * 0.1, copter.pos_control->get_max_speed_up_cms() * 0.5)) || - (is_positive(take_off_complete_alt - take_off_start_alt) && copter.pos_control->get_pos_target_z_cm() - take_off_start_alt > 0.5 * (take_off_complete_alt - take_off_start_alt))) { + (is_positive(take_off_complete_alt - take_off_start_alt) && copter.pos_control->get_pos_desired_z_cm() - take_off_start_alt > 0.5 * (take_off_complete_alt - take_off_start_alt))) { // throttle > 90% // acceleration > 50% maximum acceleration // velocity > 10% maximum velocity && commanded climb rate @@ -104,7 +104,7 @@ void Mode::_TakeOff::do_pilot_takeoff(float& pilot_climb_rate_cm) // stop take off early and return if negative climb rate is commanded or we are within 0.1% of our take off altitude if (is_negative(pilot_climb_rate_cm) || - (take_off_complete_alt - take_off_start_alt) * 0.999f < copter.pos_control->get_pos_target_z_cm() - take_off_start_alt) { + (take_off_complete_alt - take_off_start_alt) * 0.999f < copter.pos_control->get_pos_desired_z_cm() - take_off_start_alt) { stop(); } } @@ -210,13 +210,13 @@ void _AutoTakeoff::run() const float vel_threshold_fraction = 0.1; // stopping distance from vel_threshold_fraction * max velocity const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss(); - bool reached_altitude = copter.pos_control->get_pos_target_z_cm() >= pos_z - stop_distance; + bool reached_altitude = copter.pos_control->get_pos_desired_z_cm() >= pos_z - stop_distance; bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * vel_threshold_fraction; complete = reached_altitude && reached_climb_rate; // calculate completion for location in case it is needed for a smooth transition to wp_nav if (complete) { - const Vector3p& _complete_pos = copter.pos_control->get_pos_target_cm(); + const Vector3p& _complete_pos = copter.pos_control->get_pos_desired_cm(); complete_pos = Vector3p{_complete_pos.x, _complete_pos.y, pos_z}; } } From c38bbbd5f428e263316d3d5f94aed6eb6af4e1ce Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 1 Oct 2024 11:18:01 +0900 Subject: [PATCH 012/314] Copter: RTL path subtracts offsets Co-authored-by: Leonard Hall --- ArduCopter/mode_rtl.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp index 5266c8dd9a359..8d7bba2dd332a 100644 --- a/ArduCopter/mode_rtl.cpp +++ b/ArduCopter/mode_rtl.cpp @@ -405,8 +405,11 @@ void ModeRTL::compute_return_target() rtl_path.return_target = ahrs.get_home(); #endif + // get position controller Z-axis offset in cm above EKF origin + int32_t pos_offset_z = pos_control->get_pos_offset_z_cm(); + // curr_alt is current altitude above home or above terrain depending upon use_terrain - int32_t curr_alt = copter.current_loc.alt; + int32_t curr_alt = copter.current_loc.alt - pos_offset_z; // determine altitude type of return journey (alt-above-home, alt-above-terrain using range finder or alt-above-terrain using terrain database) ReturnTargetAltType alt_type = ReturnTargetAltType::RELATIVE; @@ -430,6 +433,8 @@ void ModeRTL::compute_return_target() // set curr_alt and return_target.alt from range finder if (alt_type == ReturnTargetAltType::RANGEFINDER) { if (copter.get_rangefinder_height_interpolated_cm(curr_alt)) { + // subtract position controller offset + curr_alt -= pos_offset_z; // set return_target.alt rtl_path.return_target.set_alt_cm(MAX(curr_alt + MAX(0, g.rtl_climb_min), MAX(g.rtl_altitude, RTL_ALT_MIN)), Location::AltFrame::ABOVE_TERRAIN); } else { @@ -448,7 +453,7 @@ void ModeRTL::compute_return_target() int32_t curr_terr_alt; if (copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, curr_terr_alt) && rtl_path.return_target.change_alt_frame(Location::AltFrame::ABOVE_TERRAIN)) { - curr_alt = curr_terr_alt; + curr_alt = curr_terr_alt - pos_offset_z; } else { // fallback to relative alt and warn user alt_type = ReturnTargetAltType::RELATIVE; From 5ca7daf915db4a45e496bcfaff171d699eee3227 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 2 Oct 2024 15:49:45 +0900 Subject: [PATCH 013/314] Copter: payload place uses desired alt instead of actual Co-authored-by: Leonard Hall --- ArduCopter/mode_auto.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 6858c7a17a6d0..5780ce7f561cd 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -1251,7 +1251,6 @@ void PayloadPlace::run() auto &g2 = copter.g2; const auto &g = copter.g; - auto &inertial_nav = copter.inertial_nav; auto *attitude_control = copter.attitude_control; const auto &pos_control = copter.pos_control; const auto &wp_nav = copter.wp_nav; @@ -1293,7 +1292,7 @@ void PayloadPlace::run() case State::Descent_Start: gcs().send_text(MAV_SEVERITY_INFO, "%s Abort: Gripper Open", prefix_str); // Descent_Start has not run so we must also initalise descent_start_altitude_cm - descent_start_altitude_cm = inertial_nav.get_position_z_up_cm(); + descent_start_altitude_cm = pos_control->get_pos_desired_z_cm(); state = State::Done; break; case State::Descent: @@ -1320,7 +1319,7 @@ void PayloadPlace::run() case State::Descent_Start: descent_established_time_ms = now_ms; - descent_start_altitude_cm = inertial_nav.get_position_z_up_cm(); + descent_start_altitude_cm = pos_control->get_pos_desired_z_cm(); // limiting the decent rate to the limit set in wp_nav is not necessary but done for safety descent_speed_cms = MIN((is_positive(g2.pldp_descent_speed_ms)) ? g2.pldp_descent_speed_ms * 100.0 : abs(g.land_speed), wp_nav->get_default_speed_down()); descent_thrust_level = 1.0; @@ -1330,7 +1329,7 @@ void PayloadPlace::run() case State::Descent: // check maximum decent distance if (!is_zero(descent_max_cm) && - descent_start_altitude_cm - inertial_nav.get_position_z_up_cm() > descent_max_cm) { + descent_start_altitude_cm - pos_control->get_pos_desired_z_cm() > descent_max_cm) { state = State::Ascent_Start; gcs().send_text(MAV_SEVERITY_WARNING, "%s Reached maximum descent", prefix_str); break; @@ -1419,7 +1418,7 @@ void PayloadPlace::run() // vel_threshold_fraction * max velocity const float vel_threshold_fraction = 0.1; const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss(); - bool reached_altitude = copter.pos_control->get_pos_desired_z_cm() >= descent_start_altitude_cm - stop_distance; + bool reached_altitude = pos_control->get_pos_desired_z_cm() >= descent_start_altitude_cm - stop_distance; if (reached_altitude) { state = State::Done; } From 1c59ec8b9424becee0d91175c62336678f12b4aa Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Thu, 3 Oct 2024 10:25:03 +0930 Subject: [PATCH 014/314] Copter: PosHold supports offsets --- ArduCopter/mode_poshold.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp index bf514c61cda31..c06072c597f90 100644 --- a/ArduCopter/mode_poshold.cpp +++ b/ArduCopter/mode_poshold.cpp @@ -377,7 +377,7 @@ void ModePosHold::run() pitch_mode = RPMode::BRAKE_TO_LOITER; brake.to_loiter_timer = POSHOLD_BRAKE_TO_LOITER_TIMER; // init loiter controller - loiter_nav->init_target(inertial_nav.get_position_xy_cm()); + loiter_nav->init_target(inertial_nav.get_position_xy_cm() - pos_control->get_pos_offset_cm().xy().tofloat()); // set delay to start of wind compensation estimate updates wind_comp_start_timer = POSHOLD_WIND_COMP_START_TIMER; } From 0c81f111fb5e6dbb871ae31ec947f801a451f936 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 3 Aug 2024 10:05:06 +0900 Subject: [PATCH 015/314] AP_Scripting: add set_posvelaccel_offset binding Co-authored-by: Leonard Hall --- libraries/AP_Scripting/docs/docs.lua | 16 ++++++++++++++++ .../generator/description/bindings.desc | 6 ++++++ 2 files changed, 22 insertions(+) diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index b2bbb4b7b0317..25f5552b3a0e9 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -3723,6 +3723,22 @@ AR_AttitudeControl = {} ---@return number -- spees slew rate function AR_AttitudeControl:get_srate() end +-- copter position controller +poscontrol = {} + +-- add an offset to position controller's target position, velocity and acceleration +---@param pos_offset_NED Vector3f_ud +---@param vel_offset_NED Vector3f_ud +---@param accel_offset_NED Vector3f_ud +---@return boolean +function poscontrol:set_posvelaccel_offset(pos_offset_NED, vel_offset_NED, accel_offset_NED) end + +-- get position controller's target position, velocity and acceleration offsets +---@return Vector3f_ud|nil +---@return Vector3f_ud|nil +---@return Vector3f_ud|nil +function poscontrol:get_posvelaccel_offset() end + -- desc AR_PosControl = {} diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index 5a1b52817cfae..59b356065bdc2 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -759,6 +759,12 @@ include AC_AttitudeControl/AC_AttitudeControl.h depends APM_BUILD_TYPE(APM_BUILD singleton AC_AttitudeControl depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI singleton AC_AttitudeControl method get_rpy_srate void float'Ref float'Ref float'Ref +include AC_AttitudeControl/AC_PosControl.h depends APM_BUILD_COPTER_OR_HELI +singleton AC_PosControl depends APM_BUILD_COPTER_OR_HELI +singleton AC_PosControl rename poscontrol +singleton AC_PosControl method set_posvelaccel_offset boolean Vector3f Vector3f Vector3f +singleton AC_PosControl method get_posvelaccel_offset boolean Vector3f'Null Vector3f'Null Vector3f'Null + include APM_Control/AR_AttitudeControl.h depends APM_BUILD_TYPE(APM_BUILD_Rover) singleton AR_AttitudeControl depends APM_BUILD_TYPE(APM_BUILD_Rover) singleton AR_AttitudeControl method get_srate void float'Ref float'Ref From 51ec6dfd73686d7a4f92683cbad36a714f9e5c38 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 3 Aug 2024 10:14:12 +0900 Subject: [PATCH 016/314] AP_Scripting: add copter-posoffset example script Co-authored-by: Leonard Hall --- .../examples/copter-posoffset.lua | 160 ++++++++++++++++++ 1 file changed, 160 insertions(+) create mode 100644 libraries/AP_Scripting/examples/copter-posoffset.lua diff --git a/libraries/AP_Scripting/examples/copter-posoffset.lua b/libraries/AP_Scripting/examples/copter-posoffset.lua new file mode 100644 index 0000000000000..b0fd3774c92a6 --- /dev/null +++ b/libraries/AP_Scripting/examples/copter-posoffset.lua @@ -0,0 +1,160 @@ +-- Example showing how a position offset can be added to a Copter's auto mission plan +-- +-- CAUTION: This script only works for Copter +-- this script waits for the vehicle to be armed and in auto mode and then +-- adds an offset to the position or velocity target +-- +-- How To Use +-- 1. copy this script to the autopilot's "scripts" directory +-- 2. set PSC_OFS_xx parameter to the desired position OR velocity offsets desired +-- 3. fly the vehicle in Auto mode (or almost any mode) +-- 4. use the Scripting1 aux switch to enable and disable the offsets + +local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} + +-- setup script specific parameters +local PARAM_TABLE_KEY = 71 +local PARAM_TABLE_PREFIX = "PSC_OFS_" +assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'could not add param table') + +-- add a parameter and bind it to a variable +function bind_add_param(name, idx, default_value) + assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', PARAM_TABLE_PREFIX .. name)) + return Parameter(PARAM_TABLE_PREFIX .. name) +end + +--[[ + // @Param: PSC_OFS_POS_N + // @DisplayName: Position Controller Position Offset North + // @Description: Position controller offset North + // @Range: 0 1000 + // @Units: m + // @User: Standard +--]] +local PSC_OFS_POS_N = bind_add_param("POS_N", 1, 0) + +--[[ + // @Param: PSC_OFS_POS_E + // @DisplayName: Position Controller Position Offset East + // @Description: Position controller offset North + // @Range: 0 1000 + // @Units: m + // @User: Standard +--]] +local PSC_OFS_POS_E = bind_add_param("POS_E", 2, 0) + +--[[ + // @Param: PSC_OFS_POS_D + // @DisplayName: Position Controller Position Offset Down + // @Description: Position controller offset Down + // @Range: 0 1000 + // @Units: m + // @User: Standard +--]] +local PSC_OFS_POS_D = bind_add_param("POS_D", 3, 0) + +--[[ + // @Param: PSC_OFS_VEL_N + // @DisplayName: Position Controller Velocity Offset North + // @Description: Position controller velocity offset North + // @Range: 0 10 + // @Units: m/s + // @User: Standard +--]] +local PSC_OFS_VEL_N = bind_add_param("VEL_N", 4, 0) + +--[[ + // @Param: PSC_OFS_VEL_E + // @DisplayName: Position Controller Velocity Offset East + // @Description: Position controller velocity offset East + // @Range: 0 10 + // @Units: m/s + // @User: Standard +--]] +local PSC_OFS_VEL_E = bind_add_param("VEL_E", 5, 0) + +--[[ + // @Param: PSC_OFS_VEL_D + // @DisplayName: Position Controller Velocity Offset Down + // @Description: Position controller velocity offset Down + // @Range: 0 10 + // @Units: m/s + // @User: Standard +--]] +local PSC_OFS_VEL_D = bind_add_param("VEL_D", 6, 0) + +-- local variables +local aux_sw_pos_last = 0 + +-- welcome message to user +gcs:send_text(MAV_SEVERITY.INFO, "copter-posoffset.lua loaded") + +function update() + + -- must be armed, flying and in auto mode + if (not arming:is_armed()) or (not vehicle:get_likely_flying()) then + return update, 1000 + end + + -- Scripting1 aux switch enables/disables offsets + local aux_sw_pos = rc:get_aux_cached(300) + if aux_sw_pos == nil then + aux_sw_pos = 0 + end + + -- check for change in aux switch position + if aux_sw_pos ~= aux_sw_pos_last then + aux_sw_pos_last = aux_sw_pos + if aux_sw_pos == 0 then + -- if switch is in low position clear offsets + if poscontrol:set_posvelaccel_offset(Vector3f(), Vector3f(), Vector3f()) then + gcs:send_text(MAV_SEVERITY.ERROR, "copter-posoffset: offsets cleared") + return update, 1000 + else + gcs:send_text(MAV_SEVERITY.ERROR, "copter-posoffset: failed to clear offsets") + end + else + gcs:send_text(MAV_SEVERITY.ERROR, "copter-posoffset: offsets activated") + end + end + + if aux_sw_pos == 0 then + return update, 1000 + end + + local pos_offsets_zero = PSC_OFS_POS_N:get() == 0 and PSC_OFS_POS_E:get() == 0 and PSC_OFS_POS_D:get() == 0 + local vel_offsets_zero = PSC_OFS_VEL_N:get() == 0 and PSC_OFS_VEL_E:get() == 0 and PSC_OFS_VEL_D:get() == 0 + + -- if position offsets are non-zero or all offsets are zero then send position offsets + if not pos_offsets_zero or vel_offsets_zero then + -- set the position offset in meters in NED frame + local pos_offset_NED = Vector3f() + pos_offset_NED:x(PSC_OFS_POS_N:get()) + pos_offset_NED:y(PSC_OFS_POS_E:get()) + pos_offset_NED:z(PSC_OFS_POS_D:get()) + if not poscontrol:set_posvelaccel_offset(pos_offset_NED, Vector3f(), Vector3f()) then + gcs:send_text(MAV_SEVERITY.ERROR, "copter-posoffset: failed to set pos offset") + end + test_position = not pos_offsets_zero + else + -- first get position offset (cumulative effect of velocity offsets) + local pos_offset_NED, _, _ = poscontrol:get_posvelaccel_offset() + if pos_offset_NED == nil then + print_warning("unable to get position offset") + pos_offset_NED = Vector3f() + end + -- test velocity offsets in m/s in NED frame + local vel_offset_NED = Vector3f() + vel_offset_NED:x(PSC_OFS_VEL_N:get()) + vel_offset_NED:y(PSC_OFS_VEL_E:get()) + vel_offset_NED:z(PSC_OFS_VEL_D:get()) + if not poscontrol:set_posvelaccel_offset(pos_offset_NED, vel_offset_NED, Vector3f()) then + gcs:send_text(MAV_SEVERITY.ERROR, "copter-posoffset: failed to set vel offset") + end + end + + -- update at 1hz + return update, 1000 +end + +return update() From bff288d498b4eef98f829680660843417ad3ac47 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 26 Jul 2024 21:12:59 +0900 Subject: [PATCH 017/314] AP_Scripting: mavlink_msgs global-position-int and heartbeat --- .../MAVLink/mavlink_msg_GLOBAL_POSITION_INT.lua | 14 ++++++++++++++ .../modules/MAVLink/mavlink_msg_HEARTBEAT.lua | 11 +++++++++++ 2 files changed, 25 insertions(+) create mode 100644 libraries/AP_Scripting/modules/MAVLink/mavlink_msg_GLOBAL_POSITION_INT.lua create mode 100644 libraries/AP_Scripting/modules/MAVLink/mavlink_msg_HEARTBEAT.lua diff --git a/libraries/AP_Scripting/modules/MAVLink/mavlink_msg_GLOBAL_POSITION_INT.lua b/libraries/AP_Scripting/modules/MAVLink/mavlink_msg_GLOBAL_POSITION_INT.lua new file mode 100644 index 0000000000000..e566ad52b53c2 --- /dev/null +++ b/libraries/AP_Scripting/modules/MAVLink/mavlink_msg_GLOBAL_POSITION_INT.lua @@ -0,0 +1,14 @@ +local GLOBAL_POSITION_INT = {} +GLOBAL_POSITION_INT.id = 33 +GLOBAL_POSITION_INT.fields = { + { "time_boot_ms", " Date: Fri, 26 Jul 2024 21:12:02 +0900 Subject: [PATCH 018/314] AP_Scripting: copter-slung-payload suppresses oscillation Co-authored-by: Leonard Hall --- .../applets/copter-slung-payload.lua | 396 ++++++++++++++++++ .../applets/copter-slung-payload.md | 30 ++ 2 files changed, 426 insertions(+) create mode 100644 libraries/AP_Scripting/applets/copter-slung-payload.lua create mode 100644 libraries/AP_Scripting/applets/copter-slung-payload.md diff --git a/libraries/AP_Scripting/applets/copter-slung-payload.lua b/libraries/AP_Scripting/applets/copter-slung-payload.lua new file mode 100644 index 0000000000000..9cf511fe0d842 --- /dev/null +++ b/libraries/AP_Scripting/applets/copter-slung-payload.lua @@ -0,0 +1,396 @@ +-- Move a Copter so as to reduce a slung payload's oscillation. Requires the payload be capable of sending its position and velocity to the main vehicle +-- +-- How To Use +-- 1. copy this script to the autopilot's "scripts" directory +-- 2. within the "scripts" directory create a "modules" directory +-- 3. copy the MAVLink/mavlink_msgs_xxx files to the "scripts" directory +-- 4. add an autopilot and GPS to the payload and configure it to send GLOBAL_POSITION_INT messages at 10hz to the vehicle +-- 5. create a mission with a SCRIPT_TIME or PAYLOAD_PLACE command included +-- 6. fly the mission and the vehicle should move so as to reduce the payload's oscillations while executing the SCRIPT_TIME or PAYLOAD_PLACE commands +-- 7. optionally set SLUP_SYSID to the system id of the payload autopilot +-- 8. optionally set WP_YAW_BEHAVIOR to 0 to prevent the vehicle from yawing while moving to the payload + +-- load mavlink message definitions from modules/MAVLink directory +local mavlink_msgs = require("MAVLink/mavlink_msgs") + +-- global definitions +local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} +local UPDATE_INTERVAL_MS = 10 -- update at about 100hz +local COPTER_MODE_AUTO = 3 +local MAV_CMD_NAV_PAYLOAD_PLACE = 94 +local MAV_CMD_NAV_SCRIPT_TIME = 42702 +local PAYLOAD_OFFSET_COMP_VEL_MAX = 1 -- payload offset compensation will be active when the payload's horizontal velocity is no more than this speed in m/s +local PAYLOAD_UPDATE_TIMEOUT_MS = 1000 -- payload update timeout, used to warn user on loss of connection +local CONTROL_TIMEOUT_MS = 3000 -- control timeout, used to reset offsets if they have not been set for more than 3 seconds +local TEXT_PREFIX_STR = "copter-slung-payload:" -- prefix for all text messages + + -- setup script specific parameters +local PARAM_TABLE_KEY = 82 +local PARAM_TABLE_PREFIX = "SLUP_" +assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 7), 'could not add param table') + +-- add a parameter and bind it to a variable +function bind_add_param(name, idx, default_value) + assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', PARAM_TABLE_PREFIX .. name)) + return Parameter(PARAM_TABLE_PREFIX .. name) + end + +--[[ + // @Param: SLUP_ENABLE + // @DisplayName: Slung Payload enable + // @Description: Slung Payload enable + // @Values: 0:Disabled,1:Enabled + // @User: Standard +--]] +local SLUP_ENABLE = bind_add_param("ENABLE", 1, 1) + +--[[ + // @Param: SLUP_VEL_P + // @DisplayName: Slung Payload Velocity P gain + // @Description: Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload + // @Range: 0 0.8 + // @User: Standard +--]] +local SLUP_VEL_P = bind_add_param("VEL_P", 2, 0.5) + +--[[ + // @Param: SLUP_DIST_MAX + // @DisplayName: Slung Payload horizontal distance max + // @Description: Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress + // @Range: 0 30 + // @User: Standard +--]] +local SLUP_DIST_MAX = bind_add_param("DIST_MAX", 3, 15) + +--[[ + // @Param: SLUP_SYSID + // @DisplayName: Slung Payload mavlink system id + // @Description: Slung Payload mavlink system id. 0 to use any/all system ids + // @Range: 0 255 + // @User: Standard +--]] +local SLUP_SYSID = bind_add_param("SYSID", 4, 0) + +--[[ + // @Param: SLUP_WP_POS_P + // @DisplayName: Slung Payload return to WP position P gain + // @Description: WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint + // @Range: 0 1 + // @User: Standard +--]] +local SLUP_WP_POS_P = bind_add_param("WP_POS_P", 5, 0.05) + +--[[ + // @Param: SLUP_RESTOFS_TC + // @DisplayName: Slung Payload resting offset estimate filter time constant + // @Description: payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response + // @Range: 1 20 + // @User: Standard +--]] +local SLUP_RESTOFS_TC = bind_add_param("RESTOFS_TC", 6, 10) + +--[[ + // @Param: SLUP_DEBUG + // @DisplayName: Slung Payload debug output + // @Description: Slung payload debug output, set to 1 to enable debug + // @Values: 0:Disabled,1:Enabled + // @User: Standard +--]] +local SLUP_DEBUG = bind_add_param("DEBUG", 7, 0) + +-- mavlink definitions +local GLOBAL_POSITION_INT_ID = 33 +local msg_map = {} +msg_map[GLOBAL_POSITION_INT_ID] = "GLOBAL_POSITION_INT" + +-- initialize MAVLink rx with number of messages, and buffer depth +mavlink:init(2, 5) + +-- register message id to receive +mavlink:register_rx_msgid(GLOBAL_POSITION_INT_ID) + +-- variables +local payload_sysid = nil -- holds sysid of payload once a matching global position int message has been received +local payload_loc = Location() -- payload location +local payload_vel = Vector3f() -- payload velocity +local payload_acc = Vector3f() -- payload acceleration +local payload_update_timeout_prev = true -- payload update timeout state from previous iteration, used to detect loss/recovery of payload updates +local payload_loc_update_ms = uint32_t(0) -- system time that payload_loc was last updated +local payload_dist_NED = Vector3f() -- distance between vehicle and payload in NED frame +local global_pos_int_timebootms_prev = 0 -- global position int message's time_boot_ms field from previous iteration (used to calc dt) +local resting_offset_NED = Vector3f() -- estimated position offset between payload and vehicle +local resting_vel_NED = Vector3f() -- estimated velocity offset. should be near zero when hovering +local resting_offset_valid = false -- true if resting_offset_NED and resting_vel_NED can be used +local resting_offset_update_ms = uint32_t(0) -- system time that resting_offset_NED was last updated +local resting_offset_notify_ms = uint32_t(0) -- system time that the user was sent the resting_offset_NED +local send_velocity_offsets = false -- true if we should send vehicle velocity offset commands to reduce payload oscillation +local sent_velocity_offsets_ms = uint32_t(0) -- system time that the last velocity offset was sent to the vehicle +local control_timeout_ms = uint32_t(0) -- system time that the control timeout occurred +local payload_vel_prev = Vector3f() -- previous iterations payload velocity used to calculate acceleration +local print_warning_ms = uint32_t(0) -- system time that the last warning was printed. used to prevent spamming the user with warnings + +-- display a text warning to the user. only displays a warning every second +-- prefix is automatically added +function print_warning(text_warning) + local now_ms = millis() + if (now_ms - print_warning_ms > 1000) then + gcs:send_text(MAV_SEVERITY.WARNING, string.format("%s %s", TEXT_PREFIX_STR, text_warning)) + print_warning_ms = now_ms + end +end + +-- calculate sign of a number. 1 if positive, -1 if negative, 0 if exactly zero +function get_sign(value) + if value > 0 then + return 1 + elseif value < 0 then + return -1 + end + return 0 +end + +-- calculate an alpha for a first order low pass filter +function calc_lowpass_alpha(dt, time_constant) + local rc = time_constant/(math.pi*2) + return dt/(dt+rc) +end + +-- handle global position int message +-- returns true if the message was from the payload and updates payload_loc, payload_vel, payload_acc and payload_loc_update_ms +function handle_global_position_int(msg) + -- check if message is from the correct system id + if (SLUP_SYSID:get() > 0 and msg.sysid ~= SLUP_SYSID:get()) then + return false + end + + -- lock onto the first matching system id + if payload_sysid == nil then + payload_sysid = msg.sysid + gcs:send_text(MAV_SEVERITY.INFO, string.format("%s found sysid:%d", TEXT_PREFIX_STR, msg.sysid)) + elseif payload_sysid ~= msg.sysid then + return false + end + + -- check for duplicate messages and calculate dt + local time_boot_ms = msg.time_boot_ms + local dt = (time_boot_ms - global_pos_int_timebootms_prev) * 0.001 + global_pos_int_timebootms_prev = time_boot_ms + if dt <= 0 or dt > 1 then + return false + end + + -- update payload location + payload_loc:lat(msg.lat) + payload_loc:lng(msg.lon) + payload_loc:alt(msg.alt * 0.1) + + -- update payload velocity + payload_vel:x(msg.vx * 0.01) + payload_vel:y(msg.vy * 0.01) + payload_vel:z(msg.vz * 0.01) + + -- calc payload acceleration + payload_acc:x((payload_vel:x() - payload_vel_prev:x()) / dt) + payload_acc:y((payload_vel:y() - payload_vel_prev:y()) / dt) + payload_acc:z((payload_vel:z() - payload_vel_prev:z()) / dt) + payload_vel_prev = payload_vel:copy() + + -- record time of update + payload_loc_update_ms = millis() + return true +end + +-- estimate the payload's resting position offset based on its current offset and velocity +-- relies on payload_dist_NED and payload_vel being updated +function update_payload_resting_offset() + + -- calculate dt since last update + local now_ms = millis() + local dt = (now_ms - resting_offset_update_ms):tofloat() * 0.001 + resting_offset_update_ms = now_ms + + -- sanity check dt + if (dt <= 0) then + resting_offset_valid = false + do return end + end + + -- if not updated for more than 1 second, reset resting offset to current offset + if (dt > 1) then + resting_offset_NED = payload_dist_NED + resting_vel_NED = payload_vel + resting_offset_valid = false + do return end + end + + -- use a low-pass filter to move the resting offset NED towards the pos_offset_NED + local alpha = calc_lowpass_alpha(dt, SLUP_RESTOFS_TC:get()) + resting_offset_NED:x(resting_offset_NED:x() + (payload_dist_NED:x() - resting_offset_NED:x()) * alpha) + resting_offset_NED:y(resting_offset_NED:y() + (payload_dist_NED:y() - resting_offset_NED:y()) * alpha) + resting_offset_NED:z(resting_offset_NED:z() + (payload_dist_NED:z() - resting_offset_NED:z()) * alpha) + resting_vel_NED:x(resting_vel_NED:x() + (payload_vel:x() - resting_vel_NED:x()) * alpha) + resting_vel_NED:y(resting_vel_NED:y() + (payload_vel:y() - resting_vel_NED:y()) * alpha) + resting_vel_NED:z(resting_vel_NED:z() + (payload_vel:z() - resting_vel_NED:z()) * alpha) + + -- debug output every 3 seconds + local print_debug = false + if (SLUP_DEBUG:get() > 0) and (now_ms - resting_offset_notify_ms > 3000) then + print_debug = true + resting_offset_notify_ms = now_ms + end + + -- validate that resting offsets are valid + -- resting velocity should be low to ensure the resting position estimate is accurate + if (resting_vel_NED:xy():length() > PAYLOAD_OFFSET_COMP_VEL_MAX) then + resting_offset_valid = false + if print_debug then + print_warning("resting velocity too high") + end + return + end + + -- resting position should be within SLUP_DIST_MAX of the vehicle + if resting_offset_NED:xy():length() > SLUP_DIST_MAX:get() then + resting_offset_valid = false + if print_debug then + print_warning("payload resting pos too far, ignoring"); + end + return + end + + -- update user + if (print_debug) then + gcs:send_text(MAV_SEVERITY.INFO, string.format("resting a:%f px:%4.1f py:%4.1f pz:%4.1f vx:%4.1f vy:%4.1f vz:%4.1f", alpha, resting_offset_NED:x(), resting_offset_NED:y(), resting_offset_NED:z(), resting_vel_NED:x(), resting_vel_NED:y(), resting_vel_NED:z())) + end + + -- if set got this far the resting offsets must be valid + resting_offset_valid = true +end + +-- move vehicle to reduce payload oscillation +-- relies on payload_dist_NED, payload_vel, payload_acc, resting_offset_NED, resting_vel_NED being updated +function move_vehicle() + + -- check horizontal distance is less than SLUP_DIST_MAX + if SLUP_DIST_MAX:get() > 0 then + local dist_xy = payload_dist_NED:xy():length() + if (dist_xy > SLUP_DIST_MAX:get()) then + print_warning(string.format("payload too far %4.1fm", dist_xy)); + do return end + end + end + + -- get long-term payload offset used to compensate for GPS errors and wind + local payload_offset_NED = Vector3f() + if resting_offset_valid then + payload_offset_NED = resting_offset_NED + end + + -- get position offset (cumulative effect of velocity offsets) and use to slowly move back to waypoint + local pos_offset_NED, _, _ = poscontrol:get_posvelaccel_offset() + if pos_offset_NED == nil then + print_warning("unable to get dist to waypoint") + pos_offset_NED = Vector3f() + end + + -- calculate send velocity offsets in m/s in NED frame + local vel_offset_NED = Vector3f() + vel_offset_NED:x(-payload_acc:x() * SLUP_VEL_P:get() + (-pos_offset_NED:x() - payload_offset_NED:x()) * SLUP_WP_POS_P:get()) + vel_offset_NED:y(-payload_acc:y() * SLUP_VEL_P:get() + (-pos_offset_NED:y() - payload_offset_NED:y()) * SLUP_WP_POS_P:get()) + if poscontrol:set_posvelaccel_offset(pos_offset_NED, vel_offset_NED, Vector3f()) then + sent_velocity_offsets_ms = millis() + end +end + +-- display welcome message +gcs:send_text(MAV_SEVERITY.INFO, "copter-slung-payload script loaded") + +-- update function to receive location from payload and move vehicle to reduce payload's oscillation +function update() + + -- exit immediately if not enabled + if (SLUP_ENABLE:get() <= 0) then + return update, 1000 + end + + -- get vehicle location + local curr_loc = ahrs:get_location() + if curr_loc == nil then + return update, UPDATE_INTERVAL_MS + end + + -- consume all available mavlink messages + local payload_update_received = false + local msg + repeat + msg, _ = mavlink:receive_chan() + if (msg ~= nil) then + local parsed_msg = mavlink_msgs.decode(msg, msg_map) + if (parsed_msg ~= nil) then + if parsed_msg.msgid == GLOBAL_POSITION_INT_ID then + if handle_global_position_int(parsed_msg) then + payload_update_received = true + end + end + end + end + until msg == nil + + -- warn user on loss of recovery of telemetry from payload + local payload_timeout = millis() - payload_loc_update_ms > PAYLOAD_UPDATE_TIMEOUT_MS + if payload_timeout ~= payload_update_timeout_prev then + if payload_timeout then + gcs:send_text(MAV_SEVERITY.WARNING, string.format("%s payload updates lost", TEXT_PREFIX_STR)) + else + gcs:send_text(MAV_SEVERITY.INFO, string.format("%s payload updates received", TEXT_PREFIX_STR)) + end + end + payload_update_timeout_prev = payload_timeout + + if payload_update_received then + -- calculate position difference vs vehicle + payload_dist_NED = curr_loc:get_distance_NED(payload_loc) + + -- estimate the payload's resting position offset based on its current offset and velocity + -- relies on payload_dist_NED and payload_vel being updated + update_payload_resting_offset() + end + + -- check if we can control the vehicle + -- vehicle must be in Auto mode executing a SCRIPT_TIME or PAYLOAD_PLACE command + local send_velocity_offsets_prev = send_velocity_offsets + local armed_and_flying = arming:is_armed() and vehicle:get_likely_flying() + local takingoff_or_landing = vehicle:is_landing() or vehicle:is_taking_off() + local auto_mode = (vehicle:get_mode() == COPTER_MODE_AUTO) + local scripting_or_payloadplace = (mission:get_current_nav_id() == MAV_CMD_NAV_SCRIPT_TIME) or (mission:get_current_nav_id() == MAV_CMD_NAV_PAYLOAD_PLACE) + send_velocity_offsets = armed_and_flying and not takingoff_or_landing and auto_mode and scripting_or_payloadplace and not payload_timeout + + -- alert user if we start or stop sending velocity offsets + if (send_velocity_offsets and not send_velocity_offsets_prev) then + gcs:send_text(MAV_SEVERITY.INFO, string.format("%s activated", TEXT_PREFIX_STR)) + end + if (not send_velocity_offsets and send_velocity_offsets_prev) then + gcs:send_text(MAV_SEVERITY.INFO, string.format("%s deactivated", TEXT_PREFIX_STR)) + poscontrol:set_posvelaccel_offset(Vector3f(), Vector3f(), Vector3f()) + end + + -- move vehicle to reduce payload oscillation + if send_velocity_offsets then + move_vehicle() + + -- check for unexpected control timeout + -- reset vehicle offsets if not sent within last 3 seconds + local now_ms = millis() + local time_since_vel_offset_sent = now_ms - sent_velocity_offsets_ms + local time_since_last_control_timeout = now_ms - control_timeout_ms + if (time_since_vel_offset_sent > CONTROL_TIMEOUT_MS) and (time_since_last_control_timeout > CONTROL_TIMEOUT_MS) then + poscontrol:set_posvelaccel_offset(Vector3f(), Vector3f(), Vector3f()) + control_timeout_ms = now_ms + print_warning("control timeout, clearing offsets") + end + end + + return update, UPDATE_INTERVAL_MS +end + +return update() diff --git a/libraries/AP_Scripting/applets/copter-slung-payload.md b/libraries/AP_Scripting/applets/copter-slung-payload.md new file mode 100644 index 0000000000000..32d76256c43a7 --- /dev/null +++ b/libraries/AP_Scripting/applets/copter-slung-payload.md @@ -0,0 +1,30 @@ +# Slung Payload + +This script moves a Copter so as to reduce a slung payload's oscillation. Requires the payload be capable of sending its position and velocity to the main vehicle + +# Parameters + +SLUP_ENABLE : Set to 1 to enable this script +SLUP_VEL_P : Oscillation controller velocity P gain. Higher values will result in the vehicle moving more quickly in sync with the payload +SLUP_DIST_MAX : maximum acceptable distance between vehicle and payload. Within this distance oscillation suppression will operate +SLUP_SYSID : System id of payload's autopilot. If zero any system id is accepted +SLUP_WP_POS_P : Return to waypoint position P gain. Higher values result in the vehicle returning more quickly to the latest waypoint +SLUP_RESTOFS_TC : Slung Payload resting offset estimate filter time constant. Higher values result in smoother estimate but slower response +SLUP_DEBUG : Slung payload debug output, set to 1 to enable debug + +# How To Use + +1. mount an autopilot on the payload connected to the main vehicle using telemetry +2. ensure the vehicle and payload autopilots have unique system ids +3. copy this script to the vehicle autopilot's "scripts" directory +4. within the "scripts" directory create a "modules" directory +5. copy the MAVLink/mavlink_msgs_xxx files to the "scripts" directory + +# How It Works + +The script's algorithm is implemented as follows + +1. Consume GLOBAL_POSITION_INT messages from the payload +2. Calculate the payload's position vs the vehicle position +3. Use a P controller to move the vehicle towards the payload to reduce oscillation +4. Simultaneously the vehicle moves back towards the original location. The speed depends upon the SLUP_WP_POS_P parameter From 7c35f967d9452407ff20d57ed9c674c6c01d5a49 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 11 Sep 2024 20:24:49 +0900 Subject: [PATCH 019/314] Sub: auto integrates get-closest-point-on-edge dist --- ArduSub/mode_auto.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduSub/mode_auto.cpp b/ArduSub/mode_auto.cpp index d1fdc42f2aba7..67f9e4d78264d 100644 --- a/ArduSub/mode_auto.cpp +++ b/ArduSub/mode_auto.cpp @@ -187,8 +187,8 @@ void ModeAuto::auto_circle_movetoedge_start(const Location &circle_center, float // check our distance from edge of circle Vector3f circle_edge_neu; - sub.circle_nav.get_closest_point_on_circle(circle_edge_neu); - float dist_to_edge = (inertial_nav.get_position_neu_cm() - circle_edge_neu).length(); + float dist_to_edge; + sub.circle_nav.get_closest_point_on_circle(circle_edge_neu, dist_to_edge); // if more than 3m then fly to edge if (dist_to_edge > 300.0f) { From ae01a8f26d0d7f0bb13144aef1b5e7034eff02ff Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 17 Sep 2024 13:49:36 +0900 Subject: [PATCH 020/314] Plane: updates for offset handling Co-authored-by: Randy Mackay --- ArduPlane/mode_qloiter.cpp | 2 +- ArduPlane/quadplane.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp index 90a4d9f2273a4..6ab2c1bd3d81d 100644 --- a/ArduPlane/mode_qloiter.cpp +++ b/ArduPlane/mode_qloiter.cpp @@ -48,7 +48,7 @@ void ModeQLoiter::run() // we have an active landing target override Vector2f rel_origin; if (plane.next_WP_loc.get_vector_xy_from_origin_NE(rel_origin)) { - quadplane.pos_control->set_pos_target_xy_cm(rel_origin.x, rel_origin.y); + quadplane.pos_control->set_pos_desired_xy_cm(rel_origin); last_target_loc_set_ms = 0; } } diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index bdaa8a9915db7..a3e4c39e2ef3c 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -3609,7 +3609,7 @@ void QuadPlane::Log_Write_QControl_Tuning() float des_alt_m = 0.0f; int16_t target_climb_rate_cms = 0; if (plane.control_mode != &plane.mode_qstabilize) { - des_alt_m = pos_control->get_pos_target_z_cm() * 0.01f; + des_alt_m = pos_control->get_pos_desired_z_cm() * 0.01f; target_climb_rate_cms = pos_control->get_vel_target_z_cms(); } @@ -3902,7 +3902,7 @@ bool QuadPlane::guided_mode_enabled(void) */ void QuadPlane::set_alt_target_current(void) { - pos_control->set_pos_target_z_cm(inertial_nav.get_position_z_up_cm()); + pos_control->set_pos_desired_z_cm(inertial_nav.get_position_z_up_cm()); } // user initiated takeoff for guided mode From 6db90646b9bf56c68ac7eeb6cf9a775838cd2cbc Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 17 Sep 2024 13:49:43 +0900 Subject: [PATCH 021/314] Sub: updates for offset handling --- ArduSub/GCS_Mavlink.cpp | 2 +- ArduSub/mode_acro.cpp | 2 +- ArduSub/mode_althold.cpp | 4 ++-- ArduSub/mode_guided.cpp | 2 +- ArduSub/mode_manual.cpp | 2 +- ArduSub/mode_stabilize.cpp | 2 +- ArduSub/mode_surftrak.cpp | 12 +++++------- 7 files changed, 12 insertions(+), 14 deletions(-) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index 66411bb577976..0d0bad47ebd89 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -822,7 +822,7 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg) */ if (!z_ignore && sub.control_mode == Mode::Number::ALT_HOLD) { // Control only target depth when in ALT_HOLD - sub.pos_control.set_pos_target_z_cm(packet.alt*100); + sub.pos_control.set_pos_desired_z_cm(packet.alt*100); break; } diff --git a/ArduSub/mode_acro.cpp b/ArduSub/mode_acro.cpp index 29b1e61891667..534066938a2ab 100644 --- a/ArduSub/mode_acro.cpp +++ b/ArduSub/mode_acro.cpp @@ -7,7 +7,7 @@ bool ModeAcro::init(bool ignore_checks) { // set target altitude to zero for reporting - position_control->set_pos_target_z_cm(0); + position_control->set_pos_desired_z_cm(0); // attitude hold inputs become thrust inputs in acro mode // set to neutral to prevent chaotic behavior (esp. roll/pitch) diff --git a/ArduSub/mode_althold.cpp b/ArduSub/mode_althold.cpp index cf5b2a952f508..4af9c04bf6476 100644 --- a/ArduSub/mode_althold.cpp +++ b/ArduSub/mode_althold.cpp @@ -111,9 +111,9 @@ void ModeAlthold::control_depth() { //we allow full control to the pilot, but as soon as there's no input, we handle being at surface/bottom if (fabsf(target_climb_rate_cm_s) < 0.05f) { if (sub.ap.at_surface) { - position_control->set_pos_target_z_cm(MIN(position_control->get_pos_target_z_cm(), g.surface_depth - 5.0f)); // set target to 5 cm below surface level + position_control->set_pos_desired_z_cm(MIN(position_control->get_pos_desired_z_cm(), g.surface_depth - 5.0f)); // set target to 5 cm below surface level } else if (sub.ap.at_bottom) { - position_control->set_pos_target_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, position_control->get_pos_target_z_cm())); // set target to 10 cm above bottom + position_control->set_pos_desired_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, position_control->get_pos_desired_z_cm())); // set target to 10 cm above bottom } } diff --git a/ArduSub/mode_guided.cpp b/ArduSub/mode_guided.cpp index 8816aaac204d7..64dbcb0f83a9c 100644 --- a/ArduSub/mode_guided.cpp +++ b/ArduSub/mode_guided.cpp @@ -811,7 +811,7 @@ float ModeGuided::get_auto_heading() float track_bearing = get_bearing_cd(sub.wp_nav.get_wp_origin().xy(), sub.wp_nav.get_wp_destination().xy()); // Bearing from current position towards intermediate position target (centidegrees) - const Vector2f target_vel_xy{position_control->get_vel_target_cms().x, position_control->get_vel_target_cms().y}; + const Vector2f target_vel_xy = position_control->get_vel_target_cms().xy(); float angle_error = 0.0f; if (target_vel_xy.length() >= position_control->get_max_speed_xy_cms() * 0.1f) { const float desired_angle_cd = degrees(target_vel_xy.angle()) * 100.0f; diff --git a/ArduSub/mode_manual.cpp b/ArduSub/mode_manual.cpp index 9d6e29892ea91..6bbb92eef617a 100644 --- a/ArduSub/mode_manual.cpp +++ b/ArduSub/mode_manual.cpp @@ -3,7 +3,7 @@ bool ModeManual::init(bool ignore_checks) { // set target altitude to zero for reporting - position_control->set_pos_target_z_cm(0); + position_control->set_pos_desired_z_cm(0); // attitude hold inputs become thrust inputs in manual mode // set to neutral to prevent chaotic behavior (esp. roll/pitch) diff --git a/ArduSub/mode_stabilize.cpp b/ArduSub/mode_stabilize.cpp index 52620b8d5d0b6..51f9ef4732bcf 100644 --- a/ArduSub/mode_stabilize.cpp +++ b/ArduSub/mode_stabilize.cpp @@ -3,7 +3,7 @@ bool ModeStabilize::init(bool ignore_checks) { // set target altitude to zero for reporting - position_control->set_pos_target_z_cm(0); + position_control->set_pos_desired_z_cm(0); sub.last_pilot_heading = ahrs.yaw_sensor; return true; diff --git a/ArduSub/mode_surftrak.cpp b/ArduSub/mode_surftrak.cpp index 0bdc562f394d1..f119e02a8981f 100644 --- a/ArduSub/mode_surftrak.cpp +++ b/ArduSub/mode_surftrak.cpp @@ -81,8 +81,7 @@ bool ModeSurftrak::set_rangefinder_target_cm(float target_cm) // Initialize the terrain offset auto terrain_offset_cm = sub.inertial_nav.get_position_z_up_cm() - rangefinder_target_cm; - sub.pos_control.set_pos_offset_z_cm(terrain_offset_cm); - sub.pos_control.set_pos_offset_target_z_cm(terrain_offset_cm); + sub.pos_control.init_pos_terrain_cm(terrain_offset_cm); } else { reset(); @@ -97,8 +96,7 @@ void ModeSurftrak::reset() rangefinder_target_cm = INVALID_TARGET; // Reset the terrain offset - sub.pos_control.set_pos_offset_z_cm(0); - sub.pos_control.set_pos_offset_target_z_cm(0); + sub.pos_control.init_pos_terrain_cm(0); } /* @@ -117,11 +115,11 @@ void ModeSurftrak::control_range() { } if (sub.ap.at_surface) { // Set target depth to 5 cm below SURFACE_DEPTH and reset - position_control->set_pos_target_z_cm(MIN(position_control->get_pos_target_z_cm(), g.surface_depth - 5.0f)); + position_control->set_pos_desired_z_cm(MIN(position_control->get_pos_desired_z_cm(), g.surface_depth - 5.0f)); reset(); } else if (sub.ap.at_bottom) { // Set target depth to 10 cm above bottom and reset - position_control->set_pos_target_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, position_control->get_pos_target_z_cm())); + position_control->set_pos_desired_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, position_control->get_pos_desired_z_cm())); reset(); } else { // Typical operation @@ -164,7 +162,7 @@ void ModeSurftrak::update_surface_offset() } // Set the offset target, AC_PosControl will do the rest - sub.pos_control.set_pos_offset_target_z_cm(rangefinder_terrain_offset_cm); + sub.pos_control.set_pos_terrain_target_cm(rangefinder_terrain_offset_cm); } } #endif // AP_RANGEFINDER_ENABLED From 6d2631811d4eac544c790ed6fd134bf3ad8f93bd Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sun, 29 Sep 2024 10:26:51 +0930 Subject: [PATCH 022/314] Blimp: integrate PSC logging update --- Blimp/Loiter.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp index 2553e6d3e7c65..7385edfb92207 100644 --- a/Blimp/Loiter.cpp +++ b/Blimp/Loiter.cpp @@ -125,9 +125,9 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled } #if HAL_LOGGING_ENABLED - AC_PosControl::Write_PSCN(target_pos.x * 100.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0); - AC_PosControl::Write_PSCE(target_pos.y * 100.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0); - AC_PosControl::Write_PSCD(-target_pos.z * 100.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0); + AC_PosControl::Write_PSCN(0.0, target_pos.x * 100.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0); + AC_PosControl::Write_PSCE(0.0, target_pos.y * 100.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0); + AC_PosControl::Write_PSCD(0.0, -target_pos.z * 100.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0); #endif } @@ -203,8 +203,8 @@ void Loiter::run_vel(Vector3f& target_vel_ef, float& target_vel_yaw, Vector4b ax } #if HAL_LOGGING_ENABLED - AC_PosControl::Write_PSCN(0.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0); - AC_PosControl::Write_PSCE(0.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0); - AC_PosControl::Write_PSCD(0.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0); + AC_PosControl::Write_PSCN(0.0, 0.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0); + AC_PosControl::Write_PSCE(0.0, 0.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0); + AC_PosControl::Write_PSCD(0.0, 0.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0); #endif } From 399336f7ce972c5ff704c8a14633a59432ce9257 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Thu, 19 Sep 2024 15:54:35 +0930 Subject: [PATCH 023/314] AC_PID: AC_P_2D comment fix --- libraries/AC_PID/AC_P_2D.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_PID/AC_P_2D.h b/libraries/AC_PID/AC_P_2D.h index c89699bbe44aa..dad0168e25bf1 100644 --- a/libraries/AC_PID/AC_P_2D.h +++ b/libraries/AC_PID/AC_P_2D.h @@ -55,7 +55,7 @@ class AC_P_2D { AP_Float _kp; // internal variables - Vector2f _error; // time step in seconds + Vector2f _error; // error between target and measured float _error_max; // error limit in positive direction float _D1_max; // maximum first derivative of output From 4d116ceefeeed86154c0868c8069ad5c3ed48fd2 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Mon, 30 Sep 2024 09:34:06 +0900 Subject: [PATCH 024/314] AR_PosControl: integrate PSC logging update Co-authored-by: Randy Mackay --- libraries/APM_Control/AR_PosControl.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/APM_Control/AR_PosControl.cpp b/libraries/APM_Control/AR_PosControl.cpp index 194c2e95c45b4..ea862bc099ff5 100644 --- a/libraries/APM_Control/AR_PosControl.cpp +++ b/libraries/APM_Control/AR_PosControl.cpp @@ -389,7 +389,8 @@ void AR_PosControl::write_log() Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0; // reuse logging from AC_PosControl: - AC_PosControl::Write_PSCN(pos_target_2d_cm.x, // position target + AC_PosControl::Write_PSCN(0.0, // position desired + pos_target_2d_cm.x, // position target curr_pos_NED.x * 100.0, // position _vel_desired.x * 100.0, // desired velocity _vel_target.x * 100.0, // target velocity @@ -397,7 +398,8 @@ void AR_PosControl::write_log() _accel_desired.x * 100.0, // desired accel _accel_target.x * 100.0, // target accel curr_accel_NED.x); // accel - AC_PosControl::Write_PSCE(pos_target_2d_cm.y, // position target + AC_PosControl::Write_PSCE(0.0, // position desired + pos_target_2d_cm.y, // position target curr_pos_NED.y * 100.0, // position _vel_desired.y * 100.0, // desired velocity _vel_target.y * 100.0, // target velocity From e06c9048e0930ff6ac1b07e51681406afb198d12 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 13 Sep 2024 21:55:20 +0900 Subject: [PATCH 025/314] Tools: add copter pos offset test --- Tools/autotest/arducopter.py | 53 ++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 8a3d11b6f1ef7..b95c4a582da2d 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -10766,6 +10766,58 @@ def ScriptMountPOI(self): self.context_pop() self.reboot_sitl() + def ScriptCopterPosOffsets(self): + '''test the copter-posoffset.lua example script''' + self.context_push() + + # enable scripting and arming/takingoff in Auto mode + self.set_parameters({ + "SCR_ENABLE": 1, + "AUTO_OPTIONS": 3, + "RC12_OPTION": 300 + }) + self.reboot_sitl() + + # install copter-posoffset script + self.install_example_script_context('copter-posoffset.lua') + self.reboot_sitl() + + # create simple mission with a single takeoff command + self.upload_simple_relhome_mission([ + (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20) + ]) + + # switch to loiter to wait for position estimate (aka GPS lock) + self.change_mode('LOITER') + self.wait_ready_to_arm() + + # arm and takeoff in Auto mode + self.change_mode('AUTO') + self.arm_vehicle() + + # wait for vehicle to climb to at least 10m + self.wait_altitude(8, 12, relative=True) + + # add position offset to East and confirm vehicle moves + self.set_parameter("PSC_OFS_POS_E", 20) + self.set_rc(12, 2000) + self.wait_distance(18) + + # remove position offset and wait for vehicle to return home + self.set_parameter("PSC_OFS_POS_E", 0) + self.wait_distance_to_home(distance_min=0, distance_max=4, timeout=20) + + # add velocity offset and confirm vehicle moves + self.set_parameter("PSC_OFS_VEL_N", 5) + self.wait_groundspeed(4.8, 5.2, minimum_duration=5, timeout=20) + + # remove velocity offset and switch to RTL + self.set_parameter("PSC_OFS_VEL_N", 0) + self.set_rc(12, 1000) + self.do_RTL() + self.context_pop() + self.reboot_sitl() + def AHRSTrimLand(self): '''test land detector with significant AHRS trim''' self.context_push() @@ -12133,6 +12185,7 @@ def tests2b(self): # this block currently around 9.5mins here self.TerrainDBPreArm, self.ThrottleGainBoost, self.ScriptMountPOI, + self.ScriptCopterPosOffsets, self.MountSolo, self.FlyMissionTwice, self.FlyMissionTwiceWithReset, From be1c87f3d115338cd9c7ac4c4369e1fa679957bf Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 3 Oct 2024 12:13:04 +0900 Subject: [PATCH 026/314] Copter: zigzag uses desired xy instead of actual --- ArduCopter/mode_zigzag.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp index 44e8501174a0c..7c39fb7380793 100644 --- a/ArduCopter/mode_zigzag.cpp +++ b/ArduCopter/mode_zigzag.cpp @@ -161,7 +161,7 @@ void ModeZigZag::run() void ModeZigZag::save_or_move_to_destination(Destination ab_dest) { // get current position as an offset from EKF origin - const Vector2f curr_pos {inertial_nav.get_position_xy_cm()}; + const Vector2f curr_pos = pos_control->get_pos_desired_cm().xy().tofloat(); // handle state machine changes switch (stage) { @@ -431,7 +431,7 @@ bool ModeZigZag::calculate_next_dest(Destination ab_dest, bool use_wpnav_alt, Ve } // get distance from vehicle to start_pos - const Vector2f curr_pos2d {inertial_nav.get_position_xy_cm()}; + const Vector2f curr_pos2d = pos_control->get_pos_desired_cm().xy().tofloat(); Vector2f veh_to_start_pos = curr_pos2d - start_pos; // lengthen AB_diff so that it is at least as long as vehicle is from start point @@ -499,7 +499,7 @@ bool ModeZigZag::calculate_side_dest(Vector3f& next_dest, bool& terrain_alt) con float scalar = constrain_float(_side_dist, 0.1f, 100.0f) * 100 / safe_sqrt(AB_side.length_squared()); // get distance from vehicle to start_pos - const Vector2f curr_pos2d {inertial_nav.get_position_xy_cm()}; + const Vector2f curr_pos2d = pos_control->get_pos_desired_cm().xy().tofloat(); next_dest.xy() = curr_pos2d + (AB_side * scalar); // if we have a downward facing range finder then use terrain altitude targets From 14447c6e2d0a77f4d67bea10a4490ff12a10d9d1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 4 Oct 2024 09:33:06 +0900 Subject: [PATCH 027/314] Copter: add comment to loc_from_cmd --- ArduCopter/mode.h | 1 + ArduCopter/mode_auto.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 68cc1685741c5..009e74edd8c20 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -639,6 +639,7 @@ class ModeAuto : public Mode { void loiter_to_alt_run(); void nav_attitude_time_run(); + // return the Location portion of a command. If the command's lat and lon and/or alt are zero the default_loc's lat,lon and/or alt are returned instead Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const; SubMode _mode = SubMode::TAKEOFF; // controls which auto controller is run diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 5780ce7f561cd..bc4bb21ac9e3c 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -1513,6 +1513,7 @@ void ModeAuto::do_takeoff(const AP_Mission::Mission_Command& cmd) takeoff_start(cmd.content.location); } +// return the Location portion of a command. If the command's lat and lon and/or alt are zero the default_loc's lat,lon and/or alt are returned instead Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const { Location ret(cmd.content.location); From 4ce1c5db90fc55992d7d276b7278236f5eefea85 Mon Sep 17 00:00:00 2001 From: MattKear Date: Thu, 3 Oct 2024 07:17:03 +0100 Subject: [PATCH 028/314] Autotest: Helicopter: Add turbine cooldown test --- Tools/autotest/helicopter.py | 48 ++++++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py index 14fbb1513ddd8..9f04327e4d117 100644 --- a/Tools/autotest/helicopter.py +++ b/Tools/autotest/helicopter.py @@ -15,6 +15,7 @@ from pysim import vehicleinfo import copy +import operator class AutoTestHelicopter(AutoTestCopter): @@ -697,6 +698,52 @@ def check_airspeeds(mav, m): self.disarm_vehicle() self.context_pop() + def TurbineCoolDown(self, timeout=200): + """Check Turbine Cool Down Feature""" + # set option for Turbine + RAMP_TIME = 4 + SETPOINT = 66 + IDLE = 15 + COOLDOWN_TIME = 5 + self.set_parameter("RC6_OPTION", 161) + self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME) + self.set_parameter("H_RSC_SETPOINT", SETPOINT) + self.set_parameter("H_RSC_IDLE", IDLE) + self.set_parameter("H_RSC_CLDWN_TIME", COOLDOWN_TIME) + self.set_rc(3, 1000) + self.set_rc(8, 1000) + + self.progress("Starting turbine") + self.wait_ready_to_arm() + self.arm_vehicle() + + self.set_rc(6, 2000) + self.wait_statustext('Turbine startup') + + # Engage interlock to run up to head speed + self.set_rc(8, 2000) + + # Check throttle gets to setpoint + expected_thr = SETPOINT * 0.01 * 1000 + 1000 - 1 # servo end points are 1000 to 2000 + self.wait_servo_channel_value(8, expected_thr, timeout=RAMP_TIME+1, comparator=operator.ge) + + self.progress("Checking cool down behaviour, idle x 1.5") + self.set_rc(8, 1000) + tstart = self.get_sim_time() + expected_thr = IDLE * 1.5 * 0.01 * 1000 + 1000 + 1 + self.wait_servo_channel_value(8, expected_thr, timeout=2, comparator=operator.le) + + # Check that the throttle drops to idle after cool down time + expected_thr = IDLE * 0.01 * 1000 + 1000 + 1 + self.wait_servo_channel_value(8, expected_thr, timeout=COOLDOWN_TIME+1, comparator=operator.le) + + measured_time = self.get_sim_time() - tstart + if (abs(measured_time - COOLDOWN_TIME) > 1.0): + raise NotAchievedException('Throttle did not reduce to idle within H_RSC_CLDWN_TIME') + + self.set_rc(6, 1000) + self.wait_disarmed(timeout=20) + def TurbineStart(self, timeout=200): """Check Turbine Start Feature""" RAMP_TIME = 4 @@ -980,6 +1027,7 @@ def tests(self): self.FlyEachFrame, self.AirspeedDrivers, self.TurbineStart, + self.TurbineCoolDown, self.NastyMission, self.PIDNotches, self.AutoTune, From e30b4bf0902742bf02c71fb3bfd3f010dc5665ff Mon Sep 17 00:00:00 2001 From: bnsgeyer Date: Wed, 2 Oct 2024 23:30:49 -0400 Subject: [PATCH 029/314] AP_MotorsHeli: fix cooldown feature with new autorotation RSC library --- libraries/AP_Motors/AP_MotorsHeli_RSC.cpp | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp index 03d4bdb5c468e..3f28495fc259e 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp @@ -295,6 +295,10 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) // ensure _idle_throttle not set to invalid value _idle_throttle = get_idle_output(); + + // reset fast idle timer + _fast_idle_timer = 0.0; + break; case RotorControlState::IDLE: @@ -331,14 +335,11 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) _starting = false; } } else { - if (_cooldown_time > 0) { - _idle_throttle = get_idle_output() * 1.5f; - _fast_idle_timer += dt; - if (_fast_idle_timer > (float)_cooldown_time) { - _fast_idle_timer = 0.0f; - } - } else { - _idle_throttle = get_idle_output(); + _idle_throttle = get_idle_output(); + if (_fast_idle_timer > 0.0) { + // running at fast idle for engine cool down + _idle_throttle *= 1.5; + _fast_idle_timer -= dt; } } // this resets the bailout feature if the aircraft has landed. @@ -353,6 +354,11 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) // set main rotor ramp to increase to full speed update_rotor_ramp(1.0f, dt); + // set fast idle timer so next time RSC goes to idle, the cooldown timer starts + if (_cooldown_time.get() > 0) { + _fast_idle_timer = _cooldown_time.get(); + } + // ensure _idle_throttle not set to invalid value due to premature switch out of turbine start if (_starting) { _idle_throttle = get_idle_output(); From 21fc9641594a5f8a2b62a71235aa30dc4625f169 Mon Sep 17 00:00:00 2001 From: Jonas Niesner Date: Mon, 7 Oct 2024 20:36:26 +0200 Subject: [PATCH 030/314] board_types.txt: reservie ID for F4 2-3S 20A AIO FC V1 I want to add full support for this board: https://betafpv.com/products/f4-2-3s-20a-aio-fc-v1 I have all other files ready but want to reserve a board id first --- Tools/AP_Bootloader/board_types.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index e08aa6ee644f8..9d0df7ac01493 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -290,6 +290,7 @@ AP_HW_PhenixH7_lite 1171 AP_HW_PhenixH7_Pro 1172 AP_HW_2RAWH743 1173 AP_HW_X-MAV-AP-H743V2 1174 +AP_HW_BETAFPV_F4_2-3S_20A 1175 AP_HW_FlywooF405HD_AIOv2 1180 AP_HW_FlywooH743Pro 1181 From 2c80c702bc06eb6d61f2d623625506b952ce15b7 Mon Sep 17 00:00:00 2001 From: Nick Exton Date: Tue, 1 Oct 2024 16:57:11 +1000 Subject: [PATCH 031/314] autotest: Add Copter test for AutoYaw with Mount without yaw control --- Tools/autotest/arducopter.py | 44 ++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index b95c4a582da2d..97792527db53d 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -5825,6 +5825,49 @@ def MAV_CMD_DO_MOUNT_CONTROL(self): self.context_pop() self.reboot_sitl() + def AutoYawDO_MOUNT_CONTROL(self): + '''test AutoYaw behaviour when MAV_CMD_DO_MOUNT_CONTROL sent to Mount without Yaw control''' + + # setup mount parameters + self.context_push() + + yaw_servo = 7 + self.setup_servo_mount(roll_servo=5, pitch_servo=6, yaw_servo=yaw_servo) + # Disable Mount Yaw servo + self.set_parameters({ + "SERVO%u_FUNCTION" % yaw_servo: 0, + }) + self.reboot_sitl() # to handle MNT_TYPE changing + + self.takeoff(20, mode='GUIDED') + + for mount_yaw in [-45, 0, 45]: + heading = 330 + self.guided_achieve_heading(heading) + self.assert_heading(heading) + + self.neutralise_gimbal() + + r = 15 + p = 20 + self.run_cmd_int( + mavutil.mavlink.MAV_CMD_DO_MOUNT_CONTROL, + p1=p, + p2=r, + p3=mount_yaw, + p7=mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING, + ) + self.delay_sim_time(5) + # We have disabled yaw servo, so expect mount yaw to be zero + self.assert_mount_rpy(r, p, 0) + # But we expect the copter to yaw instead + self.assert_heading(heading + mount_yaw) + + self.do_RTL() + + self.context_pop() + self.reboot_sitl() + def MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE(self): '''test MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE mavlink command''' # setup mount parameters @@ -10695,6 +10738,7 @@ def tests1e(self): self.MountYawVehicleForMountROI, self.MAV_CMD_DO_MOUNT_CONTROL, self.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE, + self.AutoYawDO_MOUNT_CONTROL, self.Button, self.ShipTakeoff, self.RangeFinder, From 3bac3618e1120f6b3a5e78f5723a840be22213be Mon Sep 17 00:00:00 2001 From: Nick Exton Date: Tue, 1 Oct 2024 15:39:28 +1000 Subject: [PATCH 032/314] Copter: Add set_yaw_angle_offset() function to AutoYaw mode --- ArduCopter/autoyaw.cpp | 12 ++++++++++++ ArduCopter/mode.h | 2 ++ 2 files changed, 14 insertions(+) diff --git a/ArduCopter/autoyaw.cpp b/ArduCopter/autoyaw.cpp index e63c08fe7ba13..9ce780a9a002f 100644 --- a/ArduCopter/autoyaw.cpp +++ b/ArduCopter/autoyaw.cpp @@ -149,6 +149,18 @@ void Mode::AutoYaw::set_yaw_angle_rate(float yaw_angle_d, float yaw_rate_ds) set_mode(Mode::ANGLE_RATE); } +// set_yaw_angle_offset - sets the yaw look at heading for auto mode, as an offset from the current yaw angle +void Mode::AutoYaw::set_yaw_angle_offset(const float yaw_angle_offset_d) +{ + _last_update_ms = millis(); + + _yaw_angle_cd = wrap_360_cd(_yaw_angle_cd + (yaw_angle_offset_d * 100.0)); + _yaw_rate_cds = 0.0f; + + // set yaw mode + set_mode(Mode::ANGLE_RATE); +} + // set_roi - sets the yaw to look at roi for auto mode void Mode::AutoYaw::set_roi(const Location &roi_location) { diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 009e74edd8c20..98f01449c51f0 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -335,6 +335,8 @@ class Mode { void set_yaw_angle_rate(float yaw_angle_d, float yaw_rate_ds); + void set_yaw_angle_offset(const float yaw_angle_offset_d); + bool reached_fixed_yaw_target(); #if WEATHERVANE_ENABLED From 03db86427af8131dd17c280f02d8beb5323e3be5 Mon Sep 17 00:00:00 2001 From: Nick Exton Date: Thu, 16 May 2024 11:25:51 +1000 Subject: [PATCH 033/314] Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame And only accept if the mode is MAV_MOUNT_MODE_MAVLINK_TARGETING. This matches the handlers in AP_Mount. --- ArduCopter/GCS_Mavlink.cpp | 16 ++++++++++------ ArduCopter/mode_auto.cpp | 4 +++- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 4a54063bd9a3a..1e4e6da5984a1 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -860,9 +860,12 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_int_t switch (packet.command) { case MAV_CMD_DO_MOUNT_CONTROL: // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead - if ((copter.camera_mount.get_mount_type() != AP_Mount::Type::None) && + if (((MAV_MOUNT_MODE)packet.z == MAV_MOUNT_MODE_MAVLINK_TARGETING) && + (copter.camera_mount.get_mount_type() != AP_Mount::Type::None) && !copter.camera_mount.has_pan_control()) { - copter.flightmode->auto_yaw.set_yaw_angle_rate((float)packet.param3, 0.0f); + // Per the handler in AP_Mount, DO_MOUNT_CONTROL yaw angle is in body frame, which is + // equivalent to an offset to the current yaw demand. + copter.flightmode->auto_yaw.set_yaw_angle_offset(packet.param3); } break; default: @@ -1131,11 +1134,12 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg) case MAVLINK_MSG_ID_MOUNT_CONTROL: // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead if ((copter.camera_mount.get_mount_type() != AP_Mount::Type::None) && + (copter.camera_mount.get_mode() == MAV_MOUNT_MODE_MAVLINK_TARGETING) && !copter.camera_mount.has_pan_control()) { - copter.flightmode->auto_yaw.set_yaw_angle_rate( - mavlink_msg_mount_control_get_input_c(&msg) * 0.01f, - 0.0f); - + // Per the handler in AP_Mount, MOUNT_CONTROL yaw angle is in body frame, which is + // equivalent to an offset to the current yaw demand. + const float yaw_offset_d = mavlink_msg_mount_control_get_input_c(&msg) * 0.01f; + copter.flightmode->auto_yaw.set_yaw_angle_offset(yaw_offset_d); break; } } diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index bc4bb21ac9e3c..821cf9a5a3e3e 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -1983,7 +1983,9 @@ void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd) // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead if ((copter.camera_mount.get_mount_type() != AP_Mount::Type::None) && !copter.camera_mount.has_pan_control()) { - auto_yaw.set_yaw_angle_rate(cmd.content.mount_control.yaw,0.0f); + // Per the handler in AP_Mount, DO_MOUNT_CONTROL yaw angle is in body frame, which is + // equivalent to an offset to the current yaw demand. + auto_yaw.set_yaw_angle_offset(cmd.content.mount_control.yaw); } // pass the target angles to the camera mount copter.camera_mount.set_angle_target(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw, false); From 77f1efac5e63c138fc7c22b64ca8b21286450bf3 Mon Sep 17 00:00:00 2001 From: Nick Exton Date: Thu, 16 May 2024 11:27:05 +1000 Subject: [PATCH 034/314] AP_Mission: Set DO_MOUNT_CONTROL.mode when converting command to MAVLink --- libraries/AP_Mission/AP_Mission.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp index bba83dd86cb2d..22b4ce2950131 100644 --- a/libraries/AP_Mission/AP_Mission.cpp +++ b/libraries/AP_Mission/AP_Mission.cpp @@ -1251,6 +1251,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_ break; case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205 + // TODO: this is only valid if packet.z == MAV_MOUNT_MODE_MAVLINK_TARGETING cmd.content.mount_control.pitch = packet.param1; cmd.content.mount_control.roll = packet.param2; cmd.content.mount_control.yaw = packet.param3; @@ -1767,6 +1768,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c packet.param1 = cmd.content.mount_control.pitch; packet.param2 = cmd.content.mount_control.roll; packet.param3 = cmd.content.mount_control.yaw; + packet.z = MAV_MOUNT_MODE_MAVLINK_TARGETING; break; case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206 From 63663303de96b54ce9852dd58b39818f886949ac Mon Sep 17 00:00:00 2001 From: Tatsuya Yamaguchi Date: Thu, 26 Sep 2024 14:24:53 +0900 Subject: [PATCH 035/314] Copter: Keep FIXED mode when WP_YAW_BEHAVIOR is NONE --- ArduCopter/mode_auto.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 821cf9a5a3e3e..f897b660c2335 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -449,7 +449,7 @@ bool ModeAuto::wp_start(const Location& dest_loc) // initialise yaw // To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI - if (auto_yaw.mode() != AutoYaw::Mode::ROI) { + if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) { auto_yaw.set_mode_to_default(false); } @@ -1804,7 +1804,7 @@ void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd) // initialise yaw // To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI - if (auto_yaw.mode() != AutoYaw::Mode::ROI) { + if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) { auto_yaw.set_mode_to_default(false); } From 88c06e07d7caa9953172c8c78007f52458029a86 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 20 Sep 2024 22:27:52 -0600 Subject: [PATCH 036/314] AP_DDS: Wrap all topics in ifdefs * Give ability to enable/disable any topic in DDS through compile options Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- libraries/AP_DDS/AP_DDS_Client.cpp | 91 ++++++++++++-- libraries/AP_DDS/AP_DDS_Client.h | 169 +++++++++++++++++--------- libraries/AP_DDS/AP_DDS_Topic_Table.h | 52 ++++++++ libraries/AP_DDS/AP_DDS_config.h | 58 +++++++++ 4 files changed, 301 insertions(+), 69 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index d224a22551326..926d4304b701b 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -31,26 +31,45 @@ // Enable DDS at runtime by default static constexpr uint8_t ENABLED_BY_DEFAULT = 1; +#if AP_DDS_TIME_PUB_ENABLED static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10; +#endif // AP_DDS_TIME_PUB_ENABLED +#if AP_DDS_BATTERY_STATE_PUB_ENABLED static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000; +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5; #endif // AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33; +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_LOCAL_VEL_PUB_ENABLED static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33; +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33; +#endif // AP_DDS_GEOPOSE_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10; +#endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000; +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED static constexpr uint16_t DELAY_PING_MS = 500; // Define the subscriber data members, which are static class scope. // If these are created on the stack in the subscriber, // the AP_DDS_Client::on_topic frame size is exceeded. +#if AP_DDS_JOY_SUB_ENABLED sensor_msgs_msg_Joy AP_DDS_Client::rx_joy_topic {}; +#endif // AP_DDS_JOY_SUB_ENABLED tf2_msgs_msg_TFMessage AP_DDS_Client::rx_dynamic_transforms_topic {}; +#if AP_DDS_VEL_CTRL_ENABLED geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {}; +#endif // AP_DDS_VEL_CTRL_ENABLED +#if AP_DDS_GLOBAL_POS_CTRL_ENABLED ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topic {}; - +#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED const AP_Param::GroupInfo AP_DDS_Client::var_info[] { @@ -127,6 +146,7 @@ AP_DDS_Client::~AP_DDS_Client() } } +#if AP_DDS_TIME_PUB_ENABLED void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg) { uint64_t utc_usec; @@ -137,7 +157,9 @@ void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg) msg.nanosec = (utc_usec % 1000000ULL) * 1000UL; } +#endif // AP_DDS_TIME_PUB_ENABLED +#if AP_DDS_NAVSATFIX_PUB_ENABLED bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) { // Add a lambda that takes in navsatfix msg and populates the cov @@ -224,7 +246,9 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i return true; } +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED +#if AP_DDS_STATIC_TF_PUB_ENABLED void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg) { msg.transforms_size = 0; @@ -266,7 +290,9 @@ void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg) } } +#endif // AP_DDS_STATIC_TF_PUB_ENABLED +#if AP_DDS_BATTERY_STATE_PUB_ENABLED void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance) { if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) { @@ -331,7 +357,9 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_ } } } +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg) { update_topic(msg.header.stamp); @@ -380,7 +408,9 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg) initialize(msg.pose.orientation); } } +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_LOCAL_VEL_PUB_ENABLED void AP_DDS_Client::update_topic(geometry_msgs_msg_TwistStamped& msg) { update_topic(msg.header.stamp); @@ -422,7 +452,9 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_TwistStamped& msg) msg.twist.angular.y = -angular_velocity[1]; msg.twist.angular.z = -angular_velocity[2]; } +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg) { update_topic(msg.header.stamp); @@ -461,6 +493,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg) initialize(msg.pose.orientation); } } +#endif // AP_DDS_GEOPOSE_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg) @@ -502,11 +535,14 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg) } #endif // AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED void AP_DDS_Client::update_topic(rosgraph_msgs_msg_Clock& msg) { update_topic(msg.clock); } +#endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPointStamped& msg) { update_topic(msg.header.stamp); @@ -524,6 +560,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPointStamped& msg) msg.position.altitude = ekf_origin.alt * 0.01; } } +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED /* start the DDS thread @@ -566,6 +603,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin (void) stream_id; (void) length; switch (object_id.id) { +#if AP_DDS_JOY_SUB_ENABLED case topics[to_underlying(TopicIndex::JOY_SUB)].dr_id.id: { const bool success = sensor_msgs_msg_Joy_deserialize_topic(ub, &rx_joy_topic); @@ -594,6 +632,8 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin } break; } +#endif // AP_DDS_JOY_SUB_ENABLED +#if AP_DDS_DYNAMIC_TF_SUB case topics[to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB)].dr_id.id: { const bool success = tf2_msgs_msg_TFMessage_deserialize_topic(ub, &rx_dynamic_transforms_topic); if (success == false) { @@ -610,12 +650,13 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin } break; } +#endif // AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_VEL_CTRL_ENABLED case topics[to_underlying(TopicIndex::VELOCITY_CONTROL_SUB)].dr_id.id: { const bool success = geometry_msgs_msg_TwistStamped_deserialize_topic(ub, &rx_velocity_control_topic); if (success == false) { break; } - #if AP_EXTERNAL_CONTROL_ENABLED if (!AP_DDS_External_Control::handle_velocity_control(rx_velocity_control_topic)) { // TODO #23430 handle velocity control failure through rosout, throttled. @@ -623,6 +664,8 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin #endif // AP_EXTERNAL_CONTROL_ENABLED break; } +#endif // AP_DDS_VEL_CTRL_ENABLED +#if AP_DDS_GLOBAL_POS_CTRL_ENABLED case topics[to_underlying(TopicIndex::GLOBAL_POSITION_SUB)].dr_id.id: { const bool success = ardupilot_msgs_msg_GlobalPosition_deserialize_topic(ub, &rx_global_position_control_topic); if (success == false) { @@ -636,6 +679,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin #endif // AP_EXTERNAL_CONTROL_ENABLED break; } +#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED } } @@ -744,8 +788,10 @@ void AP_DDS_Client::main_loop(void) connected = true; GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Initialization passed", msg_prefix); +#if AP_DDS_STATIC_TF_PUB_ENABLED populate_static_transforms(tx_static_transforms_topic); write_static_transforms(); +#endif // AP_DDS_STATIC_TF_PUB_ENABLED uint64_t last_ping_ms{0}; uint8_t num_pings_missed{0}; @@ -998,6 +1044,7 @@ void AP_DDS_Client::write_time_topic() } } +#if AP_DDS_NAVSATFIX_PUB_ENABLED void AP_DDS_Client::write_nav_sat_fix_topic() { WITH_SEMAPHORE(csem); @@ -1012,7 +1059,9 @@ void AP_DDS_Client::write_nav_sat_fix_topic() } } } +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED +#if AP_DDS_STATIC_TF_PUB_ENABLED void AP_DDS_Client::write_static_transforms() { WITH_SEMAPHORE(csem); @@ -1027,7 +1076,9 @@ void AP_DDS_Client::write_static_transforms() } } } +#endif // AP_DDS_STATIC_TF_PUB_ENABLED +#if AP_DDS_BATTERY_STATE_PUB_ENABLED void AP_DDS_Client::write_battery_state_topic() { WITH_SEMAPHORE(csem); @@ -1042,7 +1093,9 @@ void AP_DDS_Client::write_battery_state_topic() } } } +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED void AP_DDS_Client::write_local_pose_topic() { WITH_SEMAPHORE(csem); @@ -1057,7 +1110,9 @@ void AP_DDS_Client::write_local_pose_topic() } } } +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_LOCAL_VEL_PUB_ENABLED void AP_DDS_Client::write_tx_local_velocity_topic() { WITH_SEMAPHORE(csem); @@ -1072,6 +1127,7 @@ void AP_DDS_Client::write_tx_local_velocity_topic() } } } +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED void AP_DDS_Client::write_imu_topic() @@ -1090,6 +1146,7 @@ void AP_DDS_Client::write_imu_topic() } #endif // AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED void AP_DDS_Client::write_geo_pose_topic() { WITH_SEMAPHORE(csem); @@ -1104,7 +1161,9 @@ void AP_DDS_Client::write_geo_pose_topic() } } } +#endif // AP_DDS_GEOPOSE_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED void AP_DDS_Client::write_clock_topic() { WITH_SEMAPHORE(csem); @@ -1119,7 +1178,9 @@ void AP_DDS_Client::write_clock_topic() } } } +#endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED void AP_DDS_Client::write_gps_global_origin_topic() { WITH_SEMAPHORE(csem); @@ -1133,66 +1194,76 @@ void AP_DDS_Client::write_gps_global_origin_topic() } } } +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED void AP_DDS_Client::update() { WITH_SEMAPHORE(csem); const auto cur_time_ms = AP_HAL::millis64(); +#if AP_DDS_TIME_PUB_ENABLED if (cur_time_ms - last_time_time_ms > DELAY_TIME_TOPIC_MS) { update_topic(time_topic); last_time_time_ms = cur_time_ms; write_time_topic(); } - +#endif // AP_DDS_TIME_PUB_ENABLED +#if AP_DDS_NAVSATFIX_PUB_ENABLED constexpr uint8_t gps_instance = 0; if (update_topic(nav_sat_fix_topic, gps_instance)) { write_nav_sat_fix_topic(); } - +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED +#if AP_DDS_BATTERY_STATE_PUB_ENABLED if (cur_time_ms - last_battery_state_time_ms > DELAY_BATTERY_STATE_TOPIC_MS) { constexpr uint8_t battery_instance = 0; update_topic(battery_state_topic, battery_instance); last_battery_state_time_ms = cur_time_ms; write_battery_state_topic(); } - +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED if (cur_time_ms - last_local_pose_time_ms > DELAY_LOCAL_POSE_TOPIC_MS) { update_topic(local_pose_topic); last_local_pose_time_ms = cur_time_ms; write_local_pose_topic(); } - +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_LOCAL_VEL_PUB_ENABLED if (cur_time_ms - last_local_velocity_time_ms > DELAY_LOCAL_VELOCITY_TOPIC_MS) { update_topic(tx_local_velocity_topic); last_local_velocity_time_ms = cur_time_ms; write_tx_local_velocity_topic(); } +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED if (cur_time_ms - last_imu_time_ms > DELAY_IMU_TOPIC_MS) { update_topic(imu_topic); last_imu_time_ms = cur_time_ms; write_imu_topic(); } -#endif - +#endif // AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED if (cur_time_ms - last_geo_pose_time_ms > DELAY_GEO_POSE_TOPIC_MS) { update_topic(geo_pose_topic); last_geo_pose_time_ms = cur_time_ms; write_geo_pose_topic(); } - +#endif // AP_DDS_GEOPOSE_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED if (cur_time_ms - last_clock_time_ms > DELAY_CLOCK_TOPIC_MS) { update_topic(clock_topic); last_clock_time_ms = cur_time_ms; write_clock_topic(); } - +#endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED if (cur_time_ms - last_gps_global_origin_time_ms > DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS) { update_topic(gps_global_origin_topic); last_gps_global_origin_time_ms = cur_time_ms; write_gps_global_origin_topic(); } +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED status_ok = uxr_run_session_time(&session, 1); } diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h index c020eae17933c..2d2ec5a27f0cc 100644 --- a/libraries/AP_DDS/AP_DDS_Client.h +++ b/libraries/AP_DDS/AP_DDS_Client.h @@ -7,21 +7,42 @@ #include "uxr/client/client.h" #include "ucdr/microcdr.h" +#if AP_DDS_GLOBAL_POS_CTRL_ENABLED #include "ardupilot_msgs/msg/GlobalPosition.h" +#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED +#if AP_DDS_TIME_PUB_ENABLED #include "builtin_interfaces/msg/Time.h" - +#endif // AP_DDS_TIME_PUB_ENABLED +#if AP_DDS_NAVSATFIX_PUB_ENABLED #include "sensor_msgs/msg/NavSatFix.h" +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED +#if AP_DDS_NEEDS_TRANSFORMS #include "tf2_msgs/msg/TFMessage.h" +#endif // AP_DDS_NEEDS_TRANSFORMS +#if AP_DDS_BATTERY_STATE_PUB_ENABLED #include "sensor_msgs/msg/BatteryState.h" +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED #include "sensor_msgs/msg/Imu.h" #endif // AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_JOY_SUB_ENABLED #include "sensor_msgs/msg/Joy.h" +#endif // AP_DDS_JOY_SUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED #include "geometry_msgs/msg/PoseStamped.h" +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_NEEDS_TWIST #include "geometry_msgs/msg/TwistStamped.h" +#endif // AP_DDS_NEEDS_TWIST +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED #include "geographic_msgs/msg/GeoPointStamped.h" +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED #include "geographic_msgs/msg/GeoPoseStamped.h" +#endif // AP_DDS_GEOPOSE_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED #include "rosgraph_msgs/msg/Clock.h" +#endif // AP_DDS_CLOCK_PUB_ENABLED #include #include @@ -60,46 +81,119 @@ class AP_DDS_Client uxrStreamId reliable_out; // Outgoing Sensor and AHRS data + +#if AP_DDS_TIME_PUB_ENABLED builtin_interfaces_msg_Time time_topic; + // The last ms timestamp AP_DDS wrote a Time message + uint64_t last_time_time_ms; + //! @brief Serialize the current time state and publish to the IO stream(s) + void write_time_topic(); + static void update_topic(builtin_interfaces_msg_Time& msg); +#endif // AP_DDS_TIME_PUB_ENABLED + +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED geographic_msgs_msg_GeoPointStamped gps_global_origin_topic; + // The last ms timestamp AP_DDS wrote a gps global origin message + uint64_t last_gps_global_origin_time_ms; + //! @brief Serialize the current gps global origin and publish to the IO stream(s) + void write_gps_global_origin_topic(); + static void update_topic(geographic_msgs_msg_GeoPointStamped& msg); +# endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED + +#if AP_DDS_GEOPOSE_PUB_ENABLED geographic_msgs_msg_GeoPoseStamped geo_pose_topic; + // The last ms timestamp AP_DDS wrote a GeoPose message + uint64_t last_geo_pose_time_ms; + //! @brief Serialize the current geo_pose and publish to the IO stream(s) + void write_geo_pose_topic(); + static void update_topic(geographic_msgs_msg_GeoPoseStamped& msg); +#endif // AP_DDS_GEOPOSE_PUB_ENABLED + +#if AP_DDS_LOCAL_POSE_PUB_ENABLED geometry_msgs_msg_PoseStamped local_pose_topic; + // The last ms timestamp AP_DDS wrote a Local Pose message + uint64_t last_local_pose_time_ms; + //! @brief Serialize the current local_pose and publish to the IO stream(s) + void write_local_pose_topic(); + static void update_topic(geometry_msgs_msg_PoseStamped& msg); +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED + +#if AP_DDS_LOCAL_VEL_PUB_ENABLED geometry_msgs_msg_TwistStamped tx_local_velocity_topic; + // The last ms timestamp AP_DDS wrote a Local Velocity message + uint64_t last_local_velocity_time_ms; + //! @brief Serialize the current local velocity and publish to the IO stream(s) + void write_tx_local_velocity_topic(); + static void update_topic(geometry_msgs_msg_TwistStamped& msg); +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED + +#if AP_DDS_BATTERY_STATE_PUB_ENABLED sensor_msgs_msg_BatteryState battery_state_topic; + // The last ms timestamp AP_DDS wrote a BatteryState message + uint64_t last_battery_state_time_ms; + //! @brief Serialize the current nav_sat_fix state and publish it to the IO stream(s) + void write_battery_state_topic(); + static void update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance); +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED + +#if AP_DDS_NAVSATFIX_PUB_ENABLED sensor_msgs_msg_NavSatFix nav_sat_fix_topic; + // The last ms timestamp AP_DDS wrote a NavSatFix message + uint64_t last_nav_sat_fix_time_ms; + //! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s) + void write_nav_sat_fix_topic(); + bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED; +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED + #if AP_DDS_IMU_PUB_ENABLED sensor_msgs_msg_Imu imu_topic; + // The last ms timestamp AP_DDS wrote an IMU message + uint64_t last_imu_time_ms; + static void update_topic(sensor_msgs_msg_Imu& msg); + //! @brief Serialize the current IMU data and publish to the IO stream(s) + void write_imu_topic(); #endif // AP_DDS_IMU_PUB_ENABLED + +#if AP_DDS_CLOCK_PUB_ENABLED rosgraph_msgs_msg_Clock clock_topic; + // The last ms timestamp AP_DDS wrote a Clock message + uint64_t last_clock_time_ms; + //! @brief Serialize the current clock and publish to the IO stream(s) + void write_clock_topic(); + static void update_topic(rosgraph_msgs_msg_Clock& msg); +#endif // AP_DDS_CLOCK_PUB_ENABLED + +#if AP_DDS_STATIC_TF_PUB_ENABLED + // outgoing transforms + tf2_msgs_msg_TFMessage tx_static_transforms_topic; + //! @brief Serialize the static transforms and publish to the IO stream(s) + void write_static_transforms(); + static void populate_static_transforms(tf2_msgs_msg_TFMessage& msg); +#endif // AP_DDS_STATIC_TF_PUB_ENABLED + +#if AP_DDS_JOY_SUB_ENABLED // incoming joystick data static sensor_msgs_msg_Joy rx_joy_topic; +#endif // AP_DDS_JOY_SUB_ENABLED +#if AP_DDS_VEL_CTRL_ENABLED // incoming REP147 velocity control static geometry_msgs_msg_TwistStamped rx_velocity_control_topic; +#endif // AP_DDS_VEL_CTRL_ENABLED +#if AP_DDS_GLOBAL_POS_CTRL_ENABLED // incoming REP147 goal interface global position static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic; - // outgoing transforms - tf2_msgs_msg_TFMessage tx_static_transforms_topic; +#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED +#if AP_DDS_DYNAMIC_TF_SUB // incoming transforms static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic; - +#endif // AP_DDS_DYNAMIC_TF_SUB HAL_Semaphore csem; // connection parametrics bool status_ok{false}; bool connected{false}; - static void update_topic(builtin_interfaces_msg_Time& msg); - bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED; - static void populate_static_transforms(tf2_msgs_msg_TFMessage& msg); - static void update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance); - static void update_topic(geometry_msgs_msg_PoseStamped& msg); - static void update_topic(geometry_msgs_msg_TwistStamped& msg); - static void update_topic(geographic_msgs_msg_GeoPoseStamped& msg); -#if AP_DDS_IMU_PUB_ENABLED - static void update_topic(sensor_msgs_msg_Imu& msg); -#endif // AP_DDS_IMU_PUB_ENABLED - static void update_topic(rosgraph_msgs_msg_Clock& msg); - static void update_topic(geographic_msgs_msg_GeoPointStamped& msg); + // subscription callback function static void on_topic_trampoline(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length, void* args); @@ -117,27 +211,6 @@ class AP_DDS_Client .min_pace_period = 0 }; - // The last ms timestamp AP_DDS wrote a Time message - uint64_t last_time_time_ms; - // The last ms timestamp AP_DDS wrote a NavSatFix message - uint64_t last_nav_sat_fix_time_ms; - // The last ms timestamp AP_DDS wrote a BatteryState message - uint64_t last_battery_state_time_ms; -#if AP_DDS_IMU_PUB_ENABLED - // The last ms timestamp AP_DDS wrote an IMU message - uint64_t last_imu_time_ms; -#endif // AP_DDS_IMU_PUB_ENABLED - // The last ms timestamp AP_DDS wrote a Local Pose message - uint64_t last_local_pose_time_ms; - // The last ms timestamp AP_DDS wrote a Local Velocity message - uint64_t last_local_velocity_time_ms; - // The last ms timestamp AP_DDS wrote a GeoPose message - uint64_t last_geo_pose_time_ms; - // The last ms timestamp AP_DDS wrote a Clock message - uint64_t last_clock_time_ms; - // The last ms timestamp AP_DDS wrote a gps global origin message - uint64_t last_gps_global_origin_time_ms; - // functions for serial transport bool ddsSerialInit(); static bool serial_transport_open(uxrCustomTransport* args); @@ -191,28 +264,6 @@ class AP_DDS_Client //! @return True on successful creation, false on failure bool create() WARN_IF_UNUSED; - //! @brief Serialize the current time state and publish to the IO stream(s) - void write_time_topic(); - //! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s) - void write_nav_sat_fix_topic(); - //! @brief Serialize the static transforms and publish to the IO stream(s) - void write_static_transforms(); - //! @brief Serialize the current nav_sat_fix state and publish it to the IO stream(s) - void write_battery_state_topic(); - //! @brief Serialize the current local_pose and publish to the IO stream(s) - void write_local_pose_topic(); - //! @brief Serialize the current local velocity and publish to the IO stream(s) - void write_tx_local_velocity_topic(); - //! @brief Serialize the current geo_pose and publish to the IO stream(s) - void write_geo_pose_topic(); -#if AP_DDS_IMU_PUB_ENABLED - //! @brief Serialize the current IMU data and publish to the IO stream(s) - void write_imu_topic(); -#endif // AP_DDS_IMU_PUB_ENABLED - //! @brief Serialize the current clock and publish to the IO stream(s) - void write_clock_topic(); - //! @brief Serialize the current gps global origin and publish to the IO stream(s) - void write_gps_global_origin_topic(); //! @brief Update the internally stored DDS messages with latest data void update(); diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h index 2329dde701964..4864a15b672e9 100644 --- a/libraries/AP_DDS/AP_DDS_Topic_Table.h +++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h @@ -14,22 +14,48 @@ // Can use jinja to template (like Flask) enum class TopicIndex: uint8_t { +#if AP_DDS_TIME_PUB_ENABLED TIME_PUB, +#endif // AP_DDS_TIME_PUB_ENABLED +#if AP_DDS_NAVSATFIX_PUB_ENABLED NAV_SAT_FIX_PUB, +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED +#if AP_DDS_STATIC_TF_PUB_ENABLED STATIC_TRANSFORMS_PUB, +#endif // AP_DDS_STATIC_TF_PUB_ENABLED +#if AP_DDS_BATTERY_STATE_PUB_ENABLED BATTERY_STATE_PUB, +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED IMU_PUB, #endif //AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED LOCAL_POSE_PUB, +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_LOCAL_VEL_PUB_ENABLED LOCAL_VELOCITY_PUB, +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED GEOPOSE_PUB, +#endif // AP_DDS_GEOPOSE_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED CLOCK_PUB, +#endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED GPS_GLOBAL_ORIGIN_PUB, +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_JOY_SUB_ENABLED JOY_SUB, +#endif // AP_DDS_JOY_SUB_ENABLED +#if AP_DDS_DYNAMIC_TF_SUB DYNAMIC_TRANSFORMS_SUB, +#endif // AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_VEL_CTRL_ENABLED VELOCITY_CONTROL_SUB, +#endif // AP_DDS_VEL_CTRL_ENABLED +#if AP_DDS_GLOBAL_POS_CTRL_ENABLED GLOBAL_POSITION_SUB, +#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED }; static inline constexpr uint8_t to_underlying(const TopicIndex index) @@ -40,6 +66,7 @@ static inline constexpr uint8_t to_underlying(const TopicIndex index) constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { +#if AP_DDS_TIME_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::TIME_PUB), .pub_id = to_underlying(TopicIndex::TIME_PUB), @@ -56,6 +83,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 20, }, }, +#endif // AP_DDS_TIME_PUB_ENABLED +#if AP_DDS_NAVSATFIX_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB), @@ -72,6 +101,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_NAVSATFIX_PUB_ENABLED +#if AP_DDS_STATIC_TF_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), @@ -88,6 +119,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 1, }, }, +#endif // AP_DDS_STATIC_TF_PUB_ENABLED +#if AP_DDS_BATTERY_STATE_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB), .pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB), @@ -104,6 +137,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::IMU_PUB), @@ -122,6 +156,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { }, }, #endif //AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_LOCAL_POSE_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB), .pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB), @@ -138,6 +173,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED +#if AP_DDS_LOCAL_VEL_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), @@ -154,6 +191,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_GEOPOSE_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::GEOPOSE_PUB), .pub_id = to_underlying(TopicIndex::GEOPOSE_PUB), @@ -170,6 +209,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_GEOPOSE_PUB_ENABLED +#if AP_DDS_CLOCK_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::CLOCK_PUB), .pub_id = to_underlying(TopicIndex::CLOCK_PUB), @@ -186,6 +227,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 20, }, }, +#endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .pub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), @@ -202,6 +245,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_JOY_SUB_ENABLED { .topic_id = to_underlying(TopicIndex::JOY_SUB), .pub_id = to_underlying(TopicIndex::JOY_SUB), @@ -218,6 +263,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_JOY_SUB_ENABLED +#if AP_DDS_DYNAMIC_TF_SUB { .topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), @@ -234,6 +281,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_VEL_CTRL_ENABLED { .topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .pub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), @@ -250,6 +299,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_VEL_CTRL_ENABLED +#if AP_DDS_GLOBAL_POS_CTRL_ENABLED { .topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB), @@ -266,4 +317,5 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, +#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED }; diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h index 6d46c94694667..01f168ea217ee 100644 --- a/libraries/AP_DDS/AP_DDS_config.h +++ b/libraries/AP_DDS/AP_DDS_config.h @@ -26,6 +26,64 @@ #define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED #endif +#ifndef AP_DDS_TIME_PUB_ENABLED +#define AP_DDS_TIME_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_NAVSATFIX_PUB_ENABLED +#define AP_DDS_NAVSATFIX_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_STATIC_TF_PUB_ENABLED +#define AP_DDS_STATIC_TF_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_GEOPOSE_PUB_ENABLED +#define AP_DDS_GEOPOSE_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED +#define AP_DDS_LOCAL_POSE_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED +#define AP_DDS_LOCAL_VEL_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED +#define AP_DDS_BATTERY_STATE_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_CLOCK_PUB_ENABLED +#define AP_DDS_CLOCK_PUB_ENABLED 1 +#endif + +#ifndef AP_DDS_JOY_SUB_ENABLED +#define AP_DDS_JOY_SUB_ENABLED 1 +#endif + +#ifndef AP_DDS_VEL_CTRL_ENABLED +#define AP_DDS_VEL_CTRL_ENABLED 1 +#endif + +#ifndef AP_DDS_GLOBAL_POS_CTRL_ENABLED +#define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1 +#endif + +#ifndef AP_DDS_DYNAMIC_TF_SUB +#define AP_DDS_DYNAMIC_TF_SUB 1 +#endif + +// Whether to include Twist support +#define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED + +// Whether to include Transform support +#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB || AP_DDS_STATIC_TF_PUB_ENABLED + #ifndef AP_DDS_DEFAULT_UDP_IP_ADDR #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2" From 47d391fc6d54aed4ed7687f31e7c5a3c4a2599c2 Mon Sep 17 00:00:00 2001 From: ARg Date: Fri, 4 Oct 2024 18:44:52 +0200 Subject: [PATCH 037/314] AP_HAL_ESP32: ADC driver ported to new idf 5.x driver and debugged --- libraries/AP_HAL_ESP32/AnalogIn.cpp | 273 ++++++++++++++++++---------- libraries/AP_HAL_ESP32/AnalogIn.h | 23 ++- 2 files changed, 186 insertions(+), 110 deletions(-) diff --git a/libraries/AP_HAL_ESP32/AnalogIn.cpp b/libraries/AP_HAL_ESP32/AnalogIn.cpp index 6eec1cc08e73e..05487e62a0052 100644 --- a/libraries/AP_HAL_ESP32/AnalogIn.cpp +++ b/libraries/AP_HAL_ESP32/AnalogIn.cpp @@ -12,7 +12,7 @@ * You should have received a copy of the GNU General Public License along * with this program. If not, see . * - * Code by Charles Villard + * Code by Charles Villard, ARg and Bayu Laksono */ #include #include @@ -22,10 +22,10 @@ #include "freertos/FreeRTOS.h" #include "freertos/task.h" -#include "driver/gpio.h" -#include "driver/adc.h" -#include "esp_adc_cal.h" #include "soc/adc_channel.h" +#include "esp_adc/adc_oneshot.h" +#include "esp_adc/adc_cali.h" +#include "esp_adc/adc_cali_scheme.h" #if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER) @@ -41,7 +41,7 @@ #define ANALOGIN_DEBUGGING 0 // base voltage scaling for 12 bit 3.3V ADC -#define VOLTAGE_SCALING (3.3f/4096.0f) +#define VOLTAGE_SCALING (3300.0f/4096.0f) #if ANALOGIN_DEBUGGING # define Debug(fmt, args ...) do {printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0) @@ -49,6 +49,10 @@ # define Debug(fmt, args ...) #endif + +//ADC handle +static adc_oneshot_unit_handle_t g_adc1_handle = NULL; + // we are limited to using adc1, and it supports 8 channels max, on gpio, in this order: // ADC1_CH0=D36,ADC1_CH1=D37,ADC1_CH2=D38,ADC1_CH3=D39,ADC1_CH4=D32,ADC1_CH5=D33,ADC1_CH6=D34,ADC1_CH7=D35 // this driver will only configure the ADCs from a subset of these that the board exposes on pins. @@ -67,46 +71,96 @@ const AnalogIn::pin_info AnalogIn::pin_config[] = HAL_ESP32_ADC_PINS; #define ADC_GRP1_NUM_CHANNELS ARRAY_SIZE(AnalogIn::pin_config) -#define DEFAULT_VREF 1100 //Use adc2_vref_to_gpio() to obtain a better estimate +#define DEFAULT_VREF 3300 //Use adc2_vref_to_gpio() to obtain a better estimate #define NO_OF_SAMPLES 256 //Multisampling static const adc_atten_t atten = ADC_ATTEN_DB_12; -//ardupin is the ardupilot assigned number, starting from 1-8(max) -// 'pin' and _pin is a macro like 'ADC1_GPIO35_CHANNEL' from board config .h -AnalogSource::AnalogSource(int16_t ardupin,int16_t pin,float scaler, float initial_value, uint8_t unit) : +/*--------------------------------------------------------------- + ADC Calibration +---------------------------------------------------------------*/ +bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle) +{ + adc_cali_handle_t handle = NULL; + esp_err_t ret = ESP_FAIL; + bool calibrated = false; + +#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED + if (!calibrated) { + Debug("AnalogIn: calibration scheme version is %s", "Curve Fitting"); + adc_cali_curve_fitting_config_t cali_config = { + .unit_id = unit, + .chan = channel, + .atten = atten, + .bitwidth = ADC_BITWIDTH_12, + }; + ret = adc_cali_create_scheme_curve_fitting(&cali_config, &handle); + if (ret == ESP_OK) { + calibrated = true; + } + } +#endif - _unit(unit), +#if ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED + if (!calibrated) { + Debug("AnalogIn: calibration scheme version is %s", "Line Fitting"); + adc_cali_line_fitting_config_t cali_config = { + .unit_id = unit, + .atten = atten, + .bitwidth = ADC_BITWIDTH_12, + }; + ret = adc_cali_create_scheme_line_fitting(&cali_config, &handle); + if (ret == ESP_OK) { + calibrated = true; + } + } +#endif + + *out_handle = handle; + if (ret == ESP_OK) { + Debug("AnalogIn: Calibration Success for channel %d:%d", unit, channel); + } else if (ret == ESP_ERR_NOT_SUPPORTED || !calibrated) { + Debug("AnalogIn: eFuse not burnt, skip software calibration"); + } else { + Debug("AnalogIn: Invalid arg or no memory"); + } + + return calibrated; +} + +void adc_calibration_deinit(adc_cali_handle_t handle) +{ +#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED + Debug("AnalogIn: deregister %s calibration scheme", "Curve Fitting"); + adc_cali_delete_scheme_curve_fitting(handle); +#elif ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED + Debug("AnalogIn: deregister %s calibration scheme", "Line Fitting"); + adc_cali_delete_scheme_line_fitting(handle); +#endif +} + +//ardupin is the ardupilot assigned number, starting from 1-8(max) +AnalogSource::AnalogSource(int16_t ardupin, adc_channel_t adc_channel, float scaler, float initial_value) : _ardupin(ardupin), - _pin(pin), + _adc_channel(adc_channel), _scaler(scaler), _value(initial_value), _latest_value(initial_value), _sum_count(0), _sum_value(0) { - printf("AnalogIn: adding ardupin:%d-> which is adc1_offset:%d\n", _ardupin,_pin); + Debug("AnalogIn: adding ardupin:%d-> which is adc1_channel:%d\n", _ardupin, _adc_channel); - // init the pin now if possible, otherwise doo it later from set_pin - if ( _ardupin != ANALOG_INPUT_NONE ) { - - // dertermine actial gpio from adc offset and configure it - gpio_num_t gpio; - //Configure ADC - if (unit == 1) { - adc1_config_channel_atten((adc1_channel_t)_pin, atten); - adc1_pad_get_io_num((adc1_channel_t)_pin, &gpio); - } else { - adc2_config_channel_atten((adc2_channel_t)_pin, atten); - } - - esp_adc_cal_characteristics_t adc_chars; - esp_adc_cal_characterize(ADC_UNIT_1, atten, ADC_WIDTH_BIT_12, DEFAULT_VREF, &adc_chars); - printf("AnalogIn: determined actual gpio as: %d\n", gpio); - - _gpio = gpio;// save it for later + // for now, hard coded using adc1 + _adc_unit = ADC_UNIT_1; + adc_oneshot_unit_init_cfg_t init_config = { .unit_id = _adc_unit }; + if (!g_adc1_handle && ESP_OK != adc_oneshot_new_unit(&init_config, &g_adc1_handle)) { + Debug("AnalogIn: adc_oneshot_new_unit failed for unit_id = %d\n", _adc_unit); + return; } + + adc_init(); } @@ -119,16 +173,10 @@ float AnalogSource::read_average() WITH_SEMAPHORE(_semaphore); if (_sum_count == 0) { - uint32_t adc_reading = 0; + float adc_reading = 0; //Multisampling for (int i = 0; i < NO_OF_SAMPLES; i++) { - if (_unit == 1) { - adc_reading += adc1_get_raw((adc1_channel_t)_pin); - } else { - int raw; - adc2_get_raw((adc2_channel_t)_pin, ADC_WIDTH_BIT_12, &raw); - adc_reading += raw; - } + adc_reading += adc_read(); } adc_reading /= NO_OF_SAMPLES; return adc_reading; @@ -176,46 +224,37 @@ bool AnalogSource::set_pin(uint8_t ardupin) if (_ardupin == ardupin) { return true; } + _ardupin = ardupin; int8_t pinconfig_offset = AnalogIn::find_pinconfig(ardupin); if (pinconfig_offset == -1 ) { - DEV_PRINTF("AnalogIn: sorry set_pin() can't determine ADC1 offset from ardupin : %d \n",ardupin); + Debug("AnalogIn: sorry set_pin() can't determine ADC1 offset from ardupin : %d \n",ardupin); return false; } - int16_t newgpioAdcPin = AnalogIn::pin_config[(uint8_t)pinconfig_offset].channel; + adc_channel_t newChannel = (adc_channel_t)AnalogIn::pin_config[(uint8_t)pinconfig_offset].channel; float newscaler = AnalogIn::pin_config[(uint8_t)pinconfig_offset].scaling; - if (_pin == newgpioAdcPin) { + Debug("AnalogIn: ardupin = %d, new channel = %d\n", ardupin, newChannel); + + if (_adc_channel == newChannel) { return true; } WITH_SEMAPHORE(_semaphore); - // init the target pin now if possible - if ( ardupin != ANALOG_INPUT_NONE ) { + if (_adc_cali_handle) { + + Debug("AnalogIn: adc_calibration_deinit(%x)\n", (uint)_adc_cali_handle); - gpio_num_t gpio; // new gpio - //Configure ADC - if (_unit == 1) { - adc1_config_channel_atten((adc1_channel_t)newgpioAdcPin, atten); - adc1_pad_get_io_num((adc1_channel_t)newgpioAdcPin, &gpio); - } else { - adc2_config_channel_atten((adc2_channel_t)newgpioAdcPin, atten); - } + adc_calibration_deinit(_adc_cali_handle); + _adc_cali_handle = 0; + } - esp_adc_cal_characteristics_t adc_chars; - esp_adc_cal_characterize(ADC_UNIT_1, atten, ADC_WIDTH_BIT_12, DEFAULT_VREF, &adc_chars); - printf("AnalogIn: Adding gpio on: %d\n", gpio); + _adc_channel = newChannel; + _scaler = newscaler; - DEV_PRINTF("AnalogIn: set_pin() FROM (ardupin:%d adc1_offset:%d gpio:%d) TO (ardupin:%d adc1_offset:%d gpio:%d)\n", \ - _ardupin,_pin,_gpio,ardupin,newgpioAdcPin,gpio); - _pin = newgpioAdcPin; - _ardupin = ardupin; - _gpio = gpio; - _scaler = newscaler; - - } + adc_init(); _sum_value = 0; _sum_count = 0; @@ -226,6 +265,60 @@ bool AnalogSource::set_pin(uint8_t ardupin) } +// init ADC +bool AnalogSource::adc_init() +{ + // init the pin now if possible, otherwise doo it later from set_pin + if ( _ardupin != ANALOG_INPUT_NONE ) { + + adc_oneshot_chan_cfg_t config = { + .atten = atten, + .bitwidth = ADC_BITWIDTH_12 + }; + if (ESP_OK != adc_oneshot_config_channel(g_adc1_handle, _adc_channel, &config)) { + Debug("AnalogIn: adc_oneshot_config_channel failed for adc_channel = %d\n", _adc_channel); + return false; + } + else { + Debug("AnalogIn: adc_oneshot_config_channel for adc_channel = %d\n completed successfully", _adc_channel); + } + + if (!adc_calibration_init(_adc_unit, _adc_channel, atten, &_adc_cali_handle)){ + Debug("AnalogIn: adc_calibration_init failed for adc_channel = %d\n", _adc_channel); + return false; + } + else { + Debug("AnalogIn: adc_calibration_init for adc_channel = %d\n completed successfully", _adc_channel); + } + } + else { + Debug("AnalogIn: adc_init(%d) skipped.\n", _ardupin); + } + return true; +} + +// read value from ADC +float AnalogSource::adc_read() +{ + int raw, value = 0; + + if (ESP_OK != adc_oneshot_read(g_adc1_handle, _adc_channel, &raw)) { + Debug("AnalogIn: adc_oneshot_read failed\n"); + return 0; + } + + if (_adc_cali_handle) { + if(ESP_OK != adc_cali_raw_to_voltage(_adc_cali_handle, raw, &value)) { + Debug("AnalogIn: adc_oneshot_read failed\n"); + return 0; + } + } + else { + value = raw * VOLTAGE_SCALING; + } + return (float)value / 1000; +} + /* apply a reading in ADC counts */ @@ -237,12 +330,7 @@ void AnalogSource::_add_value() WITH_SEMAPHORE(_semaphore); - int value = 0; - if (_unit == 1) { - value = adc1_get_raw((adc1_channel_t)_pin); - } else { - adc2_get_raw((adc2_channel_t)_pin, ADC_WIDTH_BIT_12, &value); - } + float value = adc_read(); _latest_value = value; _sum_value += value; @@ -254,31 +342,11 @@ void AnalogSource::_add_value() } } -static void check_efuse() -{ - //Check TP is burned into eFuse - if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK) { - printf("AnalogIn: eFuse Two Point: Supported\n"); - } else { - printf("AnalogIn: eFuse Two Point: NOT supported\n"); - } - - //Check Vref is burned into eFuse - if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK) { - printf("AnalogIn: eFuse Vref: Supported\n"); - } else { - printf("AnalogIn: eFuse Vref: NOT supported\n"); - } -} - /* setup adc peripheral to capture samples with DMA into a buffer */ void AnalogIn::init() { - check_efuse(); - - adc1_config_width(ADC_WIDTH_BIT_12); } /* @@ -290,7 +358,7 @@ void AnalogIn::_timer_tick() ESP32::AnalogSource *c = _channels[j]; if (c != nullptr) { // add a value - //c->_add_value(); + c->_add_value(); } } @@ -330,39 +398,44 @@ int8_t AnalogIn::find_pinconfig(int16_t ardupin) // AP_HAL::AnalogSource *AnalogIn::channel(int16_t ardupin) { + if (ardupin < 0) ardupin = ANALOG_INPUT_NONE; + + Debug("AnalogIn: configuring channel %d\n", ardupin); + int8_t pinconfig_offset = find_pinconfig(ardupin); - int16_t gpioAdcPin = -1; - float scaler = -1; + adc_channel_t adc_channel = (adc_channel_t)ANALOG_INPUT_NONE; + float scaler = 0; if ((ardupin != ANALOG_INPUT_NONE) && (pinconfig_offset == -1 )) { - DEV_PRINTF("AnalogIn: sorry channel() can't determine ADC1 offset from ardupin : %d \n",ardupin); + Debug("AnalogIn: sorry channel() can't determine ADC1 offset from ardupin : %d \n",ardupin); ardupin = ANALOG_INPUT_NONE; // default it to this not terrible value and allow to continue } + // although ANALOG_INPUT_NONE=255 is not a valid pin, we let it through here as // a special case, so that it can be changed with set_pin(..) later. if (ardupin != ANALOG_INPUT_NONE) { - gpioAdcPin = pin_config[(uint8_t)pinconfig_offset].channel; + adc_channel = (adc_channel_t)pin_config[(uint8_t)pinconfig_offset].channel; scaler = pin_config[(uint8_t)pinconfig_offset].scaling; } for (uint8_t j = 0; j < ANALOG_MAX_CHANNELS; j++) { if (_channels[j] == nullptr) { - _channels[j] = NEW_NOTHROW AnalogSource(ardupin,gpioAdcPin, scaler,0.0f,1); + + _channels[j] = NEW_NOTHROW AnalogSource(ardupin, adc_channel, scaler, 0.0f); if (ardupin != ANALOG_INPUT_NONE) { - DEV_PRINTF("AnalogIn: channel:%d attached to ardupin:%d at adc1_offset:%d on gpio:%d\n",\ - j,ardupin, gpioAdcPin, _channels[j]->_gpio); + Debug("AnalogIn: channel: %d attached to ardupin:%d at adc1_offset:%d\n",\ + j, ardupin, adc_channel); } - - if (ardupin == ANALOG_INPUT_NONE) { - DEV_PRINTF("AnalogIn: channel:%d created but using delayed adc and gpio pin configuration\n",j ); + else { + Debug("AnalogIn: channel: %d created but using delayed adc and gpio pin configuration\n", j); } return _channels[j]; } } - DEV_PRINTF("AnalogIn: out of channels\n"); + Debug("AnalogIn: out of channels\n"); return nullptr; } diff --git a/libraries/AP_HAL_ESP32/AnalogIn.h b/libraries/AP_HAL_ESP32/AnalogIn.h index 2814e57790589..a4531fe47edd2 100644 --- a/libraries/AP_HAL_ESP32/AnalogIn.h +++ b/libraries/AP_HAL_ESP32/AnalogIn.h @@ -12,13 +12,17 @@ * You should have received a copy of the GNU General Public License along * with this program. If not, see . * - * Code by Charles Villard + * Code by Charles Villard, ARg and Bayu Laksono */ #pragma once #include "AP_HAL_ESP32.h" +#include "esp_adc/adc_oneshot.h" +#include "esp_adc/adc_cali.h" +#include "esp_adc/adc_cali_scheme.h" + #if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER) #define ANALOG_MAX_CHANNELS 8 @@ -30,7 +34,7 @@ class AnalogSource : public AP_HAL::AnalogSource { public: friend class AnalogIn; - AnalogSource(int16_t ardupin,int16_t pin,float scaler, float initial_value, uint8_t unit); + AnalogSource(int16_t ardupin, adc_channel_t adc_channel, float scaler, float initial_value); float read_average() override; float read_latest() override; bool set_pin(uint8_t p) override; @@ -42,18 +46,16 @@ class AnalogSource : public AP_HAL::AnalogSource private: //ADC number (1 or 2). ADC2 is unavailable when WIFI on - uint8_t _unit; + adc_unit_t _adc_unit; - //adc Pin number (1-8) - // gpio-adc lower level pin name - int16_t _pin; + //ADC channel + adc_channel_t _adc_channel; //human readable Pin number used in ardu params int16_t _ardupin; //scaling from ADC count to Volts - int16_t _scaler; - // gpio pin number on esp32: - gpio_num_t _gpio; + float _scaler; + adc_cali_handle_t _adc_cali_handle; //Current computed value (average) float _value; @@ -64,6 +66,8 @@ class AnalogSource : public AP_HAL::AnalogSource //Sum of fetched values float _sum_value; + bool adc_init(); + float adc_read(); void _add_value(); HAL_Semaphore _semaphore; @@ -93,7 +97,6 @@ class AnalogIn : public AP_HAL::AnalogIn uint8_t channel; // adc1 pin offset float scaling; uint8_t ardupin; // eg 3 , as typed into an ardupilot parameter - uint8_t gpio; // eg 32 for D32 esp pin number/s }; static const pin_info pin_config[]; From e9e7eba7994320a5094da200fcf914cb96e1b375 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Fri, 4 Oct 2024 14:26:53 -0500 Subject: [PATCH 038/314] AP_DroneCAN: properly convert timeout to deadline for aux frames The timeout specified for auxiliary driver frames was passed to the driver where a deadline was expected. The transmission was then started after its "deadline", thereby causing it to be canceled and the data lost if the frame could not be sent immediately. Fix by converting the timeout to a deadline before passing to the driver. The conversion is done in the Canard interface code as it already does other conversions from timeouts to deadlines. --- libraries/AP_DroneCAN/AP_Canard_iface.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp index 8be4b0a4c24c6..7382f57033c9d 100644 --- a/libraries/AP_DroneCAN/AP_Canard_iface.cpp +++ b/libraries/AP_DroneCAN/AP_Canard_iface.cpp @@ -458,12 +458,13 @@ bool CanardInterface::add_11bit_driver(CANSensor *sensor) // handler for outgoing frames for auxillary drivers bool CanardInterface::write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us) { + const uint64_t tx_deadline_us = AP_HAL::micros64() + timeout_us; bool ret = false; for (uint8_t iface = 0; iface < num_ifaces; iface++) { if (ifaces[iface] == NULL) { continue; } - ret |= ifaces[iface]->send(out_frame, timeout_us, 0) > 0; + ret |= ifaces[iface]->send(out_frame, tx_deadline_us, 0) > 0; } return ret; } From 4616fec1be263c3deb8594340303ed7af9c645db Mon Sep 17 00:00:00 2001 From: olliw42 Date: Sat, 5 Oct 2024 10:48:44 +0200 Subject: [PATCH 039/314] AP_SerialManager: RegisteredPort, add bytes_per_second/baudrate methods --- libraries/AP_SerialManager/AP_SerialManager.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h index 1933c3411cb86..be4a2be0c3ef4 100644 --- a/libraries/AP_SerialManager/AP_SerialManager.h +++ b/libraries/AP_SerialManager/AP_SerialManager.h @@ -175,6 +175,8 @@ class AP_SerialManager { */ class RegisteredPort : public AP_HAL::UARTDriver { public: + uint32_t bw_in_bytes_per_second() const override { return state.baudrate()/10; } + uint32_t get_baud_rate() const override { return state.baudrate(); } RegisteredPort *next; UARTState state; }; From 93174e324039fbe981b84dd91e55bebb5f9c6e7f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 6 Oct 2024 14:20:17 +1100 Subject: [PATCH 040/314] AP_HAL: avoid include of non-existant file this file doesn't exist --- libraries/AP_HAL/AP_HAL_Boards.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 874782fb9187b..c12ac0e2be90b 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -134,8 +134,6 @@ #include #elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY #include -#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN - #include #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #include #elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32 From 3273f588510e7080967a4e55ccde79a85c06d681 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 6 Oct 2024 14:22:17 +1100 Subject: [PATCH 041/314] AP_HAL: remove defines for boards which don't exist we'll now get compilation failures if code is introduced depending on these... --- libraries/AP_HAL/AP_HAL_Boards.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index c12ac0e2be90b..1c3aa1b1648e7 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -7,12 +7,12 @@ #pragma once #define HAL_BOARD_SITL 3 -#define HAL_BOARD_SMACCM 4 // unused -#define HAL_BOARD_PX4 5 // unused +// #define HAL_BOARD_SMACCM 4 // unused +// #define HAL_BOARD_PX4 5 // unused #define HAL_BOARD_LINUX 7 -#define HAL_BOARD_VRBRAIN 8 +// #define HAL_BOARD_VRBRAIN 8 #define HAL_BOARD_CHIBIOS 10 -#define HAL_BOARD_F4LIGHT 11 // reserved +// #define HAL_BOARD_F4LIGHT 11 // reserved #define HAL_BOARD_ESP32 12 #define HAL_BOARD_QURT 13 #define HAL_BOARD_EMPTY 99 From 41753b43d740ee64258e754d917cadc83c8d9578 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 5 Oct 2024 11:07:11 +1000 Subject: [PATCH 042/314] AP_AHRS: DCM: remove unused variable --- libraries/AP_AHRS/AP_AHRS_DCM.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h index 5f34a054ed1a2..e4e13ded40fa4 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.h +++ b/libraries/AP_AHRS/AP_AHRS_DCM.h @@ -268,8 +268,6 @@ class AP_AHRS_DCM : public AP_AHRS_Backend { // estimated wind in m/s Vector3f _wind; - float _imu1_weight{0.5f}; - // last time AHRS failed in milliseconds uint32_t _last_failure_ms; From 4df758f52ad077fd577f0f5a026932642bfb439b Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Sun, 6 Oct 2024 22:45:29 -0500 Subject: [PATCH 043/314] AP_Bootloader: reject allocation of broadcast node ID It is technically legal to receive an "allocation" of the broadcast node ID. Fortunately, this was already ignored by `canardSetLocalNodeID`, though it would trigger an assertion failure if those were enabled. Fix by rejecting that ID. There is effectively no change in behavior but the code now correctly ignores that ID and retries the allocation as it did before. --- Tools/AP_Bootloader/can.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp index 0ee6ee7f98440..de1b37227672b 100644 --- a/Tools/AP_Bootloader/can.cpp +++ b/Tools/AP_Bootloader/can.cpp @@ -429,7 +429,7 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr // The allocator has confirmed part of unique ID, switching to the next stage and updating the timeout. node_id_allocation_unique_id_offset = msg.unique_id.len; send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS; - } else { + } else if (msg.node_id != CANARD_BROADCAST_NODE_ID) { // new ID valid? (if not we will time out and start over) // Allocation complete - copying the allocated node ID from the message canardSetLocalNodeID(ins, msg.node_id); } From c69366ac101e9e31a9c1dcaa54669857ec7e5e82 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 5 Oct 2024 11:05:05 +1000 Subject: [PATCH 044/314] Plane: stop using bit-packing for quadplane state --- ArduPlane/quadplane.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h index 6a810f23259cf..e4489fd0d17c1 100644 --- a/ArduPlane/quadplane.h +++ b/ArduPlane/quadplane.h @@ -443,13 +443,13 @@ class QuadPlane Transition *transition = nullptr; // true when waiting for pilot throttle - bool throttle_wait:1; + bool throttle_wait; // true when quad is assisting a fixed wing mode - bool assisted_flight:1; + bool assisted_flight; // are we in a guided takeoff? - bool guided_takeoff:1; + bool guided_takeoff; /* if we arm in guided mode when we arm then go into a "waiting for takeoff command" state. In this state we are waiting for From 6c1a5bf3d0ca9ae12012233c59847e9755efbc4d Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 6 Oct 2024 10:24:24 +0900 Subject: [PATCH 045/314] AP_Logger: Align the order of definitions --- libraries/AP_Logger/AP_Logger.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h index 073bfbbee6d8e..3d25ca19d1085 100644 --- a/libraries/AP_Logger/AP_Logger.h +++ b/libraries/AP_Logger/AP_Logger.h @@ -28,13 +28,13 @@ enum class LogEvent : uint8_t { AUTO_ARMED = 15, LAND_COMPLETE_MAYBE = 17, LAND_COMPLETE = 18, - NOT_LANDED = 28, LOST_GPS = 19, FLIP_START = 21, FLIP_END = 22, SET_HOME = 25, SET_SIMPLE_ON = 26, SET_SIMPLE_OFF = 27, + NOT_LANDED = 28, SET_SUPERSIMPLE_ON = 29, AUTOTUNE_INITIALISED = 30, AUTOTUNE_OFF = 31, From 56de7243f5656b0dd0c8008795428a43a2365fb3 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 5 Oct 2024 11:09:18 +1000 Subject: [PATCH 046/314] AP_AHRS: DCM: tidy variable creation --- libraries/AP_AHRS/AP_AHRS_DCM.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index fd0b8677561eb..f1ee8e29befc2 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -1001,11 +1001,10 @@ void AP_AHRS_DCM::estimate_wind(void) if (diff_length > 0.2f) { // when turning, use the attitude response to estimate // wind speed - float V; const Vector3f velocityDiff = velocity - _last_vel; // estimate airspeed it using equation 6 - V = velocityDiff.length() / diff_length; + const float V = velocityDiff.length() / diff_length; const Vector3f fuselageDirectionSum = fuselageDirection + _last_fuse; const Vector3f velocitySum = velocity + _last_vel; @@ -1017,10 +1016,11 @@ void AP_AHRS_DCM::estimate_wind(void) const float sintheta = sinf(theta); const float costheta = cosf(theta); - Vector3f wind = Vector3f(); - wind.x = velocitySum.x - V * (costheta * fuselageDirectionSum.x - sintheta * fuselageDirectionSum.y); - wind.y = velocitySum.y - V * (sintheta * fuselageDirectionSum.x + costheta * fuselageDirectionSum.y); - wind.z = velocitySum.z - V * fuselageDirectionSum.z; + Vector3f wind{ + velocitySum.x - V * (costheta * fuselageDirectionSum.x - sintheta * fuselageDirectionSum.y), + velocitySum.y - V * (sintheta * fuselageDirectionSum.x + costheta * fuselageDirectionSum.y), + velocitySum.z - V * fuselageDirectionSum.z + }; wind *= 0.5f; if (wind.length() < _wind.length() + 20) { From 8487657137593d8b89f94fe754e74f66d392c01b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 5 Oct 2024 11:06:24 +1000 Subject: [PATCH 047/314] AP_AHRS: DCM: log estimated wind --- libraries/AP_AHRS/AP_AHRS_DCM.cpp | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index f1ee8e29befc2..eb10db1b45880 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -116,18 +116,24 @@ AP_AHRS_DCM::update() // @Field: Yaw: estimated yaw // @Field: ErrRP: lowest estimated gyro drift error // @Field: ErrYaw: difference between measured yaw and DCM yaw estimate +// @Field: VWN: wind velocity, to-the-North component +// @Field: VWE: wind velocity, to-the-East component +// @Field: VWD: wind velocity, Up-to-Down component AP::logger().WriteStreaming( "DCM", - "TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw", - "s" "d" "d" "d" "d" "h", - "F" "0" "0" "0" "0" "0", - "Q" "f" "f" "f" "f" "f", + "TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw," "VWN," "VWE," "VWD", + "s" "d" "d" "d" "d" "h" "n" "n" "n", + "F" "0" "0" "0" "0" "0" "0" "0" "0", + "Q" "f" "f" "f" "f" "f" "f" "f" "f", AP_HAL::micros64(), degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), get_error_rp(), - get_error_yaw() + get_error_yaw(), + _wind.x, + _wind.y, + _wind.z ); } #endif // HAL_LOGGING_ENABLED From 8edcb4b8d35d1c0153590a86cb75d27adb93756d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 5 Oct 2024 11:06:54 +1000 Subject: [PATCH 048/314] AP_NavEKF3: clarify wind direction descriptions --- libraries/AP_NavEKF3/LogStructure.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h index 9218c6d60bf84..53276e13d3c53 100644 --- a/libraries/AP_NavEKF3/LogStructure.h +++ b/libraries/AP_NavEKF3/LogStructure.h @@ -104,8 +104,8 @@ struct PACKED log_XKF1 { // @Field: AX: Estimated accelerometer X bias // @Field: AY: Estimated accelerometer Y bias // @Field: AZ: Estimated accelerometer Z bias -// @Field: VWN: Estimated wind velocity (North component) -// @Field: VWE: Estimated wind velocity (East component) +// @Field: VWN: Estimated wind velocity (moving-to-North component) +// @Field: VWE: Estimated wind velocity (moving-to-East component) // @Field: MN: Magnetic field strength (North component) // @Field: ME: Magnetic field strength (East component) // @Field: MD: Magnetic field strength (Down component) From 197d837b6c4dbb88e541fc54f2bfe3c56fa4eb10 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 5 Oct 2024 11:07:25 +1000 Subject: [PATCH 049/314] SITL: clarify wind direction descriptions --- libraries/SITL/SITL.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index 255b44ff4d3b9..970fdd6a52f41 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -86,7 +86,7 @@ const AP_Param::GroupInfo SIM::var_info[] = { // @User: Advanced AP_GROUPINFO("WIND_SPD", 9, SIM, wind_speed, 0), // @Param: WIND_DIR - // @DisplayName: Simulated Wind direction + // @DisplayName: Direction simulated wind is coming from // @Description: Allows you to set wind direction (true deg) in sim // @Units: deg // @User: Advanced From 8ba2dae9366d581ae7405d55c2e416cdfd30f9b3 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 8 Oct 2024 09:06:34 +1100 Subject: [PATCH 050/314] AP_NavEKF2: clarify wind direction descriptions --- libraries/AP_NavEKF2/LogStructure.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/LogStructure.h b/libraries/AP_NavEKF2/LogStructure.h index a7f1a8862557e..8d61f208c7a09 100644 --- a/libraries/AP_NavEKF2/LogStructure.h +++ b/libraries/AP_NavEKF2/LogStructure.h @@ -100,8 +100,8 @@ struct PACKED log_NKF1 { // @Field: GSX: Gyro Scale Factor (X-axis) // @Field: GSY: Gyro Scale Factor (Y-axis) // @Field: GSZ: Gyro Scale Factor (Z-axis) -// @Field: VWN: Estimated wind velocity (North component) -// @Field: VWE: Estimated wind velocity (East component) +// @Field: VWN: Estimated wind velocity (moving-to-North component) +// @Field: VWE: Estimated wind velocity (moving-to-East component) // @Field: MN: Magnetic field strength (North component) // @Field: ME: Magnetic field strength (East component) // @Field: MD: Magnetic field strength (Down component) From b71ed41c3210dd74f39efa59a0574bbec076411d Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Sat, 5 Oct 2024 15:51:41 -0500 Subject: [PATCH 051/314] AP_BLHeli:correct RVMASK metadata --- libraries/AP_BLHeli/AP_BLHeli.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp index f0deec1410176..3b0a32c89896f 100644 --- a/libraries/AP_BLHeli/AP_BLHeli.cpp +++ b/libraries/AP_BLHeli/AP_BLHeli.cpp @@ -145,7 +145,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = { #endif // @Param: RVMASK // @DisplayName: BLHeli bitmask of reversed channels - // @Description: Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation.Do not use for channels selected with SERVO_BLH_RVMASK.Do not use for channels selected with SERVO_BLH_3DMASK. + // @Description: Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK. // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 // @User: Advanced // @RebootRequired: True From 5f67904d1987afbdc35b31c68b4e2f42ccc20b6f Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Mon, 16 Sep 2024 20:54:51 -0600 Subject: [PATCH 052/314] Tools: Expose arbitrary waf configure and build args * This allows someone using colcon full control over the build Signed-off-by: Ryan Friedman --- Tools/ros2/ardupilot_sitl/CMakeLists.txt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/Tools/ros2/ardupilot_sitl/CMakeLists.txt b/Tools/ros2/ardupilot_sitl/CMakeLists.txt index d1d2017463512..5759fca6108e7 100644 --- a/Tools/ros2/ardupilot_sitl/CMakeLists.txt +++ b/Tools/ros2/ardupilot_sitl/CMakeLists.txt @@ -18,6 +18,9 @@ option(ARDUPILOT_DISABLE_WATCHDOG "Build with watchdog disabled" OFF) option(ARDUPILOT_ENABLE_DDS "Enable the DDS client" ON) option(ARDUPILOT_ENABLE_NETWORKING_TESTS "Enable the networking test code" OFF) option(ARDUPILOT_ENABLE_PPP "Enable PPP networking" OFF) +set(ARDUPILOT_WAF_CONFIGURE_ARGS "" CACHE STRING "Arbitrary waf configure arguments") +set(ARDUPILOT_WAF_BUILD_ARGS "" CACHE STRING "Arbitrary waf build arguments") + # NOTE: look for `waf` and set source and build directories to top level. # ${PROJECT_SOURCE_DIR} = ./Tools/ros2/ardupilot @@ -45,11 +48,12 @@ add_custom_target(ardupilot_configure ALL ${WAF_ENABLE_DDS} ${WAF_ENABLE_NETWORKING_TESTS} ${WAF_ENABLE_PPP} + ${ARDUPILOT_WAF_CONFIGURE_ARGS} WORKING_DIRECTORY ${ARDUPILOT_ROOT} ) add_custom_target(ardupilot_build ALL - ${WAF_COMMAND} build --enable-dds ${WAF_CONFIG} + ${WAF_COMMAND} build --enable-dds ${WAF_CONFIG} ${ARDUPILOT_WAF_BUILD_ARGS} WORKING_DIRECTORY ${ARDUPILOT_ROOT} ) add_dependencies(ardupilot_build ardupilot_configure) From dec10a1a583349936fa4dfcd3b1633e89ffa0bb4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 7 Oct 2024 10:19:07 +1100 Subject: [PATCH 053/314] hwdef: GEPRCF745BTHD: remove parachute and bl-flashing support (flash overflow) --- libraries/AP_HAL_ChibiOS/hwdef/GEPRCF745BTHD/hwdef.dat | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/GEPRCF745BTHD/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/GEPRCF745BTHD/hwdef.dat index 5c0e43a2a81f0..1406cfeff3542 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/GEPRCF745BTHD/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/GEPRCF745BTHD/hwdef.dat @@ -169,7 +169,9 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin # save some flash include ../include/minimize_fpv_osd.inc - +# disable parachute to save flash +define HAL_PARACHUTE_ENABLED 0 +include ../include/no_bootloader_DFU.inc #only enable BMP280 Baro define AP_BARO_BACKEND_DEFAULT_ENABLED 0 From 57157d470fbb025a92093f77f9828cc8158c78b4 Mon Sep 17 00:00:00 2001 From: Tiziano Fiorenzani Date: Tue, 8 Oct 2024 15:58:31 +0000 Subject: [PATCH 054/314] AP_DDS: Airspeed topic --- libraries/AP_DDS/AP_DDS_Client.cpp | 56 ++++++++++++++++++- libraries/AP_DDS/AP_DDS_Client.h | 14 ++++- libraries/AP_DDS/AP_DDS_Topic_Table.h | 22 ++++++++ libraries/AP_DDS/AP_DDS_config.h | 4 ++ .../Idl/geometry_msgs/msg/Vector3Stamped.idl | 21 +++++++ libraries/AP_DDS/README.md | 1 + 6 files changed, 115 insertions(+), 3 deletions(-) create mode 100644 libraries/AP_DDS/Idl/geometry_msgs/msg/Vector3Stamped.idl diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 926d4304b701b..5ef37ca24895b 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -46,6 +46,9 @@ static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33; #if AP_DDS_LOCAL_VEL_PUB_ENABLED static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33; #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED +static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = 33; +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33; #endif // AP_DDS_GEOPOSE_PUB_ENABLED @@ -453,6 +456,34 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_TwistStamped& msg) msg.twist.angular.z = -angular_velocity[2]; } #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED +bool AP_DDS_Client::update_topic(geometry_msgs_msg_Vector3Stamped& msg) +{ + update_topic(msg.header.stamp); + strcpy(msg.header.frame_id, BASE_LINK_FRAME_ID); + auto &ahrs = AP::ahrs(); + WITH_SEMAPHORE(ahrs.get_semaphore()); + // In ROS REP 103, axis orientation uses the following convention: + // X - Forward + // Y - Left + // Z - Up + // https://www.ros.org/reps/rep-0103.html#axis-orientation + // The true airspeed data is received from AP_AHRS in body-frame + // X - Forward + // Y - Right + // Z - Down + // As a consequence, to follow ROS REP 103, it is necessary to invert Y and Z + Vector3f true_airspeed_vec_bf; + bool is_airspeed_available {false}; + if (ahrs.airspeed_vector_true(true_airspeed_vec_bf)) { + msg.vector.x = true_airspeed_vec_bf[0]; + msg.vector.y = -true_airspeed_vec_bf[1]; + msg.vector.z = -true_airspeed_vec_bf[2]; + is_airspeed_available = true; + } + return is_airspeed_available; +} +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg) @@ -1128,7 +1159,22 @@ void AP_DDS_Client::write_tx_local_velocity_topic() } } #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED - +#if AP_DDS_AIRSPEED_PUB_ENABLED +void AP_DDS_Client::write_tx_local_airspeed_topic() +{ + WITH_SEMAPHORE(csem); + if (connected) { + ucdrBuffer ub {}; + const uint32_t topic_size = geometry_msgs_msg_Vector3Stamped_size_of_topic(&tx_local_airspeed_topic, 0); + uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB)].dw_id, &ub, topic_size); + const bool success = geometry_msgs_msg_Vector3Stamped_serialize_topic(&ub, &tx_local_airspeed_topic); + if (!success) { + // TODO sometimes serialization fails on bootup. Determine why. + // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n"); + } + } +} +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED void AP_DDS_Client::write_imu_topic() { @@ -1236,6 +1282,14 @@ void AP_DDS_Client::update() write_tx_local_velocity_topic(); } #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED + if (cur_time_ms - last_airspeed_time_ms > DELAY_AIRSPEED_TOPIC_MS) { + last_airspeed_time_ms = cur_time_ms; + if (update_topic(tx_local_airspeed_topic)) { + write_tx_local_airspeed_topic(); + } + } +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED if (cur_time_ms - last_imu_time_ms > DELAY_IMU_TOPIC_MS) { update_topic(imu_topic); diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h index 2d2ec5a27f0cc..005b87f30aa21 100644 --- a/libraries/AP_DDS/AP_DDS_Client.h +++ b/libraries/AP_DDS/AP_DDS_Client.h @@ -37,6 +37,9 @@ #if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED #include "geographic_msgs/msg/GeoPointStamped.h" #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED +#include "geometry_msgs/msg/Vector3Stamped.h" +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED #include "geographic_msgs/msg/GeoPoseStamped.h" #endif // AP_DDS_GEOPOSE_PUB_ENABLED @@ -127,6 +130,15 @@ class AP_DDS_Client static void update_topic(geometry_msgs_msg_TwistStamped& msg); #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED + geometry_msgs_msg_Vector3Stamped tx_local_airspeed_topic; + // The last ms timestamp AP_DDS wrote a airspeed message + uint64_t last_airspeed_time_ms; + //! @brief Serialize the current local airspeed and publish to the IO stream(s) + void write_tx_local_airspeed_topic(); + static bool update_topic(geometry_msgs_msg_Vector3Stamped& msg); +#endif //AP_DDS_AIRSPEED_PUB_ENABLED + #if AP_DDS_BATTERY_STATE_PUB_ENABLED sensor_msgs_msg_BatteryState battery_state_topic; // The last ms timestamp AP_DDS wrote a BatteryState message @@ -193,8 +205,6 @@ class AP_DDS_Client bool status_ok{false}; bool connected{false}; - - // subscription callback function static void on_topic_trampoline(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length, void* args); void on_topic(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length); diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h index 4864a15b672e9..05d68e0c78e3f 100644 --- a/libraries/AP_DDS/AP_DDS_Topic_Table.h +++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h @@ -3,6 +3,7 @@ #include "tf2_msgs/msg/TFMessage.h" #include "sensor_msgs/msg/BatteryState.h" #include "geographic_msgs/msg/GeoPoseStamped.h" +#include "geometry_msgs/msg/Vector3Stamped.h" #if AP_DDS_IMU_PUB_ENABLED #include "sensor_msgs/msg/Imu.h" #endif //AP_DDS_IMU_PUB_ENABLED @@ -35,6 +36,9 @@ enum class TopicIndex: uint8_t { #if AP_DDS_LOCAL_VEL_PUB_ENABLED LOCAL_VELOCITY_PUB, #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED + LOCAL_AIRSPEED_PUB, +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED GEOPOSE_PUB, #endif // AP_DDS_GEOPOSE_PUB_ENABLED @@ -192,6 +196,24 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { }, }, #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED +#if AP_DDS_AIRSPEED_PUB_ENABLED + { + .topic_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), + .pub_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), + .sub_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), + .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), .type=UXR_DATAWRITER_ID}, + .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), .type=UXR_DATAREADER_ID}, + .topic_rw = Topic_rw::DataWriter, + .topic_name = "rt/ap/airspeed", + .type_name = "geometry_msgs::msg::dds_::Vector3Stamped_", + .qos = { + .durability = UXR_DURABILITY_VOLATILE, + .reliability = UXR_RELIABILITY_BEST_EFFORT, + .history = UXR_HISTORY_KEEP_LAST, + .depth = 5, + }, + }, +#endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED { .topic_id = to_underlying(TopicIndex::GEOPOSE_PUB), diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h index 01f168ea217ee..2e0d3d6264f8c 100644 --- a/libraries/AP_DDS/AP_DDS_config.h +++ b/libraries/AP_DDS/AP_DDS_config.h @@ -54,6 +54,10 @@ #define AP_DDS_LOCAL_VEL_PUB_ENABLED 1 #endif +#ifndef AP_DDS_AIRSPEED_PUB_ENABLED +#define AP_DDS_AIRSPEED_PUB_ENABLED 1 +#endif + #ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED #define AP_DDS_BATTERY_STATE_PUB_ENABLED 1 #endif diff --git a/libraries/AP_DDS/Idl/geometry_msgs/msg/Vector3Stamped.idl b/libraries/AP_DDS/Idl/geometry_msgs/msg/Vector3Stamped.idl new file mode 100644 index 0000000000000..edb586e2138d3 --- /dev/null +++ b/libraries/AP_DDS/Idl/geometry_msgs/msg/Vector3Stamped.idl @@ -0,0 +1,21 @@ +// generated from rosidl_adapter/resource/msg.idl.em +// with input from geometry_msgs/msg/Vector3Stamped.msg +// generated code does not contain a copyright notice + +#include "geometry_msgs/msg/Vector3.idl" +#include "std_msgs/msg/Header.idl" + +module geometry_msgs { + module msg { + @verbatim (language="comment", text= + "This represents a Vector3 with reference coordinate frame and timestamp") + struct Vector3Stamped { + @verbatim (language="comment", text= + "Note that this follows vector semantics with it always anchored at the origin," "\n" + "so the rotational elements of a transform are the only parts applied when transforming.") + std_msgs::msg::Header header; + + geometry_msgs::msg::Vector3 vector; + }; + }; +}; diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md index 3b163a3948ea9..3a037f9b9782d 100644 --- a/libraries/AP_DDS/README.md +++ b/libraries/AP_DDS/README.md @@ -172,6 +172,7 @@ $ ros2 node list ```bash $ ros2 topic list -v Published topics: + * /ap/airspeed [geometry_msgs/msg/Vector3] 1 publisher * /ap/battery/battery0 [sensor_msgs/msg/BatteryState] 1 publisher * /ap/clock [rosgraph_msgs/msg/Clock] 1 publisher * /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher From f588e9a23003f2e3378be7abadda7446fce08362 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 8 Oct 2024 12:50:54 +1100 Subject: [PATCH 055/314] autotest: add simple test that wind estimates from DCM and EKF3 converge --- Tools/autotest/quadplane.py | 53 +++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py index a5a61fe763f79..932b674bd0536 100644 --- a/Tools/autotest/quadplane.py +++ b/Tools/autotest/quadplane.py @@ -1858,6 +1858,58 @@ def RTL_AUTOLAND_1_FROM_GUIDED(self): self.fly_home_land_and_disarm() + def WindEstimateConsistency(self): + '''test that DCM and EKF3 roughly agree on wind speed and direction''' + self.set_parameters({ + 'SIM_WIND_SPD': 10, # metres/second + 'SIM_WIND_DIR': 315, # from the North-West + }) + self.change_mode('TAKEOFF') + self.wait_ready_to_arm() + self.arm_vehicle() + self.delay_sim_time(180) + mlog = self.dfreader_for_current_onboard_log() + self.fly_home_land_and_disarm() + + self.progress("Inspecting dataflash log") + match_start_time = None + dcm = None + xkf2 = None + while True: + m = mlog.recv_match( + type=['DCM', 'XKF2'], + blocking=True, + ) + if m is None: + raise NotAchievedException("Did not see wind estimates match") + + m_type = m.get_type() + if m_type == 'DCM': + dcm = m + else: + xkf2 = m + if dcm is None or xkf2 is None: + continue + + now = m.TimeUS * 1e-6 + + matches_east = abs(dcm.VWE-xkf2.VWE) < 1.5 + matches_north = abs(dcm.VWN-xkf2.VWN) < 1.5 + + matches = matches_east and matches_north + + if not matches: + match_start_time = None + continue + + if match_start_time is None: + match_start_time = now + continue + + if now - match_start_time > 60: + self.progress("Wind estimates correlated") + break + def tests(self): '''return list of all tests''' @@ -1885,6 +1937,7 @@ def tests(self): self.GUIDEDToAUTO, self.BootInAUTO, self.Ship, + self.WindEstimateConsistency, self.MAV_CMD_NAV_LOITER_TO_ALT, self.LoiterAltQLand, self.VTOLLandSpiral, From cb111504e25b65022e0afce39fb731f3a04123c2 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Fri, 4 Oct 2024 20:38:16 +0100 Subject: [PATCH 056/314] AP_InertialSensor: cope with negative ESC frequencies in notch updates --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 6d254dccec907..f717d23b81d69 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -2327,7 +2327,7 @@ void AP_InertialSensor::acal_update() */ void AP_InertialSensor::HarmonicNotch::update_freq_hz(float scaled_freq) { - calculated_notch_freq_hz[0] = scaled_freq; + calculated_notch_freq_hz[0] = fabsf(scaled_freq); num_calculated_notch_frequencies = 1; } @@ -2335,7 +2335,7 @@ void AP_InertialSensor::HarmonicNotch::update_freq_hz(float scaled_freq) void AP_InertialSensor::HarmonicNotch::update_frequencies_hz(uint8_t num_freqs, const float scaled_freq[]) { // note that we allow zero through, which will disable the notch for (uint8_t i = 0; i < num_freqs; i++) { - calculated_notch_freq_hz[i] = scaled_freq[i]; + calculated_notch_freq_hz[i] = fabsf(scaled_freq[i]); } // any uncalculated frequencies will float at the previous value or the initialized freq if none num_calculated_notch_frequencies = num_freqs; From 39ab13cec4205bf075ad4b8e0fa6f1b72b21250f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 8 Oct 2024 20:38:18 +1100 Subject: [PATCH 057/314] autotest: quadplane: test AHRS flyFoward flag behaviour --- Tools/autotest/quadplane.py | 136 ++++++++++++++++++++++++++++++++++++ 1 file changed, 136 insertions(+) diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py index 932b674bd0536..5458bc30a4f03 100644 --- a/Tools/autotest/quadplane.py +++ b/Tools/autotest/quadplane.py @@ -1812,6 +1812,141 @@ def reposition_to_loc(self, loc, accuracy=100): timeout=120, ) + def AHRSFlyForwardFlag(self): + '''ensure FlyForward flag is set appropriately''' + self.set_parameters({ + "LOG_DISARMED": 1, + "LOG_REPLAY": 1, + }) + self.reboot_sitl() + + self.assert_mode_is('FBWA') + self.delay_sim_time(10) + self.change_mode('QHOVER') + self.delay_sim_time(10) + + self.wait_ready_to_arm() + self.arm_vehicle() + self.set_rc(3, 2000) + self.wait_altitude(20, 50, relative=True) + self.context_collect('STATUSTEXT') + self.change_mode('CRUISE') + self.set_rc(3, 1500) + self.wait_statustext('Transition started airspeed', check_context=True) + self.wait_statustext('Transition airspeed reached', check_context=True) + self.wait_statustext('Transition done', check_context=True) + self.delay_sim_time(5) + self.change_mode('QHOVER') + self.wait_airspeed(0, 5) + self.delay_sim_time(5) + mlog_path = self.current_onboard_log_filepath() + self.fly_home_land_and_disarm(timeout=600) + + mlog = self.dfreader_for_path(mlog_path) + + stage_require_fbwa = "require_fbwa" + stage_wait_qhover = "wait_qhover" + stage_verify_qhover_ff = "verify_qhover_ff" + stage_wait_cruise = "wait_cruise" + stage_cruise_wait_ff = "cruise_wait_ff" + stage_qhover2 = "qhover2" + stage_done = "done" + stage = stage_require_fbwa + msgs = {} + seen_flag_set_in_cruise = False + FF_BIT_MASK = (1 << 2) + while stage != stage_done: + m = mlog.recv_match() + if m is None: + raise NotAchievedException(f"Stuck in stage {stage}") + m_type = m.get_type() + msgs[m_type] = m + + if stage == stage_require_fbwa: + if m_type == 'MODE': + if m.ModeNum == self.get_mode_from_mode_mapping('MANUAL'): + # manual to start with + continue + fbwa_num = self.get_mode_from_mode_mapping('FBWA') + print(f"{m.ModeNum=} {fbwa_num=}") + if m.ModeNum != fbwa_num: + raise ValueError(f"wanted mode={fbwa_num} got={m.ModeNum}") + continue + if m_type == 'RFRN': + if not m.Flags & FF_BIT_MASK: + raise ValueError("Expected FF to be set in FBWA") + stage = stage_wait_qhover + continue + continue + + if stage == stage_wait_qhover: + if m_type == 'MODE': + qhover_num = self.get_mode_from_mode_mapping('QHOVER') + print(f"want={qhover_num} got={m.ModeNum}") + if m.ModeNum == qhover_num: + stage = stage_verify_qhover_ff + continue + continue + continue + + if stage == stage_verify_qhover_ff: + if m_type == 'RFRN': + if m.Flags & FF_BIT_MASK: + raise ValueError("Expected FF to be unset in QHOVER") + stage = stage_wait_cruise + continue + continue + + if stage == stage_wait_cruise: + if m_type == 'MODE': + want_num = self.get_mode_from_mode_mapping('CRUISE') + if m.ModeNum == want_num: + stage = stage_cruise_wait_ff + cruise_wait_ff_start = msgs['ATT'].TimeUS*1e-6 + continue + continue + continue + + if stage == stage_cruise_wait_ff: + if m_type == 'MODE': + want_num = self.get_mode_from_mode_mapping('CRUISE') + if want_num != m.ModeNum: + if not seen_flag_set_in_cruise: + raise ValueError("Never saw FF get set") + if m.ModeNum == self.get_mode_from_mode_mapping('QHOVER'): + stage = stage_qhover2 + continue + continue + if m_type == 'RFRN': + flag_set = m.Flags & FF_BIT_MASK + now = msgs['ATT'].TimeUS*1e-6 + delta_t = now - cruise_wait_ff_start + if delta_t < 8: + if flag_set: + raise ValueError("Should not see bit set") + if delta_t > 10: + if not flag_set and not seen_flag_set_in_cruise: + raise ValueError("Should see bit set") + seen_flag_set_in_cruise = True + continue + continue + + if stage == stage_qhover2: + '''bit should stay low for qhover 2''' + if m_type == 'RFRN': + flag_set = m.Flags & FF_BIT_MASK + if flag_set: + raise ValueError("ff should be low in qhover") + continue + if m_type == 'MODE': + if m.ModeNum != self.get_mode_from_mode_mapping('QHOVER'): + stage = stage_done + continue + continue + continue + + raise NotAchievedException("Bad stage") + def RTL_AUTOLAND_1_FROM_GUIDED(self): '''test behaviour when RTL_AUTOLAND==1 and entering from guided''' @@ -1959,5 +2094,6 @@ def tests(self): self.DCMClimbRate, self.RTL_AUTOLAND_1, # as in fly-home then go to landing sequence self.RTL_AUTOLAND_1_FROM_GUIDED, # as in fly-home then go to landing sequence + self.AHRSFlyForwardFlag, ]) return ret From 1a1edf92b71a474c1bf1a081a7e8ae15c7724f5c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 8 Oct 2024 20:39:22 +1100 Subject: [PATCH 058/314] Plane: evaluate assistance requirements on mode change this avoid the AHRS being told we are flying forward - because we are no longer in a VTOL mode - and instantly being told we are not flying forward - because we are providing assistance --- ArduPlane/mode.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp index ade2abb2a317f..d9fec93dff4f8 100644 --- a/ArduPlane/mode.cpp +++ b/ArduPlane/mode.cpp @@ -140,6 +140,14 @@ bool Mode::enter() // Make sure the flight stage is correct for the new mode plane.update_flight_stage(); + +#if HAL_QUADPLANE_ENABLED + if (quadplane.enabled()) { + float aspeed; + bool have_airspeed = quadplane.ahrs.airspeed_estimate(aspeed); + quadplane.assisted_flight = quadplane.assist.should_assist(aspeed, have_airspeed); + } +#endif } return enter_result; From ecf11f2208412d7660630e1c24e9bb6972e015af Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Fri, 4 Oct 2024 19:26:17 +0200 Subject: [PATCH 059/314] autotest: Added back-transition throttle test --- Tools/autotest/quadplane.py | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py index 5458bc30a4f03..0e6ef03d3f6c2 100644 --- a/Tools/autotest/quadplane.py +++ b/Tools/autotest/quadplane.py @@ -1644,6 +1644,33 @@ def TransitionMinThrottle(self): self.fly_home_land_and_disarm() + def BackTransitionMinThrottle(self): + '''Ensure min throttle is applied during back transition.''' + wps = self.create_simple_relhome_mission([ + (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30), + (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 30), + (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0), + ]) + self.check_mission_upload_download(wps) + self.set_parameter('Q_RTL_MODE', 1) + + trim_pwm = 1000 + 10*self.get_parameter("TRIM_THROTTLE") + min_pwm = 1000 + 10*self.get_parameter("THR_MIN") + + self.change_mode('AUTO') + self.wait_ready_to_arm() + + self.arm_vehicle() + self.context_collect('STATUSTEXT') + + self.wait_statustext("VTOL airbrake", check_context=True, timeout=300) + self.wait_servo_channel_value(3, trim_pwm, comparator=operator.le, timeout=1) + + self.wait_statustext("VTOL position1", check_context=True, timeout=10) + self.wait_servo_channel_value(3, min_pwm+10, comparator=operator.le, timeout=1) + + self.wait_disarmed(timeout=60) + def MAV_CMD_NAV_TAKEOFF(self): '''test issuing takeoff command via mavlink''' self.change_mode('GUIDED') @@ -2089,6 +2116,7 @@ def tests(self): self.mission_MAV_CMD_DO_VTOL_TRANSITION, self.mavlink_MAV_CMD_DO_VTOL_TRANSITION, self.TransitionMinThrottle, + self.BackTransitionMinThrottle, self.MAV_CMD_NAV_TAKEOFF, self.Q_GUIDED_MODE, self.DCMClimbRate, From 4352129c4d664e4ce768422c8138a882d6af62e0 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Mon, 7 Oct 2024 11:08:29 +0200 Subject: [PATCH 060/314] Plane: Fix SLT_Transition::active_frwd() check --- ArduPlane/quadplane.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index a3e4c39e2ef3c..eb6a16b47c76c 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -4374,7 +4374,9 @@ bool SLT_Transition::allow_update_throttle_mix() const bool SLT_Transition::active_frwd() const { - return quadplane.assisted_flight && ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)); + return quadplane.assisted_flight && // We need to be in assisted flight... + ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)) // ... and a transition must be active... + && !quadplane.in_vtol_airbrake(); // ... but not executing an QPOS_AIRBRAKE maneuver during an automated landing. } /* From b36f539c7c9db63514882fcf81bac0f00d58574f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 10 Oct 2024 12:16:55 +1100 Subject: [PATCH 061/314] SITL: avoid floating point exception around rangefinder distance projecting onto an infinite plane can cause exceptionally long rangefinder distances - for now jsut cap the distance that the simulated rangefinder can return to avoid floating point exceptions. the FPE is caused in the Plane FlyEachFrame autotest when flying quadplane-copter_tailsitter - which ends up with a rangefinder at yaw-minus-180. --- libraries/SITL/SIM_Aircraft.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp index 22825b95ca8e5..c0469abc7cf20 100644 --- a/libraries/SITL/SIM_Aircraft.cpp +++ b/libraries/SITL/SIM_Aircraft.cpp @@ -595,6 +595,15 @@ float Aircraft::rangefinder_range() const return INFINITY; } altitude /= v.z; + + // this is awful, but there are drawbacks to assuming an + // infinite plane. If we don't do this here then we end up + // with a ridiculous rangefinder range, and that can cause + // floating point exceptions when we return a distance in cm + // from the AP_RangeFinder_SITL. + if (altitude > 100000) { + return INFINITY; + } } // Add some noise on reading @@ -1058,6 +1067,9 @@ void Aircraft::update_external_payload(const struct sitl_input &input) { const float range = rangefinder_range(); + if (!isinf(range) && range > 100000) { + AP_HAL::panic("Bad rangefinder calculation"); + } for (uint8_t i=0; i Date: Wed, 9 Oct 2024 00:23:41 -0600 Subject: [PATCH 062/314] hwdef: Removed duplication for AP_STATS_ENABLED --- libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h index 77dd2b5262cc1..68d9a8914837b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h @@ -114,10 +114,6 @@ #endif #endif -#ifndef AP_STATS_ENABLED -#define AP_STATS_ENABLED 0 -#endif - #ifndef AP_BATTERY_ESC_ENABLED #define AP_BATTERY_ESC_ENABLED 0 #endif From 9a497fe716635049892da2c4a289b9284421de42 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Tue, 8 Oct 2024 22:51:46 -0500 Subject: [PATCH 063/314] AP_KDECAN: standardize on 32 bit microsecond CAN timeouts For consistency with other parts of the code. No compiler output change. --- libraries/AP_KDECAN/AP_KDECAN.cpp | 13 ++++++------- libraries/AP_KDECAN/AP_KDECAN.h | 4 ++-- 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/libraries/AP_KDECAN/AP_KDECAN.cpp b/libraries/AP_KDECAN/AP_KDECAN.cpp index bf3272519c71b..521489abbf4ed 100644 --- a/libraries/AP_KDECAN/AP_KDECAN.cpp +++ b/libraries/AP_KDECAN/AP_KDECAN.cpp @@ -235,14 +235,14 @@ void AP_KDECAN_Driver::loop() for (uint8_t i=0; i= TELEMETRY_INTERVAL_MS) { - if (send_packet(TELEMETRY_OBJ_ADDR, BROADCAST_NODE_ID, 10)) { + if (send_packet(TELEMETRY_OBJ_ADDR, BROADCAST_NODE_ID, 10000)) { _telemetry.timer_ms = now_ms; } } @@ -256,7 +256,7 @@ void AP_KDECAN_Driver::loop() broadcast_esc_info_next_interval_ms = 1000; } - if (send_packet(ESC_INFO_OBJ_ADDR, BROADCAST_NODE_ID, 100)) { + if (send_packet(ESC_INFO_OBJ_ADDR, BROADCAST_NODE_ID, 100000)) { _init.detected_bitmask_ms = now_ms; } } @@ -264,13 +264,13 @@ void AP_KDECAN_Driver::loop() } // while true } -bool AP_KDECAN_Driver::send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint16_t data) +bool AP_KDECAN_Driver::send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint16_t data) { const uint16_t data_be16 = htobe16(data); - return send_packet(address, dest_id, timeout_ms, (uint8_t*)&data_be16, 2); + return send_packet(address, dest_id, timeout_us, (uint8_t*)&data_be16, 2); } -bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint8_t *data, const uint8_t data_len) +bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint8_t *data, const uint8_t data_len) { // broadcast telemetry request frame const frame_id_t id { @@ -285,7 +285,6 @@ bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, AP_HAL::CANFrame frame = AP_HAL::CANFrame((id.value | AP_HAL::CANFrame::FlagEFF), data, data_len, false); - const uint64_t timeout_us = uint64_t(timeout_ms) * 1000UL; return write_frame(frame, timeout_us); } diff --git a/libraries/AP_KDECAN/AP_KDECAN.h b/libraries/AP_KDECAN/AP_KDECAN.h index 635b100bbd990..70ba23d984a27 100644 --- a/libraries/AP_KDECAN/AP_KDECAN.h +++ b/libraries/AP_KDECAN/AP_KDECAN.h @@ -56,8 +56,8 @@ class AP_KDECAN_Driver : public CANSensor // handler for incoming frames void handle_frame(AP_HAL::CANFrame &frame) override; - bool send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint16_t data); - bool send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint8_t *data = nullptr, const uint8_t data_len = 0); + bool send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint16_t data); + bool send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint8_t *data = nullptr, const uint8_t data_len = 0); void loop(); From a8ce43426b06d3a4568eaf862094f480a9c9c449 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 6 Oct 2024 12:39:38 +1100 Subject: [PATCH 064/314] AP_TemperatureSensor: compile all of TemperatureSensor in on boards with >2048 flash this includes SITL but should also include CubeRed etc --- libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h index 2fdd2f325f575..7463d706c1f13 100644 --- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h +++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h @@ -9,7 +9,7 @@ #ifndef AP_TEMPERATURE_SENSOR_ENABLED #if BOARD_FLASH_SIZE <= 1024 #define AP_TEMPERATURE_SENSOR_ENABLED 0 -#elif (CONFIG_HAL_BOARD == HAL_BOARD_SITL) +#elif BOARD_FLASH_SIZE > 2048 #define AP_TEMPERATURE_SENSOR_ENABLED 1 #else #define AP_TEMPERATURE_SENSOR_ENABLED 2 From b8e84cdcd064cc4ea731e3a92e4f5807bd6ed04a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 6 Oct 2024 12:38:37 +1100 Subject: [PATCH 065/314] autotest: restart MAVProxy if it exits when running under gdb this is useful if you are running under GDB and ArduPilot fails early (eg. parameter sanity checks or SITL device configuration issues) --- Tools/autotest/sim_vehicle.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py index babd1b3cd7936..19dbbb5ee7cd3 100755 --- a/Tools/autotest/sim_vehicle.py +++ b/Tools/autotest/sim_vehicle.py @@ -986,6 +986,17 @@ def start_mavproxy(opts, stuff): run_cmd_blocking("Run MavProxy", cmd, env=env) progress("MAVProxy exited") + if opts.gdb: + # in the case that MAVProxy exits (as opposed to being + # killed), restart it if we are running under GDB. This + # allows ArduPilot to stop (eg. via a very early panic call) + # and have you debugging session not be killed. + while True: + progress("Running under GDB; restarting MAVProxy") + run_cmd_blocking("Run MavProxy", cmd, env=env) + progress("MAVProxy exited; sleeping 10") + time.sleep(10) + vehicle_options_string = '|'.join(vinfo.options.keys()) From 969979cd17a2b78cb558ed90d1f442162e1f7ded Mon Sep 17 00:00:00 2001 From: Tiziano Fiorenzani Date: Wed, 2 Oct 2024 15:10:37 -0700 Subject: [PATCH 066/314] AP_DDS: battery topic to report all the available batteries --- .../test_battery_msg_received.py | 173 ++++++++++++++++++ libraries/AP_DDS/AP_DDS_Client.cpp | 12 +- libraries/AP_DDS/AP_DDS_Topic_Table.h | 2 +- libraries/AP_DDS/README.md | 2 +- 4 files changed, 184 insertions(+), 5 deletions(-) create mode 100644 Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_battery_msg_received.py diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_battery_msg_received.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_battery_msg_received.py new file mode 100644 index 0000000000000..50a5a517c1df5 --- /dev/null +++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_battery_msg_received.py @@ -0,0 +1,173 @@ +# Copyright 2023 ArduPilot.org. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +""" +Bring up ArduPilot SITL and check the BatteryState message is being published. + +Checks whether a message is received and that only frame_id = '0' is received, +as SITL has only one battery available. + +colcon test --packages-select ardupilot_dds_tests \ +--event-handlers=console_cohesion+ --pytest-args -k test_battery_msg_received + +""" + +import launch_pytest +import pytest +import rclpy +import rclpy.node +import threading + +from launch import LaunchDescription + +from launch_pytest.tools import process as process_tools + +from rclpy.qos import QoSProfile +from rclpy.qos import QoSReliabilityPolicy +from rclpy.qos import QoSHistoryPolicy + +from sensor_msgs.msg import BatteryState + +TOPIC = "ap/battery" + + +class BatteryListener(rclpy.node.Node): + """Subscribe to BatteryState messages.""" + + def __init__(self): + """Initialise the node.""" + super().__init__("battery_listener") + self.msg_event_object = threading.Event() + self.frame_id_correct_object = threading.Event() + self.frame_id_incorrect_object = threading.Event() + + # Declare and acquire `topic` parameter + self.declare_parameter("topic", TOPIC) + self.topic = self.get_parameter("topic").get_parameter_value().string_value + + def start_subscriber(self): + """Start the subscriber.""" + qos_profile = QoSProfile( + reliability=QoSReliabilityPolicy.BEST_EFFORT, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + ) + + self.subscription = self.create_subscription(BatteryState, self.topic, self.subscriber_callback, qos_profile) + + # Add a spin thread. + self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) + self.ros_spin_thread.start() + + def subscriber_callback(self, msg): + """Process a BatteryState message.""" + self.msg_event_object.set() + + self.get_logger().info("From AP : ID {} Voltage {}".format(msg.header.frame_id, msg.voltage)) + + if msg.header.frame_id == '0': + self.frame_id_correct_object.set() + + if msg.header.frame_id == '1': + self.frame_id_incorrect_object.set() + + +@launch_pytest.fixture +def launch_sitl_copter_dds_serial(sitl_copter_dds_serial): + """Fixture to create the launch description.""" + sitl_ld, sitl_actions = sitl_copter_dds_serial + + ld = LaunchDescription( + [ + sitl_ld, + launch_pytest.actions.ReadyToTest(), + ] + ) + actions = sitl_actions + yield ld, actions + + +@launch_pytest.fixture +def launch_sitl_copter_dds_udp(sitl_copter_dds_udp): + """Fixture to create the launch description.""" + sitl_ld, sitl_actions = sitl_copter_dds_udp + + ld = LaunchDescription( + [ + sitl_ld, + launch_pytest.actions.ReadyToTest(), + ] + ) + actions = sitl_actions + yield ld, actions + + +@pytest.mark.launch(fixture=launch_sitl_copter_dds_serial) +def test_dds_serial_battery_msg_recv(launch_context, launch_sitl_copter_dds_serial): + """Test battery messages are published by AP_DDS.""" + _, actions = launch_sitl_copter_dds_serial + virtual_ports = actions["virtual_ports"].action + micro_ros_agent = actions["micro_ros_agent"].action + mavproxy = actions["mavproxy"].action + sitl = actions["sitl"].action + + # Wait for process to start. + process_tools.wait_for_start_sync(launch_context, virtual_ports, timeout=2) + process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) + process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) + process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) + + rclpy.init() + try: + node = BatteryListener() + node.start_subscriber() + msgs_received_flag = node.msg_event_object.wait(timeout=10.0) + assert msgs_received_flag, f"Did not receive '{TOPIC}' msgs." + battery_correct_flag = node.frame_id_correct_object.wait(timeout=10.0) + assert battery_correct_flag, f"Did not receive correct battery ID." + battery_incorrect_flag = not node.frame_id_incorrect_object.wait(timeout=10.0) + assert battery_correct_flag, f"Did received incorrect battery ID." + finally: + rclpy.shutdown() + yield + + +@pytest.mark.launch(fixture=launch_sitl_copter_dds_udp) +def test_dds_udp_battery_msg_recv(launch_context, launch_sitl_copter_dds_udp): + """Test battery messages are published by AP_DDS.""" + _, actions = launch_sitl_copter_dds_udp + micro_ros_agent = actions["micro_ros_agent"].action + mavproxy = actions["mavproxy"].action + sitl = actions["sitl"].action + + # Wait for process to start. + process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) + process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) + process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) + + rclpy.init() + try: + node = BatteryListener() + node.start_subscriber() + msgs_received_flag = node.msg_event_object.wait(timeout=10.0) + assert msgs_received_flag, f"Did not receive '{TOPIC}' msgs." + battery_correct_flag = node.frame_id_correct_object.wait(timeout=10.0) + assert battery_correct_flag, f"Did not receive correct battery ID." + battery_incorrect_flag = not node.frame_id_incorrect_object.wait(timeout=10.0) + assert battery_correct_flag, f"Did received incorrect battery ID." + + finally: + rclpy.shutdown() + yield diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 5ef37ca24895b..9ba608c20290d 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -301,8 +301,11 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_ if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) { return; } + static_assert(AP_BATT_MONITOR_MAX_INSTANCES <= 99, "AP_BATT_MONITOR_MAX_INSTANCES is greater than 99"); update_topic(msg.header.stamp); + hal.util->snprintf(msg.header.frame_id, 2, "%u", instance); + auto &battery = AP::battery(); if (!battery.healthy(instance)) { @@ -1262,10 +1265,13 @@ void AP_DDS_Client::update() #endif // AP_DDS_NAVSATFIX_PUB_ENABLED #if AP_DDS_BATTERY_STATE_PUB_ENABLED if (cur_time_ms - last_battery_state_time_ms > DELAY_BATTERY_STATE_TOPIC_MS) { - constexpr uint8_t battery_instance = 0; - update_topic(battery_state_topic, battery_instance); + for (uint8_t battery_instance = 0; battery_instance < AP_BATT_MONITOR_MAX_INSTANCES; battery_instance++) { + update_topic(battery_state_topic, battery_instance); + if (battery_state_topic.present) { + write_battery_state_topic(); + } + } last_battery_state_time_ms = cur_time_ms; - write_battery_state_topic(); } #endif // AP_DDS_BATTERY_STATE_PUB_ENABLED #if AP_DDS_LOCAL_POSE_PUB_ENABLED diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h index 05d68e0c78e3f..92d546dd51290 100644 --- a/libraries/AP_DDS/AP_DDS_Topic_Table.h +++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h @@ -132,7 +132,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID}, .topic_rw = Topic_rw::DataWriter, - .topic_name = "rt/ap/battery/battery0", + .topic_name = "rt/ap/battery", .type_name = "sensor_msgs::msg::dds_::BatteryState_", .qos = { .durability = UXR_DURABILITY_VOLATILE, diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md index 3a037f9b9782d..02848565979d2 100644 --- a/libraries/AP_DDS/README.md +++ b/libraries/AP_DDS/README.md @@ -173,7 +173,7 @@ $ ros2 node list $ ros2 topic list -v Published topics: * /ap/airspeed [geometry_msgs/msg/Vector3] 1 publisher - * /ap/battery/battery0 [sensor_msgs/msg/BatteryState] 1 publisher + * /ap/battery [sensor_msgs/msg/BatteryState] 1 publisher * /ap/clock [rosgraph_msgs/msg/Clock] 1 publisher * /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher * /ap/gps_global_origin/filtered [geographic_msgs/msg/GeoPointStamped] 1 publisher From 431cc25dca3a150f3349fb0ca045c56561b7ed2b Mon Sep 17 00:00:00 2001 From: Gone4Dirt Date: Mon, 29 Jul 2024 07:33:39 +0100 Subject: [PATCH 067/314] AP_MotorsHeli: Consolidate all autorotation state into its own class within RSC --- libraries/AP_Motors/AP_MotorsHeli.cpp | 27 ++- libraries/AP_Motors/AP_MotorsHeli.h | 22 +- libraries/AP_Motors/AP_MotorsHeli_Dual.cpp | 8 - libraries/AP_Motors/AP_MotorsHeli_Quad.cpp | 8 - libraries/AP_Motors/AP_MotorsHeli_RSC.cpp | 193 +++++++++--------- libraries/AP_Motors/AP_MotorsHeli_RSC.h | 56 +---- libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 30 +-- .../AP_Motors_test/AP_Motors_test.cpp | 2 +- 8 files changed, 141 insertions(+), 205 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp index d81da48b1a922..506e4af32073b 100644 --- a/libraries/AP_Motors/AP_MotorsHeli.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli.cpp @@ -18,6 +18,7 @@ #include "AP_MotorsHeli.h" #include #include +#include extern const AP_HAL::HAL& hal; @@ -147,6 +148,10 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = { // @User: Standard AP_GROUPINFO("COL_LAND_MIN", 32, AP_MotorsHeli, _collective_land_min_deg, AP_MOTORS_HELI_COLLECTIVE_LAND_MIN), + // @Group: RSC_AROT_ + // @Path: ../AC_Autorotation/RSC_Autorotation.cpp + AP_SUBGROUPINFO(_main_rotor.autorotation, "RSC_AROT_", 33, AP_MotorsHeli, RSC_Autorotation), + AP_GROUPEND }; @@ -554,6 +559,10 @@ bool AP_MotorsHeli::arming_checks(size_t buflen, char *buffer) const return false; } + if (!_main_rotor.autorotation.arming_checks(buflen, buffer)) { + return false; + } + return true; } @@ -606,7 +615,7 @@ void AP_MotorsHeli::set_rotor_runup_complete(bool new_value) #if HAL_LOGGING_ENABLED if (!_heliflags.rotor_runup_complete && new_value) { LOGGER_WRITE_EVENT(LogEvent::ROTOR_RUNUP_COMPLETE); - } else if (_heliflags.rotor_runup_complete && !new_value && !_heliflags.in_autorotation) { + } else if (_heliflags.rotor_runup_complete && !new_value && !_main_rotor.in_autorotation()) { LOGGER_WRITE_EVENT(LogEvent::ROTOR_SPEED_BELOW_CRITICAL); } #endif @@ -623,3 +632,19 @@ float AP_MotorsHeli::get_cyclic_angle_scaler(void) const { return ((float)(_collective_max-_collective_min))*1e-3 * (_collective_max_deg.get() - _collective_min_deg.get()) * 2.0; } #endif + +// Helper function for param conversions to be done in motors class +void AP_MotorsHeli::heli_motors_param_conversions(void) +{ + // PARAMETER_CONVERSION - Added: Sep-2024 + // move autorotation related parameters within the RSC into their own class + const AP_Param::ConversionInfo rsc_arot_conversion_info[] = { + { 90, 108096, AP_PARAM_INT8, "H_RSC_AROT_ENBL" }, + { 90, 104000, AP_PARAM_INT8, "H_RSC_AROT_RAMP" }, + { 90, 112192, AP_PARAM_INT16, "H_RSC_AROT_IDLE" }, + }; + uint8_t table_size = ARRAY_SIZE(rsc_arot_conversion_info); + for (uint8_t i=0; i #include +// default main rotor speed (ch8 out) as a number from 0 ~ 100 +#define AP_MOTORS_HELI_RSC_SETPOINT 70 + +// default main rotor critical speed +#define AP_MOTORS_HELI_RSC_CRITICAL 50 + +// RSC output defaults +#define AP_MOTORS_HELI_RSC_IDLE_DEFAULT 0 + +// default main rotor ramp up time in seconds +#define AP_MOTORS_HELI_RSC_RAMP_TIME 1 // 1 second to ramp output to main rotor ESC to setpoint +#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed + +// Throttle Curve Defaults +#define AP_MOTORS_HELI_RSC_THRCRV_0_DEFAULT 25 +#define AP_MOTORS_HELI_RSC_THRCRV_25_DEFAULT 32 +#define AP_MOTORS_HELI_RSC_THRCRV_50_DEFAULT 38 +#define AP_MOTORS_HELI_RSC_THRCRV_75_DEFAULT 50 +#define AP_MOTORS_HELI_RSC_THRCRV_100_DEFAULT 100 + +// RSC governor defaults +#define AP_MOTORS_HELI_RSC_GOVERNOR_RANGE_DEFAULT 100 + + extern const AP_HAL::HAL& hal; const AP_Param::GroupInfo AP_MotorsHeli_RSC::var_info[] = { @@ -194,30 +218,11 @@ const AP_Param::GroupInfo AP_MotorsHeli_RSC::var_info[] = { // @User: Standard AP_GROUPINFO("GOV_TORQUE", 24, AP_MotorsHeli_RSC, _governor_torque, 30), - // @Param: AROT_ENG_T - // @DisplayName: Time for in-flight power re-engagement - // @Description: amount of seconds to move throttle output from idle to throttle curve position during manual autorotations - // @Range: 0 10 - // @Units: % - // @Increment: 0.5 - // @User: Standard - AP_GROUPINFO("AROT_ENG_T", 25, AP_MotorsHeli_RSC, _rsc_arot_engage_time, AP_MOTORS_HELI_RSC_AROT_ENGAGE_TIME), + // 25 was AROT_ENG_T, has been moved to AROT_RAMP in RSC autorotation sub group - // @Param: AROT_MN_EN - // @DisplayName: Enable Manual Autorotations - // @Description: Allows you to enable (1) or disable (0) the manual autorotation capability. - // @Values: 0:Disabled,1:Enabled - // @User: Standard - AP_GROUPINFO("AROT_MN_EN", 26, AP_MotorsHeli_RSC, _rsc_arot_man_enable, 0), + // 26 was AROT_MN_EN, moved to H_RSC_AROT_ENBL in RSC autorotation sub group - // @Param: AROT_IDLE - // @DisplayName: Idle Throttle Percentage during Autorotation - // @Description: Idle throttle used for all RSC modes. For external governors, this would be set to signal it to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable. If also using a tail rotor of type DDVP with external governor then this value must lie within the autorotation window of both governors. - // @Range: 0 40 - // @Units: % - // @Increment: 1 - // @User: Standard - AP_GROUPINFO("AROT_IDLE", 27, AP_MotorsHeli_RSC, _arot_idle_output, AP_MOTORS_HELI_RSC_AROT_IDLE), + // 27 was AROT_IDLE, moved to RSC autorotation sub group AP_GROUPEND }; @@ -247,6 +252,8 @@ void AP_MotorsHeli_RSC::set_throttle_curve() // output - update value to send to ESC/Servo void AP_MotorsHeli_RSC::output(RotorControlState state) { + // Store rsc state for logging + _rsc_state = state; // _rotor_RPM available to the RSC output #if AP_RPM_ENABLED const AP_RPM *rpm = AP_RPM::get_singleton(); @@ -289,9 +296,9 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) _governor_fault = false; //turbine start flag on _starting = true; - _autorotating = false; - _bailing_out = false; - _gov_bailing_out = false; + + // ensure we always deactivate the autorotation state if we disarm + autorotation.set_active(false, true); // ensure _idle_throttle not set to invalid value _idle_throttle = get_idle_output(); @@ -309,44 +316,36 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) governor_reset(); _autothrottle = false; _governor_fault = false; - if (_in_autorotation) { - // if in autorotation, set the output to idle for autorotation. This will tell an external governor to use fast ramp for spool up. - // if autorotation idle is set to zero then default to the RSC idle value. - if (_arot_idle_output == 0) { - _idle_throttle = get_idle_output(); - } else { - _idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f); - } - if (!_autorotating) { - GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation"); - _autorotating =true; - } - } else { - if (_autorotating) { - GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation Stopped"); - _autorotating =false; - } - // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping - if (_turbine_start && _starting == true ) { - _idle_throttle += 0.001f; - if (_control_output >= 1.0f) { - _idle_throttle = get_idle_output(); - GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Turbine startup"); - _starting = false; - } - } else { + + // turbine start sequence + if (_turbine_start && _starting == true ) { + _idle_throttle += 0.001f; + if (_control_output >= 1.0f) { _idle_throttle = get_idle_output(); - if (_fast_idle_timer > 0.0) { - // running at fast idle for engine cool down - _idle_throttle *= 1.5; - _fast_idle_timer -= dt; - } + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Turbine startup"); + _starting = false; } - // this resets the bailout feature if the aircraft has landed. - _use_bailout_ramp = false; - _bailing_out = false; - _gov_bailing_out = false; + _control_output = _idle_throttle; + break; + } + + // all other idle throttle functions below this require idle throttle to be reset to H_RSC_IDLE on each call + _idle_throttle = get_idle_output(); + + // check if we need to use autorotation idle throttle + if (autorotation.get_idle_throttle(_idle_throttle)) { + // if we are here then we are autorotating + _control_output = _idle_throttle; + break; } + + // check if we need to use engine cooldown + if (_fast_idle_timer > 0.0) { + // running at fast idle for engine cool down + _idle_throttle *= 1.5; + _fast_idle_timer -= dt; + } + _control_output = _idle_throttle; break; @@ -365,7 +364,6 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) } // if turbine engine started without using start sequence, set starting flag just to be sure it can't be triggered when back in idle _starting = false; - _autorotating = false; if ((_control_mode == ROTOR_CONTROL_MODE_PASSTHROUGH) || (_control_mode == ROTOR_CONTROL_MODE_SETPOINT)) { // set control rotor speed to ramp slewed value between idle and desired speed @@ -396,38 +394,20 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) // update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt) { - int8_t ramp_time; - int8_t bailout_time; - // sanity check ramp time and enable bailout if set - if (_ramp_time <= 0) { - ramp_time = 1; - } else { - ramp_time = _ramp_time; - } + float ramp_time = MAX(float(_ramp_time.get()), 1.0); - if (_rsc_arot_engage_time <= 0) { - bailout_time = 1; - } else { - bailout_time = _rsc_arot_engage_time; + // check if we need to use the bailout ramp up rate for the autorotation case + if (autorotation.bailing_out()) { + ramp_time = autorotation.get_bailout_ramp(); } // ramp output upwards towards target if (_rotor_ramp_output < rotor_ramp_input) { - if (_use_bailout_ramp) { - if (!_bailing_out) { - GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "bailing_out"); - _bailing_out = true; - if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;} - } - _rotor_ramp_output += (dt / bailout_time); - } else { - _rotor_ramp_output += (dt / ramp_time); - } - if (_rotor_ramp_output > rotor_ramp_input) { - _rotor_ramp_output = rotor_ramp_input; - _bailing_out = false; - _use_bailout_ramp = false; - } + _rotor_ramp_output += (dt / ramp_time); + + // Do not allow output to exceed requested input + _rotor_ramp_output = MIN(_rotor_ramp_output, rotor_ramp_input); + } else { // ramping down happens instantly _rotor_ramp_output = rotor_ramp_input; @@ -437,14 +417,13 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt) // update_rotor_runup - function to slew rotor runup scalar, outputs float scalar to _rotor_runup_ouptut void AP_MotorsHeli_RSC::update_rotor_runup(float dt) { - int8_t runup_time = _runup_time; + float runup_time = _runup_time; // sanity check runup time runup_time = MAX(_ramp_time+1,runup_time); - // adjust rotor runup when bailing out - if (_use_bailout_ramp) { - // maintain same delta as set in parameters - runup_time = _runup_time-_ramp_time+1; + // adjust rotor runup when in autorotation or bailing out + if (in_autorotation()) { + runup_time = autorotation.get_runup_time(); } // protect against divide by zero @@ -465,7 +444,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt) } // if in autorotation, don't let rotor_runup_output go less than critical speed to keep // runup complete flag from being set to false - if (_autorotating && !rotor_speed_above_critical()) { + if (in_autorotation() && !rotor_speed_above_critical()) { _rotor_runup_output = get_critical_speed(); } @@ -574,7 +553,7 @@ void AP_MotorsHeli_RSC::autothrottle_run() } else if (!_governor_engage && !_governor_fault) { // if governor is not engaged and rotor is overspeeding by more than governor range due to // misconfigured throttle curve or stuck throttle, set a fault and governor will not operate - if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) { + if (_rotor_rpm > (_governor_rpm + _governor_range) && !autorotation.bailing_out()) { _governor_fault = true; governor_reset(); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed"); @@ -582,7 +561,7 @@ void AP_MotorsHeli_RSC::autothrottle_run() // when performing power recovery from autorotation, this waits for user to load rotor in order to // engage the governor - } else if (_rotor_rpm > _governor_rpm && _gov_bailing_out) { + } else if (_rotor_rpm > _governor_rpm && autorotation.bailing_out()) { _governor_output = 0.0f; // torque rise limiter accelerates rotor to the reference speed @@ -593,7 +572,6 @@ void AP_MotorsHeli_RSC::autothrottle_run() if (_rotor_rpm >= ((float)_governor_rpm - torque_ref_error_rpm)) { _governor_engage = true; _autothrottle = true; - _gov_bailing_out = false; GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Governor Engaged"); } } else { @@ -629,18 +607,29 @@ void AP_MotorsHeli_RSC::write_log(void) const // @Field: ERRPM: Estimated rotor speed // @Field: Gov: Governor Output // @Field: Throt: Throttle output + // @Field: Ramp: throttle ramp up + // @Field: Stat: RSC state // Write to data flash log AP::logger().WriteStreaming("HRSC", - "TimeUS,I,DRRPM,ERRPM,Gov,Throt", - "s#----", - "F-----", - "QBffff", + "TimeUS,I,DRRPM,ERRPM,Gov,Throt,Ramp,Stat", + "s#------", + "F-------", + "QBfffffB", AP_HAL::micros64(), _instance, get_desired_speed(), _rotor_runup_output, _governor_output, - get_control_output()); + get_control_output(), + _rotor_ramp_output, + uint8_t(_rsc_state)); } #endif + + +// considered to be "in an autorotation" if active or bailing out +bool AP_MotorsHeli_RSC::in_autorotation(void) const +{ + return autorotation.active() || autorotation.bailing_out(); +} diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h index 353f167f9a07d..47fa68f8ad180 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h +++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h @@ -5,31 +5,7 @@ #include #include #include - -// default main rotor speed (ch8 out) as a number from 0 ~ 100 -#define AP_MOTORS_HELI_RSC_SETPOINT 70 - -// default main rotor critical speed -#define AP_MOTORS_HELI_RSC_CRITICAL 50 - -// RSC output defaults -#define AP_MOTORS_HELI_RSC_IDLE_DEFAULT 0 - -// default main rotor ramp up time in seconds -#define AP_MOTORS_HELI_RSC_RAMP_TIME 1 // 1 second to ramp output to main rotor ESC to setpoint -#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed -#define AP_MOTORS_HELI_RSC_AROT_ENGAGE_TIME 1 // time in seconds to ramp motors when bailing out of autorotation -#define AP_MOTORS_HELI_RSC_AROT_IDLE 0 - -// Throttle Curve Defaults -#define AP_MOTORS_HELI_RSC_THRCRV_0_DEFAULT 25 -#define AP_MOTORS_HELI_RSC_THRCRV_25_DEFAULT 32 -#define AP_MOTORS_HELI_RSC_THRCRV_50_DEFAULT 38 -#define AP_MOTORS_HELI_RSC_THRCRV_75_DEFAULT 50 -#define AP_MOTORS_HELI_RSC_THRCRV_100_DEFAULT 100 - -// RSC governor defaults -#define AP_MOTORS_HELI_RSC_GOVERNOR_RANGE_DEFAULT 100 +#include // rotor control modes enum RotorControlMode { @@ -103,20 +79,8 @@ class AP_MotorsHeli_RSC { // set_collective. collective for throttle curve calculation void set_collective(float collective) { _collective_in = collective; } - // use bailout ramp time - void use_bailout_ramp_time(bool enable) { _use_bailout_ramp = enable; } - - // use external governor autorotation window - void set_autorotation_flag(bool flag) { _in_autorotation = flag; } - - // set the throttle percentage to be used during autorotation for this instance of Heli_RSC - void set_arot_idle_output(int16_t idle) { _arot_idle_output.set(idle); } - - // set the manual autorotation option for this instance of Heli_RSC - void set_rsc_arot_man_enable(int8_t enable) { _rsc_arot_man_enable.set(enable); } - - // set the autorotation power recovery time for this instance of Heli_RSC - void set_rsc_arot_engage_time(int8_t eng_time) { _rsc_arot_engage_time.set(eng_time); } + // true if we are considered to be autorotating or bailing out of an autorotation + bool in_autorotation(void) const; // turbine start initialize sequence void set_turbine_start(bool turbine_start) {_turbine_start = turbine_start; } @@ -135,6 +99,8 @@ class AP_MotorsHeli_RSC { void write_log(void) const; #endif + RSC_Autorotation autorotation; + // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; @@ -145,9 +111,6 @@ class AP_MotorsHeli_RSC { AP_Int8 _runup_time; // Time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time AP_Int16 _critical_speed; // Rotor speed below which flight is not possible AP_Int16 _idle_output; // Rotor control output while at idle - AP_Int16 _arot_idle_output; // Percent value used when in autorotation - AP_Int8 _rsc_arot_engage_time; // time in seconds for in-flight power re-engagement - AP_Int8 _rsc_arot_man_enable; // enables manual autorotation private: uint64_t _last_update_us; @@ -173,16 +136,13 @@ class AP_MotorsHeli_RSC { bool _governor_engage; // RSC governor status flag bool _autothrottle; // autothrottle status flag bool _governor_fault; // governor fault status flag - bool _use_bailout_ramp; // true if allowing RSC to quickly ramp up engine - bool _in_autorotation; // true if vehicle is currently in an autorotation bool _spooldown_complete; // flag for determining if spooldown is complete float _fast_idle_timer; // cooldown timer variable uint8_t _governor_fault_count; // variable for tracking governor speed sensor faults float _governor_torque_reference; // governor reference for load calculations - bool _autorotating; // flag that holds the status of autorotation - bool _bailing_out; // flag that holds the status of bail out(power engagement) float _idle_throttle; // current idle throttle setting - bool _gov_bailing_out; // flag that holds the status of governor bail out + + RotorControlState _rsc_state; // update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output void update_rotor_ramp(float rotor_ramp_input, float dt); @@ -212,5 +172,5 @@ class AP_MotorsHeli_RSC { float get_idle_output() const { return _idle_output * 0.01; } float get_governor_torque() const { return _governor_torque * 0.01; } float get_governor_compensator() const { return _governor_compensator * 0.000001; } - float get_arot_idle_output() const { return _arot_idle_output * 0.01; } + }; diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp index 24380cc3152fa..6372363e37a43 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp @@ -270,22 +270,6 @@ void AP_MotorsHeli_Single::calculate_armed_scalars() _main_rotor._rsc_mode.save(); _heliflags.save_rsc_mode = false; } - - // allow use of external governor autorotation bailout - if (_heliflags.in_autorotation) { - _main_rotor.set_autorotation_flag(_heliflags.in_autorotation); - // set bailout ramp time - _main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout); - if (use_tail_RSC()) { - _tail_rotor.set_autorotation_flag(_heliflags.in_autorotation); - _tail_rotor.use_bailout_ramp_time(_heliflags.enable_bailout); - } - } else { - _main_rotor.set_autorotation_flag(false); - if (use_tail_RSC()) { - _tail_rotor.set_autorotation_flag(false); - } - } } // calculate_scalars - recalculates various scalers used. @@ -326,18 +310,12 @@ void AP_MotorsHeli_Single::calculate_scalars() _tail_rotor.set_runup_time(_main_rotor._runup_time.get()); _tail_rotor.set_critical_speed(_main_rotor._critical_speed.get()); _tail_rotor.set_idle_output(_main_rotor._idle_output.get()); - _tail_rotor.set_arot_idle_output(_main_rotor._arot_idle_output.get()); - _tail_rotor.set_rsc_arot_man_enable(_main_rotor._rsc_arot_man_enable.get()); - _tail_rotor.set_rsc_arot_engage_time(_main_rotor._rsc_arot_engage_time.get()); } else { _tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_DISABLED); _tail_rotor.set_ramp_time(0); _tail_rotor.set_runup_time(0); _tail_rotor.set_critical_speed(0); _tail_rotor.set_idle_output(0); - _tail_rotor.set_arot_idle_output(0); - _tail_rotor.set_rsc_arot_man_enable(0); - _tail_rotor.set_rsc_arot_engage_time(0); } } @@ -410,10 +388,9 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float } // ensure not below landed/landing collective - if (_heliflags.landing_collective && collective_out < _collective_land_min_pct && !_heliflags.in_autorotation) { + if (_heliflags.landing_collective && collective_out < _collective_land_min_pct && !_main_rotor.in_autorotation()) { collective_out = _collective_land_min_pct; limit.throttle_lower = true; - } // updates below land min collective flag @@ -469,7 +446,7 @@ float AP_MotorsHeli_Single::get_yaw_offset(float collective) return 0.0; } - if (_heliflags.in_autorotation || (_main_rotor.get_control_output() <= _main_rotor.get_idle_output())) { + if (_main_rotor.autorotation.active() || (_main_rotor.get_control_output() <= _main_rotor.get_idle_output())) { // Motor is stopped or at idle, and thus not creating torque return 0.0; } @@ -656,6 +633,9 @@ bool AP_MotorsHeli_Single::arming_checks(size_t buflen, char *buffer) const // Called from system.cpp void AP_MotorsHeli_Single::heli_motors_param_conversions(void) { + // Run common conversions from base class + AP_MotorsHeli::heli_motors_param_conversions(); + // PARAMETER_CONVERSION - Added: Nov-2023 // Convert trim for DDFP tails // Previous DDFP configs used servo trim for setting the yaw trim, which no longer works with thrust linearisation. Convert servo trim diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp index 7a3d0ee67d632..f28db5c9243fb 100644 --- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp +++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp @@ -243,7 +243,7 @@ void setup() ::printf("autorotation only supported by heli frame types, got %i\n", frame_class); exit(1); } - motors_heli->set_in_autorotation(!is_zero(value)); + motors_heli->set_autorotation_active(!is_zero(value)); } else { ::printf("Expected \"frame_class\", \"yaw_headroom\" or \"throttle_avg_max\"\n"); From 075ce596d2517c0294df68ef067725badf7c1d92 Mon Sep 17 00:00:00 2001 From: Gone4Dirt Date: Sun, 4 Aug 2024 18:32:47 +0100 Subject: [PATCH 068/314] Copter: Heli: simplify autorotation mode change and support RSC autorotation state --- ArduCopter/Copter.h | 1 - ArduCopter/heli.cpp | 34 +++--- ArduCopter/mode.cpp | 20 +--- ArduCopter/mode.h | 10 +- ArduCopter/mode_autorotate.cpp | 111 +++++------------- .../AC_AttitudeControl_Heli.cpp | 2 +- 6 files changed, 49 insertions(+), 129 deletions(-) diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index 5718fc11f4398..9915885060a68 100644 --- a/ArduCopter/Copter.h +++ b/ArduCopter/Copter.h @@ -390,7 +390,6 @@ class Copter : public AP_Vehicle { // This is the state of the flight control system // There are multiple states defined such as STABILIZE, ACRO, Mode *flightmode; - Mode::Number prev_control_mode; RCMapper rcmap; diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp index 7b4870de5a0cc..bff2a3de17041 100644 --- a/ArduCopter/heli.cpp +++ b/ArduCopter/heli.cpp @@ -189,29 +189,25 @@ void Copter::heli_update_rotor_speed_targets() // to autorotation flight mode if manual collective is not being used. void Copter::heli_update_autorotation() { - // check if flying and interlock disengaged - if (!ap.land_complete && !motors->get_interlock()) { + bool in_autorotation_mode = false; #if MODE_AUTOROTATE_ENABLED - if (g2.arot.is_enable()) { - if (!flightmode->has_manual_throttle()) { - // set autonomous autorotation flight mode - set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START); - } - // set flag to facilitate both auto and manual autorotations - motors->set_in_autorotation(true); - motors->set_enable_bailout(true); - } + in_autorotation_mode = flightmode == &mode_autorotate; #endif - if (flightmode->has_manual_throttle() && motors->arot_man_enabled()) { - // set flag to facilitate both auto and manual autorotations - motors->set_in_autorotation(true); - motors->set_enable_bailout(true); - } - } else { - motors->set_in_autorotation(false); - motors->set_enable_bailout(false); + + // If we have landed then we do not want to be in autorotation and we do not want to via the bailout state + if (ap.land_complete || ap.land_complete_maybe) { + motors->force_deactivate_autorotation(); + return; } + // if we got this far we are flying, check for conditions to set autorotation state + if (!motors->get_interlock() && (flightmode->has_manual_throttle() || in_autorotation_mode)) { + // set state in motors to facilitate manual and assisted autorotations + motors->set_autorotation_active(true); + } else { + // deactivate the autorotation state via the bailout case + motors->set_autorotation_active(false); + } } // update collective low flag. Use a debounce time of 400 milliseconds. diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index 74e3cbb3c043a..5d8fc5a9e40bb 100644 --- a/ArduCopter/mode.cpp +++ b/ArduCopter/mode.cpp @@ -292,20 +292,9 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason) #if FRAME_CONFIG == HELI_FRAME // do not allow helis to enter a non-manual throttle mode if the // rotor runup is not complete - if (!ignore_checks && !new_flightmode->has_manual_throttle() && - (motors->get_spool_state() == AP_Motors::SpoolState::SPOOLING_UP || motors->get_spool_state() == AP_Motors::SpoolState::SPOOLING_DOWN)) { - #if MODE_AUTOROTATE_ENABLED - //if the mode being exited is the autorotation mode allow mode change despite rotor not being at - //full speed. This will reduce altitude loss on bail-outs back to non-manual throttle modes - bool in_autorotation_check = (flightmode != &mode_autorotate || new_flightmode != &mode_autorotate); - #else - bool in_autorotation_check = false; - #endif - - if (!in_autorotation_check) { - mode_change_failed(new_flightmode, "runup not complete"); - return false; - } + if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()) { + mode_change_failed(new_flightmode, "runup not complete"); + return false; } #endif @@ -369,9 +358,6 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason) // perform any cleanup required by previous flight mode exit_mode(flightmode, new_flightmode); - // store previous flight mode (only used by tradeheli's autorotation) - prev_control_mode = flightmode->mode_number(); - // update flight mode flightmode = new_flightmode; control_mode_reason = reason; diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 98f01449c51f0..faf22b0180f45 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -2015,18 +2015,14 @@ class ModeAutorotate : public Mode { int32_t _pitch_target; // Target pitch attitude to pass to attitude controller uint32_t _entry_time_start_ms; // Time remaining until entry phase moves on to glide phase float _hs_decay; // The head accerleration during the entry phase - float _bail_time; // Timer for exiting the bail out phase (s) - uint32_t _bail_time_start_ms; // Time at start of bail out - float _target_climb_rate_adjust;// Target vertical acceleration used during bail out phase - float _target_pitch_adjust; // Target pitch rate used during bail out phase enum class Autorotation_Phase { ENTRY, SS_GLIDE, FLARE, TOUCH_DOWN, - BAIL_OUT } phase_switch; - + LANDED } phase_switch; + enum class Navigation_Decision { USER_CONTROL_STABILISED, STRAIGHT_AHEAD, @@ -2039,10 +2035,10 @@ class ModeAutorotate : public Mode { bool ss_glide_initial : 1; bool flare_initial : 1; bool touch_down_initial : 1; + bool landed_initial : 1; bool straight_ahead_initial : 1; bool level_initial : 1; bool break_initial : 1; - bool bail_out_initial : 1; bool bad_rpm : 1; } _flags; diff --git a/ArduCopter/mode_autorotate.cpp b/ArduCopter/mode_autorotate.cpp index cc97d75f308f3..e13bc52516251 100644 --- a/ArduCopter/mode_autorotate.cpp +++ b/ArduCopter/mode_autorotate.cpp @@ -14,8 +14,8 @@ #if MODE_AUTOROTATE_ENABLED #define AUTOROTATE_ENTRY_TIME 2.0f // (s) number of seconds that the entry phase operates for -#define BAILOUT_MOTOR_RAMP_TIME 1.0f // (s) time set on bailout ramp up timer for motors - See AC_MotorsHeli_Single #define HEAD_SPEED_TARGET_RATIO 1.0f // Normalised target main rotor head speed (unit: -) +#define AUTOROTATION_MIN_MOVING_SPEED 100.0 // (cm/s) minimum speed used for "is moving" check bool ModeAutorotate::init(bool ignore_checks) { @@ -24,15 +24,16 @@ bool ModeAutorotate::init(bool ignore_checks) return false; #endif - // Check that mode is enabled + // Check that mode is enabled, make sure this is the first check as this is the most + // important thing for users to fix if they are planning to use autorotation mode if (!g2.arot.is_enable()) { - gcs().send_text(MAV_SEVERITY_INFO, "Autorot Mode Not Enabled"); + gcs().send_text(MAV_SEVERITY_WARNING, "Autorot Mode Not Enabled"); return false; } - // Check that interlock is disengaged - if (motors->get_interlock()) { - gcs().send_text(MAV_SEVERITY_INFO, "Autorot Mode Change Fail: Interlock Engaged"); + // Must be armed to use mode, prevent triggering state machine on the ground + if (!motors->armed() || copter.ap.land_complete || copter.ap.land_complete_maybe) { + gcs().send_text(MAV_SEVERITY_WARNING, "Autorot: Must be Armed and Flying"); return false; } @@ -52,10 +53,10 @@ bool ModeAutorotate::init(bool ignore_checks) _flags.ss_glide_initial = true; _flags.flare_initial = true; _flags.touch_down_initial = true; + _flags.landed_initial = true; _flags.level_initial = true; _flags.break_initial = true; _flags.straight_ahead_initial = true; - _flags.bail_out_initial = true; _msg_flags.bad_rpm = true; // Setting default starting switches @@ -74,20 +75,9 @@ bool ModeAutorotate::init(bool ignore_checks) void ModeAutorotate::run() { - // Check if interlock becomes engaged - if (motors->get_interlock() && !copter.ap.land_complete) { - phase_switch = Autorotation_Phase::BAIL_OUT; - } else if (motors->get_interlock() && copter.ap.land_complete) { - // Aircraft is landed and no need to bail out - set_mode(copter.prev_control_mode, ModeReason::AUTOROTATION_BAILOUT); - } - // Current time uint32_t now = millis(); //milliseconds - // Initialise internal variables - float curr_vel_z = inertial_nav.get_velocity_z_up_cms(); // Current vertical descent - //---------------------------------------------------------------- // State machine logic //---------------------------------------------------------------- @@ -97,12 +87,22 @@ void ModeAutorotate::run() // Timer from entry phase to progress to glide phase if (phase_switch == Autorotation_Phase::ENTRY){ - if ((now - _entry_time_start_ms)/1000.0f > AUTOROTATE_ENTRY_TIME) { // Flight phase can be progressed to steady state glide phase_switch = Autorotation_Phase::SS_GLIDE; } + } + + // Check if we believe we have landed. We need the landed state to zero all controls and make sure that the copter landing detector will trip + bool speed_check = inertial_nav.get_velocity_z_up_cms() < AUTOROTATION_MIN_MOVING_SPEED && + inertial_nav.get_speed_xy_cms() < AUTOROTATION_MIN_MOVING_SPEED; + if (motors->get_below_land_min_coll() && AP::ins().is_still() && speed_check) { + phase_switch = Autorotation_Phase::LANDED; + } + // Check if we are bailing out and need to re-set the spool state + if (motors->autorotation_bailout()) { + motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); } @@ -199,79 +199,22 @@ void ModeAutorotate::run() { break; } - - case Autorotation_Phase::BAIL_OUT: + case Autorotation_Phase::LANDED: { - if (_flags.bail_out_initial == true) { - // Functions and settings to be done once are done here. + // Entry phase functions to be run only once + if (_flags.landed_initial == true) { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - gcs().send_text(MAV_SEVERITY_INFO, "Bailing Out of Autorotation"); + gcs().send_text(MAV_SEVERITY_INFO, "Landed"); #endif - - // Set bail out timer remaining equal to the parameter value, bailout time - // cannot be less than the motor spool-up time: BAILOUT_MOTOR_RAMP_TIME. - _bail_time = MAX(g2.arot.get_bail_time(),BAILOUT_MOTOR_RAMP_TIME+0.1f); - - // Set bail out start time - _bail_time_start_ms = now; - - // Set initial target vertical speed - _desired_v_z = curr_vel_z; - - // Initialise position and desired velocity - if (!pos_control->is_active_z()) { - pos_control->relax_z_controller(g2.arot.get_last_collective()); - } - - // Get pilot parameter limits - const float pilot_spd_dn = -get_pilot_speed_dn(); - const float pilot_spd_up = g.pilot_speed_up; - - float pilot_des_v_z = get_pilot_desired_climb_rate(channel_throttle->get_control_in()); - pilot_des_v_z = constrain_float(pilot_des_v_z, pilot_spd_dn, pilot_spd_up); - - // Calculate target climb rate adjustment to transition from bail out descent speed to requested climb rate on stick. - _target_climb_rate_adjust = (curr_vel_z - pilot_des_v_z)/(_bail_time - BAILOUT_MOTOR_RAMP_TIME); //accounting for 0.5s motor spool time - - // Calculate pitch target adjustment rate to return to level - _target_pitch_adjust = _pitch_target/_bail_time; - - // set vertical speed and acceleration limits - pos_control->set_max_speed_accel_z(curr_vel_z, pilot_spd_up, fabsf(_target_climb_rate_adjust)); - pos_control->set_correction_speed_accel_z(curr_vel_z, pilot_spd_up, fabsf(_target_climb_rate_adjust)); - - motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); - - _flags.bail_out_initial = false; + _flags.landed_initial = false; } - - if ((now - _bail_time_start_ms)/1000.0f >= BAILOUT_MOTOR_RAMP_TIME) { - // Update desired vertical speed and pitch target after the bailout motor ramp timer has completed - _desired_v_z -= _target_climb_rate_adjust*G_Dt; - _pitch_target -= _target_pitch_adjust*G_Dt; - } - // Set position controller - pos_control->set_pos_target_z_from_climb_rate_cm(_desired_v_z); - - // Update controllers - pos_control->update_z_controller(); - - if ((now - _bail_time_start_ms)/1000.0f >= _bail_time) { - // Bail out timer complete. Change flight mode. Do not revert back to auto. Prevent aircraft - // from continuing mission and potentially flying further away after a power failure. - if (copter.prev_control_mode == Mode::Number::AUTO) { - set_mode(Mode::Number::ALT_HOLD, ModeReason::AUTOROTATION_BAILOUT); - } else { - set_mode(copter.prev_control_mode, ModeReason::AUTOROTATION_BAILOUT); - } - } - - break; + // don't allow controller to continually ask for more pitch to build speed when we are on the ground, decay to zero smoothly + _pitch_target *= 0.95; + break; } } - switch (nav_pos_switch) { case Navigation_Decision::USER_CONTROL_STABILISED: diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp index 3b5028ad4be52..f44a7bca2d4d7 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp @@ -540,7 +540,7 @@ void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_ang update_althold_lean_angle_max(throttle_in); _motors.set_throttle_filter_cutoff(filter_cutoff); - if (apply_angle_boost && !((AP_MotorsHeli&)_motors).get_in_autorotation()) { + if (apply_angle_boost && !((AP_MotorsHeli&)_motors).in_autorotation()) { // Apply angle boost throttle_in = get_throttle_boosted(throttle_in); } else { From b96bb5dc089b90b8fd76cf02df780af7392c8ad6 Mon Sep 17 00:00:00 2001 From: Gone4Dirt Date: Wed, 7 Aug 2024 16:43:40 +0100 Subject: [PATCH 069/314] AC_Autorotation: Remove bailout case --- libraries/AC_Autorotation/AC_Autorotation.cpp | 19 ++++--------------- libraries/AC_Autorotation/AC_Autorotation.h | 2 -- 2 files changed, 4 insertions(+), 17 deletions(-) diff --git a/libraries/AC_Autorotation/AC_Autorotation.cpp b/libraries/AC_Autorotation/AC_Autorotation.cpp index 627dd7894ec31..1dbcccd29423a 100644 --- a/libraries/AC_Autorotation/AC_Autorotation.cpp +++ b/libraries/AC_Autorotation/AC_Autorotation.cpp @@ -3,9 +3,7 @@ #include #include -//Autorotation controller defaults -#define AROT_BAIL_OUT_TIME 2.0f // Default time for bail out controller to run (unit: s) - +// Autorotation controller defaults // Head Speed (HS) controller specific default definitions #define HS_CONTROLLER_COLLECTIVE_CUTOFF_FREQ 2.0f // low-pass filter on accel error (unit: hz) #define HS_CONTROLLER_HEADSPEED_P 0.7f // Default P gain for head speed controller (unit: -) @@ -81,15 +79,6 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = { // @User: Advanced AP_GROUPINFO("AS_ACC_MAX", 7, AC_Autorotation, _param_accel_max, FWD_SPD_CONTROLLER_MAX_ACCEL), - // @Param: BAIL_TIME - // @DisplayName: Bail Out Timer - // @Description: Time in seconds from bail out initiated to the exit of autorotation flight mode. - // @Units: s - // @Range: 0.5 4 - // @Increment: 0.1 - // @User: Advanced - AP_GROUPINFO("BAIL_TIME", 8, AC_Autorotation, _param_bail_time, AROT_BAIL_OUT_TIME), - // @Param: HS_SENSOR // @DisplayName: Main Rotor RPM Sensor // @Description: Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1. @@ -97,7 +86,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = { // @Range: 0.5 3 // @Increment: 0.1 // @User: Advanced - AP_GROUPINFO("HS_SENSOR", 9, AC_Autorotation, _param_rpm_instance, 0), + AP_GROUPINFO("HS_SENSOR", 8, AC_Autorotation, _param_rpm_instance, 0), // @Param: FW_V_P // @DisplayName: Velocity (horizontal) P gain @@ -105,7 +94,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = { // @Range: 0.1 6.0 // @Increment: 0.1 // @User: Advanced - AP_SUBGROUPINFO(_p_fw_vel, "FW_V_", 10, AC_Autorotation, AC_P), + AP_SUBGROUPINFO(_p_fw_vel, "FW_V_", 9, AC_Autorotation, AC_P), // @Param: FW_V_FF // @DisplayName: Velocity (horizontal) feed forward @@ -113,7 +102,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = { // @Range: 0 1 // @Increment: 0.01 // @User: Advanced - AP_GROUPINFO("FW_V_FF", 11, AC_Autorotation, _param_fwd_k_ff, AP_FW_VEL_FF), + AP_GROUPINFO("FW_V_FF", 10, AC_Autorotation, _param_fwd_k_ff, AP_FW_VEL_FF), AP_GROUPEND }; diff --git a/libraries/AC_Autorotation/AC_Autorotation.h b/libraries/AC_Autorotation/AC_Autorotation.h index d5cfa52097b3f..612986662ecf4 100644 --- a/libraries/AC_Autorotation/AC_Autorotation.h +++ b/libraries/AC_Autorotation/AC_Autorotation.h @@ -28,7 +28,6 @@ class AC_Autorotation int16_t get_hs_set_point(void) { return _param_head_speed_set_point; } float get_col_entry_freq(void) { return _param_col_entry_cutoff_freq; } float get_col_glide_freq(void) { return _param_col_glide_cutoff_freq; } - float get_bail_time(void) { return _param_bail_time; } float get_last_collective() const { return _collective_out; } bool is_enable(void) { return _param_enable; } void Log_Write_Autorotation(void) const; @@ -81,7 +80,6 @@ class AC_Autorotation AP_Float _param_col_entry_cutoff_freq; AP_Float _param_col_glide_cutoff_freq; AP_Int16 _param_accel_max; - AP_Float _param_bail_time; AP_Int8 _param_rpm_instance; AP_Float _param_fwd_k_ff; From 8ed5a18cf97dbaf140a21f85e5f85d07198a129e Mon Sep 17 00:00:00 2001 From: Gone4Dirt Date: Wed, 7 Aug 2024 20:57:48 +0100 Subject: [PATCH 070/314] Sub: correct comment on prev control mode --- ArduSub/mode.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduSub/mode.cpp b/ArduSub/mode.cpp index d445dd5c8c16d..cb3b10c53c1f8 100644 --- a/ArduSub/mode.cpp +++ b/ArduSub/mode.cpp @@ -112,7 +112,7 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason) // perform any cleanup required by previous flight mode exit_mode(flightmode, new_flightmode); - // store previous flight mode (only used by tradeheli's autorotation) + // store previous flight mode prev_control_mode = control_mode; // update flight mode From 0281dc3a79dbf4e6abf37a3d83350855d5542dcb Mon Sep 17 00:00:00 2001 From: MattKear Date: Mon, 7 Oct 2024 19:05:29 +0100 Subject: [PATCH 071/314] Autotest: Add method for check servo channel in range --- Tools/autotest/vehicle_test_suite.py | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 08b179380d4c2..3cab908b5951c 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -7962,6 +7962,28 @@ def wait_servo_channel_value(self, channel, value, timeout=2, comparator=operato if comparator(m_value, value): return m_value + def wait_servo_channel_in_range(self, channel, v_min, v_max, timeout=2): + """wait for channel value to be within acceptable range""" + channel_field = "servo%u_raw" % channel + tstart = self.get_sim_time() + while True: + remaining = timeout - (self.get_sim_time_cached() - tstart) + if remaining <= 0: + raise NotAchievedException("Channel value condition not met") + m = self.mav.recv_match(type='SERVO_OUTPUT_RAW', + blocking=True, + timeout=remaining) + if m is None: + continue + m_value = getattr(m, channel_field, None) + if m_value is None: + raise ValueError("message (%s) has no field %s" % + (str(m), channel_field)) + self.progress("want %u <= SERVO_OUTPUT_RAW.%s <= %u, got value = %u" % + (v_min, channel_field, v_max, m_value)) + if (v_min <= m_value) and (m_value <= v_max): + return m_value + def assert_servo_channel_value(self, channel, value, comparator=operator.eq): """assert channel value (default condition is equality)""" channel_field = "servo%u_raw" % channel From 41694869d50ce1583af278a9b98eccc2207e1ecd Mon Sep 17 00:00:00 2001 From: MattKear Date: Mon, 7 Oct 2024 19:10:03 +0100 Subject: [PATCH 072/314] Autotest: Heli: minor improvements to TurbineCoolDown --- Tools/autotest/helicopter.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py index 9f04327e4d117..d06b97f690660 100644 --- a/Tools/autotest/helicopter.py +++ b/Tools/autotest/helicopter.py @@ -700,25 +700,27 @@ def check_airspeeds(mav, m): def TurbineCoolDown(self, timeout=200): """Check Turbine Cool Down Feature""" + self.context_push() # set option for Turbine RAMP_TIME = 4 SETPOINT = 66 IDLE = 15 COOLDOWN_TIME = 5 - self.set_parameter("RC6_OPTION", 161) - self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME) - self.set_parameter("H_RSC_SETPOINT", SETPOINT) - self.set_parameter("H_RSC_IDLE", IDLE) - self.set_parameter("H_RSC_CLDWN_TIME", COOLDOWN_TIME) + self.set_parameters({"RC6_OPTION": 161, + "H_RSC_RAMP_TIME": RAMP_TIME, + "H_RSC_SETPOINT": SETPOINT, + "H_RSC_IDLE": IDLE, + "H_RSC_CLDWN_TIME": COOLDOWN_TIME}) self.set_rc(3, 1000) self.set_rc(8, 1000) self.progress("Starting turbine") self.wait_ready_to_arm() + self.context_collect("STATUSTEXT") self.arm_vehicle() self.set_rc(6, 2000) - self.wait_statustext('Turbine startup') + self.wait_statustext('Turbine startup', check_context=True) # Engage interlock to run up to head speed self.set_rc(8, 2000) @@ -743,6 +745,7 @@ def TurbineCoolDown(self, timeout=200): self.set_rc(6, 1000) self.wait_disarmed(timeout=20) + self.context_pop() def TurbineStart(self, timeout=200): """Check Turbine Start Feature""" From bbc2259cff2a8af98cd42805d779c1e221865d73 Mon Sep 17 00:00:00 2001 From: Gone4Dirt Date: Sat, 10 Aug 2024 17:22:40 +0100 Subject: [PATCH 073/314] Autotest: Update Autorotation tests for new mode change and bailout methods --- Tools/autotest/helicopter.py | 216 ++++++++++++++++++++++++----------- 1 file changed, 152 insertions(+), 64 deletions(-) diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py index d06b97f690660..9f3f57cc4ddaf 100644 --- a/Tools/autotest/helicopter.py +++ b/Tools/autotest/helicopter.py @@ -302,11 +302,15 @@ def SplineWaypoint(self, timeout=600): self.progress("Lowering rotor speed") self.set_rc(8, 1000) - def AutoRotation(self, timeout=600): + def Autorotation(self, timeout=600): """Check engine-out behaviour""" - self.set_parameter("AROT_ENABLE", 1) + self.context_push() start_alt = 100 # metres - self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100) + self.set_parameters({ + "AROT_ENABLE": 1, + "H_RSC_AROT_ENBL": 1, + }) + bail_out_time = self.get_parameter('H_RSC_AROT_RUNUP') self.change_mode('POSHOLD') self.set_rc(3, 1000) self.set_rc(8, 1000) @@ -322,85 +326,169 @@ def AutoRotation(self, timeout=600): relative=True, timeout=timeout) self.context_collect('STATUSTEXT') - self.progress("Triggering autorotate by raising interlock") - self.set_rc(3, 1000) + + # Reset collective to enter hover + self.set_rc(3, 1500) + + # Change to the autorotation flight mode + self.progress("Triggering autorotate mode") + self.change_mode('AUTOROTATE') + self.delay_sim_time(2) + + # Disengage the interlock to remove power self.set_rc(8, 1000) + # Ensure we have progressed through the mode's state machine self.wait_statustext("SS Glide Phase", check_context=True) - self.change_mode('STABILIZE') + self.progress("Testing bailout from autorotation") + self.set_rc(8, 2000) + # See if the output ramps to a value close to expected with the prescribed time + self.wait_servo_channel_value(8, 1659, timeout=bail_out_time+1, comparator=operator.ge) + + # Successfully bailed out, disengage the interlock and allow autorotation to progress + self.set_rc(8, 1000) self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s", check_context=True, regex=True) speed = float(self.re_match.group(1)) if speed > 30: raise NotAchievedException("Hit too hard") + + # Set throttle low to trip auto disarm + self.set_rc(3, 1000) + self.wait_disarmed() + self.context_pop() - def ManAutoRotation(self, timeout=600): + def ManAutorotation(self, timeout=600): """Check autorotation power recovery behaviour""" - RAMP_TIME = 4 - AROT_RAMP_TIME = 2 - start_alt = 100 # metres - self.set_parameters({ - "H_RSC_AROT_MN_EN": 1, - "H_RSC_AROT_ENG_T": AROT_RAMP_TIME, - "H_RSC_AROT_IDLE": 20, - "H_RSC_RAMP_TIME": RAMP_TIME, - "H_RSC_IDLE": 0, - "PILOT_TKOFF_ALT": start_alt * 100, - }) - self.change_mode('POSHOLD') - self.set_rc(3, 1000) - self.set_rc(8, 1000) - self.wait_ready_to_arm() - self.arm_vehicle() - self.set_rc(8, 2000) - self.progress("wait for rotor runup to complete") - self.wait_servo_channel_value(8, 1659, timeout=10) - self.delay_sim_time(20) - self.set_rc(3, 2000) - self.wait_altitude(start_alt - 1, - (start_alt + 5), - relative=True, - timeout=timeout) - self.context_collect('STATUSTEXT') - self.change_mode('STABILIZE') - self.progress("Triggering manual autorotation by disabling interlock") - self.set_rc(3, 1000) - self.set_rc(8, 1000) - self.wait_servo_channel_value(8, 1199, timeout=3) - self.progress("channel 8 set to autorotation window") + RSC_CHAN = 8 + + def check_rsc_output(self, throttle, timeout): + # Check we get a sensible throttle output + expected_pwm = int(throttle * 0.01 * 1000 + 1000) + + # Help out the detection by accepting some margin + margin = 2 + + # See if the output ramps to a value close to expected with the prescribed time + self.wait_servo_channel_in_range(RSC_CHAN, expected_pwm-margin, expected_pwm+margin, timeout=timeout) + + def TestAutorotationConfig(self, rsc_idle, arot_ramp_time, arot_idle, cool_down): + RAMP_TIME = 10 + RUNUP_TIME = 15 + AROT_RUNUP_TIME = arot_ramp_time + 4 + RSC_SETPOINT = 66 + self.set_parameters({ + "H_RSC_AROT_ENBL": 1, + "H_RSC_AROT_RAMP": arot_ramp_time, + "H_RSC_AROT_RUNUP": AROT_RUNUP_TIME, + "H_RSC_AROT_IDLE": arot_idle, + "H_RSC_RAMP_TIME": RAMP_TIME, + "H_RSC_RUNUP_TIME": RUNUP_TIME, + "H_RSC_IDLE": rsc_idle, + "H_RSC_SETPOINT": RSC_SETPOINT, + "H_RSC_CLDWN_TIME": cool_down + }) - # wait to establish autorotation - self.delay_sim_time(2) + # Check the RSC config so we know what to expect on the throttle output + if self.get_parameter("H_RSC_MODE") != 2: + self.set_parameter("H_RSC_MODE", 2) + self.reboot_sitl() - self.set_rc(8, 2000) - self.wait_servo_channel_value(8, 1659, timeout=AROT_RAMP_TIME * 1.1) + self.change_mode('POSHOLD') + self.set_rc(3, 1000) + self.set_rc(8, 1000) + self.wait_ready_to_arm() + self.arm_vehicle() + self.set_rc(8, 2000) + self.progress("wait for rotor runup to complete") + check_rsc_output(self, RSC_SETPOINT, RUNUP_TIME+1) + + self.delay_sim_time(20) + self.set_rc(3, 2000) + self.wait_altitude(100, + 105, + relative=True, + timeout=timeout) + self.context_collect('STATUSTEXT') + self.change_mode('STABILIZE') - # give time for engine to power up - self.set_rc(3, 1400) - self.delay_sim_time(2) + self.progress("Triggering manual autorotation by disabling interlock") + self.set_rc(3, 1000) + self.set_rc(8, 1000) - self.progress("in-flight power recovery") - self.set_rc(3, 1500) - self.delay_sim_time(5) + self.wait_statustext(r"RSC: In Autorotation", check_context=True) - # initiate autorotation again - self.set_rc(3, 1000) - self.set_rc(8, 1000) + # Check we are using the correct throttle output. This should happen instantly on ramp down. + idle_thr = rsc_idle + if (arot_idle > 0): + idle_thr = arot_idle - self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s", - check_context=True, - regex=True) - speed = float(self.re_match.group(1)) - if speed > 30: - raise NotAchievedException("Hit too hard") + check_rsc_output(self, idle_thr, 1) - self.set_rc(3, 1000) - # verify servo 8 resets to RSC_IDLE after land complete - self.wait_servo_channel_value(8, 1000, timeout=3) - self.wait_disarmed() + self.progress("RSC is outputting correct idle throttle") + + # Wait to establish autorotation. + self.delay_sim_time(2) + + # Re-engage interlock to start bailout sequence + self.set_rc(8, 2000) + + # Ensure we see the bailout state + self.wait_statustext("RSC: Bailing Out", check_context=True) + + # Check we are back up to flight throttle. Autorotation ramp up time should be used + check_rsc_output(self, RSC_SETPOINT, arot_ramp_time+1) + + # Give time for engine to power up + self.set_rc(3, 1400) + self.delay_sim_time(2) + + self.progress("in-flight power recovery") + self.set_rc(3, 1500) + self.delay_sim_time(5) + + # Initiate autorotation again + self.set_rc(3, 1000) + self.set_rc(8, 1000) + + self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s", + check_context=True, + regex=True) + speed = float(self.re_match.group(1)) + if speed > 30: + raise NotAchievedException("Hit too hard") + + # Check that cool down is still used correctly if set + # First wait until we are out of the autorotation state + self.wait_statustext("RSC: Autorotation Stopped") + if (cool_down > 0): + check_rsc_output(self, rsc_idle*1.5, cool_down) + + # Verify RSC output resets to RSC_IDLE after land complete + check_rsc_output(self, rsc_idle, 20) + self.wait_disarmed() + + # We test the bailout behavior of two different configs + # First we test config with a regular throttle curve + self.progress("testing autorotation with throttle curve config") + self.context_push() + TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=0, cool_down=0) + + # Now we test a config that would be used with an ESC with internal governor and an autorotation window + self.progress("testing autorotation with ESC autorotation window config") + TestAutorotationConfig(self, rsc_idle=0.0, arot_ramp_time=0.0, arot_idle=20.0, cool_down=0) + + # Check rsc output behavior when using the cool down feature + self.progress("testing autorotation with cool down enabled and zero autorotation idle") + TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=0, cool_down=5.0) + + self.progress("testing that H_RSC_AROT_IDLE is used over RSC_IDLE when cool down is enabled") + TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=10, cool_down=5.0) + + self.context_pop() def mission_item_home(self, target_system, target_component): '''returns a mission_item_int which can be used as home in a mission''' @@ -1024,8 +1112,8 @@ def tests(self): self.PosHoldTakeOff, self.StabilizeTakeOff, self.SplineWaypoint, - self.AutoRotation, - self.ManAutoRotation, + self.Autorotation, + self.ManAutorotation, self.governortest, self.FlyEachFrame, self.AirspeedDrivers, From 20449e3c6a847bea6e0e9c1fadd0bd8be4ba3991 Mon Sep 17 00:00:00 2001 From: MattKear Date: Sat, 21 Sep 2024 02:18:26 +0100 Subject: [PATCH 074/314] AC_Autorotation: Add RSC_Autorotation class --- .../AC_Autorotation/RSC_Autorotation.cpp | 159 ++++++++++++++++++ libraries/AC_Autorotation/RSC_Autorotation.h | 52 ++++++ 2 files changed, 211 insertions(+) create mode 100644 libraries/AC_Autorotation/RSC_Autorotation.cpp create mode 100644 libraries/AC_Autorotation/RSC_Autorotation.h diff --git a/libraries/AC_Autorotation/RSC_Autorotation.cpp b/libraries/AC_Autorotation/RSC_Autorotation.cpp new file mode 100644 index 0000000000000..53992de1a0467 --- /dev/null +++ b/libraries/AC_Autorotation/RSC_Autorotation.cpp @@ -0,0 +1,159 @@ +#include "RSC_Autorotation.h" +#include +#include + +#define RSC_AROT_RAMP_TIME_DEFAULT 2 // time in seconds to ramp motors when bailing out of autorotation + +extern const AP_HAL::HAL& hal; + +// RSC autorotation state specific parameters +const AP_Param::GroupInfo RSC_Autorotation::var_info[] = { + + // @Param: ENBL + // @DisplayName: Enable autorotation handling in RSC + // @Description: Allows you to enable (1) or disable (0) the autorotation functionality within the Rotor Speed Controller. + // @Values: 0:Disabled,1:Enabled + // @User: Standard + AP_GROUPINFO_FLAGS("ENBL", 1, RSC_Autorotation, enable, 0, AP_PARAM_FLAG_ENABLE), + + // @Param: RAMP + // @DisplayName: Time for in-flight power re-engagement when exiting autorotations + // @Description: When exiting an autorotation in a bailout manoeuvre, this is the time in seconds for the throttle output (HeliRSC servo) to ramp from idle (H_RSC_AROT_IDLE) to flight throttle setting when motor interlock is re-enabled. When using an ESC with an autorotation bailout function, this parameter should be set to 0.1 (minimum value). + // @Range: 0.1 10 + // @Units: s + // @Increment: 0.1 + // @User: Standard + AP_GROUPINFO("RAMP", 2, RSC_Autorotation, bailout_throttle_time, RSC_AROT_RAMP_TIME_DEFAULT), + + // @Param: IDLE + // @DisplayName: Idle throttle percentage during autorotation + // @Description: Idle throttle used for during autotoration. For external governors, this would be set to a value that is within the autorotation window of the governer/ESC to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable. + // @Range: 0 40 + // @Units: % + // @Increment: 1 + // @User: Standard + AP_GROUPINFO("IDLE", 3, RSC_Autorotation, idle_output, 0.0), + + // @Param: RUNUP + // @DisplayName: Time allowed for in-flight power re-engagement + // @Description: When exiting an autorotation in a bailout manoeuvre, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled. Must be at least one second longer than the H_RSC_AROT_RAMP time that is set. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power. Failure to heed this warning could result in early entry into autonomously controlled collective modes (e.g. alt hold, loiter, etc), whereby the collective could be raised before the engine has reached full power, with a subsequently dangerous slowing of head speed. + // @Range: 1 10 + // @Units: s + // @Increment: 0.1 + // @User: Standard + AP_GROUPINFO("RUNUP", 4, RSC_Autorotation, bailout_runup_time, RSC_AROT_RAMP_TIME_DEFAULT+1), + + AP_GROUPEND +}; + +RSC_Autorotation::RSC_Autorotation(void) +{ + AP_Param::setup_object_defaults(this, var_info); +} + +// set the desired autorotation state +// this state machine handles the transition from active to deactivated via the bailout logic +// to force the state to be immediately deactivated, then the force_state bool is used +void RSC_Autorotation::set_active(bool active, bool force_state) +{ + if (enable.get() != 1) { + return; + } + + // set the desired state based on the bool. We only set either ACTIVE or DEACTIVATED + // here and let the autorotation state machine and RSC runup code handle the bail out case + RSC_Autorotation::State desired_state = active ? RSC_Autorotation::State::ACTIVE : RSC_Autorotation::State::DEACTIVATED; + + // don't do anything if desired state is already set + if (desired_state == state) { + return; + } + + // Handle the transition from the ACTIVE to DEACTIVATED states via the BAILING_OUT case + // set the bailout case if deactivated has just been requested + if ((state == State::ACTIVE) && (desired_state == State::DEACTIVATED) && !force_state) { + desired_state = State::BAILING_OUT; + bail_out_started_ms = AP_HAL::millis(); + } + + // Wait for allocated autorotation run up time before we allow progression of state to deactivated + if ((state == State::BAILING_OUT) && + (desired_state == State::DEACTIVATED) && + (bail_out_started_ms > 0) && + (AP_HAL::millis() - bail_out_started_ms < uint32_t(get_runup_time()*1000))) + { + return; + } + + // handle GCS messages + switch (desired_state) + { + case State::DEACTIVATED: + GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "RSC: Autorotation Stopped"); + break; + + case State::BAILING_OUT: + GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "RSC: Bailing Out"); + break; + + case State::ACTIVE: + GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "RSC: In Autorotation"); + break; + + default: + // do nothing + break; + } + + // Actually set the state + state = desired_state; +} + +bool RSC_Autorotation::get_idle_throttle(float& idle_throttle) +{ + if (state != State::ACTIVE) { + // We do not want to use autorotation idle throttle + return false; + } + + if (idle_output.get() <= 0) { + // If autorotation idle is not set, do not modify idle throttle as we just use H_RSC_IDLE + // Heli with an ICE engine is an example of this type of config + return true; + } + + // if we are autorotating and the autorotation idle throttle param is set we want to + // to output this as the idle throttle for ESCs with an autorotation window + idle_throttle = constrain_float(idle_output.get()*0.01, 0.0, 0.4); + + return true; +} + +float RSC_Autorotation::get_bailout_ramp(void) const +{ + // Allow ramp times as quick as 0.1 of a second for ESCs with autorotation windows + return MAX(float(bailout_throttle_time.get()), 0.1); +} + +float RSC_Autorotation::get_runup_time(void) const +{ + // If we are in the autorotation state we want the rotor speed model to ramp down rapidly to zero, ensuring we get past + // the critical rotor speed, and therefore triggering a proper bailout should we re-engage the interlock at any point + if (state == State::ACTIVE) { + return 0.1; + } + + // Never let the runup timer be less than the throttle ramp time + return (float) MAX(bailout_throttle_time.get() + 1, bailout_runup_time.get()); +} + +// sanity check of parameters, should be called only whilst disarmed +bool RSC_Autorotation::arming_checks(size_t buflen, char *buffer) const +{ + // throttle runup must be larger than ramp, keep the params up to date to not confuse users + if (bailout_throttle_time.get() + 1 > bailout_runup_time.get()) { + hal.util->snprintf(buffer, buflen, "H_RSC_AROT_RUNUP must be > H_RSC_AROT_RAMP"); + return false; + } + return true; +} diff --git a/libraries/AC_Autorotation/RSC_Autorotation.h b/libraries/AC_Autorotation/RSC_Autorotation.h new file mode 100644 index 0000000000000..8c0bd230a7849 --- /dev/null +++ b/libraries/AC_Autorotation/RSC_Autorotation.h @@ -0,0 +1,52 @@ +// Class supporting autorotation state within the heli rotor speed controller + +#pragma once + +#include + +// helper class to manage autorotation state and variables within RSC +class RSC_Autorotation +{ +public: + + RSC_Autorotation(void); + + enum class State { + DEACTIVATED, + BAILING_OUT, + ACTIVE, + }; + + // state accessors + bool active(void) const { return state == State::ACTIVE; } + bool bailing_out(void) const { return state == State::BAILING_OUT; } + + // update idle throttle when in autorotation + bool get_idle_throttle(float& idle_throttle); + + // get the throttle ramp rate needed when bailing out of autorotation + float get_bailout_ramp(void) const; + + // get the allowed run-up time that we expect the rotor to need to complete a bailout + float get_runup_time(void) const; + + // request changes in autorotation state + void set_active(bool active, bool force_state); + + // sanity check of parameters, should be called only whilst disarmed + bool arming_checks(size_t buflen, char *buffer) const; + + // var_info for holding Parameter information + static const struct AP_Param::GroupInfo var_info[]; + +private: + + AP_Int8 idle_output; // (percent) rsc output used when in autorotation, used for setting autorotation window on ESCs + AP_Int8 bailout_throttle_time; // (seconds) time for in-flight power re-engagement when bailing-out of an autorotation + AP_Int8 bailout_runup_time; // (seconds) expected time for the motor to fully engage and for the rotor to regain safe head speed if necessary + AP_Int8 enable; // enables autorotation state within the RSC + + State state; + uint32_t bail_out_started_ms; // (milliseconds) time that bailout started, used to time transition from "bailing out" to "autorotation stopped" + +}; From c3affa4e94a56fa6375e9baad8fa3c5db626689e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 10 Oct 2024 13:39:50 +1100 Subject: [PATCH 075/314] autotest: move first landing waypoint further out pathological conditions can mean we're not lined up correctly afterwards and overshoot --- Tools/autotest/Generic_Missions/QuadPlaneDalbyRTL.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/autotest/Generic_Missions/QuadPlaneDalbyRTL.txt b/Tools/autotest/Generic_Missions/QuadPlaneDalbyRTL.txt index e88bb0c7fd6c0..73ee0544116dc 100644 --- a/Tools/autotest/Generic_Missions/QuadPlaneDalbyRTL.txt +++ b/Tools/autotest/Generic_Missions/QuadPlaneDalbyRTL.txt @@ -1,6 +1,6 @@ QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -27.274439 151.290064 343.209991 1 1 0 3 189 0.000000 0.000000 0.000000 0.000000 -27.270617 151.283268 28.590000 1 -2 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.272859 151.286018 28.789999 1 +2 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.272632 151.284895 29.029999 1 3 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.273316 151.288023 30.000000 1 4 0 3 85 0.000000 0.000000 0.000000 0.000000 -27.273771 151.289905 0.000000 1 From 2524583ddacbf95af3b88f15beecdb72794e3ba2 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 15:52:45 +0800 Subject: [PATCH 076/314] AP_HAL_ChibiOS: increase the number of memory regions for crashdump also checks num region overruns for bss and heap --- libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c b/libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c index 8c60109e8b0ca..49e3d9f131a11 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/crashdump.c @@ -97,7 +97,7 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void); const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void) { // do a full dump if on serial - static CrashCatcherMemoryRegion regions[60] = { + static CrashCatcherMemoryRegion regions[80] = { {(uint32_t)&__ram0_start__, (uint32_t)&__ram0_end__, CRASH_CATCHER_BYTE}, {(uint32_t)&ch_system, (uint32_t)&ch_system + sizeof(ch_system), CRASH_CATCHER_BYTE}}; uint32_t total_dump_size = dump_size + buf_off + REMAINDER_MEM_REGION_SIZE; @@ -138,7 +138,7 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void) // log statically alocated memory int32_t bss_size = ((uint32_t)&__bss_end__) - ((uint32_t)&__bss_base__); int32_t available_space = stm32_crash_dump_max_size() - total_dump_size; - if (available_space < 0) { + if (available_space < 0 || curr_region >= (ARRAY_SIZE(regions) - 1)) { // we can't log anymore than this goto finalise; } @@ -157,7 +157,7 @@ const CrashCatcherMemoryRegion* CrashCatcher_GetMemoryRegions(void) // dump the Heap as well as much as we can int32_t heap_size = ((uint32_t)&__heap_end__) - ((uint32_t)&__heap_base__); available_space = stm32_crash_dump_max_size() - total_dump_size; - if (available_space < 0) { + if (available_space < 0 || curr_region >= (ARRAY_SIZE(regions) - 1)) { // we can't log anymore than this goto finalise; } From 441dba493f69886701dbb733653d79f29c5ed8bd Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 27 Jul 2024 16:31:23 +0100 Subject: [PATCH 077/314] AP_Volz_Protocol: add support for telem and logging --- .../AP_Volz_Protocol/AP_Volz_Protocol.cpp | 323 ++++++++++++++++-- libraries/AP_Volz_Protocol/AP_Volz_Protocol.h | 64 +++- 2 files changed, 351 insertions(+), 36 deletions(-) diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp index 84091522e9ff4..3c34a4f519004 100644 --- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp +++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp @@ -14,7 +14,7 @@ #include #include -#define SET_EXTENDED_POSITION_CMD 0xDC +#include // Extended Position Data Format defines -100 as 0x0080 decimal 128, we map this to a PWM of 1000 (if range is default) #define PWM_POSITION_MIN 1000 @@ -77,12 +77,48 @@ void AP_Volz_Protocol::init(void) } } +#if HAL_LOGGING_ENABLED +// Request telem data, cycling through each servo and telem item +void AP_Volz_Protocol::request_telem() +{ + // Request the queued item, making sure the servo is enabled + if ((uint32_t(bitmask.get()) & (1U<set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_RTS_DE); port->begin(baudrate, UART_BUFSIZE_RX, UART_BUFSIZE_TX); port->set_unbuffered_writes(true); - port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); // Calculate the amount of time it should take to send a command // Multiply by 10 to convert from bit rate to byte rate (8 data bits + start and stop bits) @@ -93,8 +129,10 @@ void AP_Volz_Protocol::loop() // receive packet is same length as sent, double to allow some time for the servo respond const uint16_t receive_us = send_us * 2; - // This gives a total time of 1560ms, message rate of 641 Hz. + // This gives a total time of 1560us, message rate of 641 Hz. // One servo at 641Hz, two at 320.5 each, three at 213.7 each ect... + // Note that we send a telem request every time servo sending is complete. This is like a extra servo. + // So for a single servo position commands are at 320.5Hz and telem at 320.5Hz. while (port != nullptr) { @@ -106,45 +144,211 @@ void AP_Volz_Protocol::loop() hal.scheduler->delay_microseconds(100); } - // loop for all channels - for (uint8_t i=0; i= ARRAY_SIZE(telem.data)) { + // Invalid ID + return; + } + + switch (cmd.ID) { + case CMD_ID::EXTENDED_POSITION_RESPONSE: + // Map back to angle + telem.data[index].angle = linear_interpolate(ANGLE_POSITION_MIN, ANGLE_POSITION_MAX, UINT16_VALUE(cmd.arg1, cmd.arg2), EXTENDED_POSITION_MIN, EXTENDED_POSITION_MAX); + break; + + case CMD_ID::CURRENT_RESPONSE: + // Current is reported in 20mA increments (0.02A) + telem.data[index].primary_current = cmd.arg1 * 0.02; + telem.data[index].secondary_current = cmd.arg2 * 0.02; + break; + + case CMD_ID::VOLTAGE_RESPONSE: + // Voltage is reported in 200mv increments (0.2v) + telem.data[index].primary_voltage = cmd.arg1 * 0.2; + telem.data[index].secondary_voltage = cmd.arg2 * 0.2; + break; + + case CMD_ID::TEMPERATURE_RESPONSE: + // Temperature is reported relative to -50 deg C + telem.data[index].motor_temp_deg = -50 + cmd.arg1; + telem.data[index].pcb_temp_deg = -50 + cmd.arg2; + break; + + default: + // This should never happen + return; + } + + telem.data[index].last_response_ms = AP_HAL::millis(); +} + +// Return true if the given ID is a valid response +bool AP_Volz_Protocol::is_response(uint8_t ID) const +{ + switch(ID) { + case (uint8_t)CMD_ID::EXTENDED_POSITION_RESPONSE: + case (uint8_t)CMD_ID::CURRENT_RESPONSE: + case (uint8_t)CMD_ID::VOLTAGE_RESPONSE: + case (uint8_t)CMD_ID::TEMPERATURE_RESPONSE: + return true; + + default: + break; + } + + return false; +} + +void AP_Volz_Protocol::read_telem() +{ + // Try and read data a few times, this could be a while loop, using a for loop gives a upper bound to run time + for (uint8_t attempts = 0; attempts < sizeof(telem.cmd_buffer) * 4; attempts++) { + + uint32_t n = port->available(); + if (n == 0) { + // No data available + return; + } + if (telem.buffer_offset < sizeof(telem.cmd_buffer)) { + // Read enough bytes to fill buffer + ssize_t nread = port->read(&telem.cmd_buffer.data[telem.buffer_offset], MIN(n, unsigned(sizeof(telem.cmd_buffer)-telem.buffer_offset))); + if (nread <= 0) { + // Read failed + return; } - last_sent_index = index; + telem.buffer_offset += nread; + } - // Get PWM from saved array - const uint16_t pwm = servo_pwm[index]; - if (pwm == 0) { - // Never use zero PWM, the check in update should ensure this never happens - // If we were to use zero the range extrapolation would result in a -100 deg angle request - continue; + // Check for valid response start byte + if (!is_response(telem.cmd_buffer.data[0])) { + + // Search for a valid response start byte + uint8_t cmd_start; + for (cmd_start = 1; cmd_start < telem.buffer_offset; cmd_start++) { + if (is_response(telem.cmd_buffer.data[cmd_start])) { + // Found one + break; + } } - // Map PWM to angle, this is a un-constrained interpolation - // ratio = 0 at PWM_POSITION_MIN to 1 at PWM_POSITION_MAX - const float ratio = (float(pwm) - PWM_POSITION_MIN) / (PWM_POSITION_MAX - PWM_POSITION_MIN); - // Convert ratio to +-0.5 and multiply by stroke - const float angle = (ratio - 0.5) * constrain_float(range, 0.0, 200.0); + // Shift buffer to put start on valid byte, or if no valid byte was found clear + const uint8_t n_move = telem.buffer_offset - cmd_start; + if (n_move > 0) { + // No need to move 0 bytes + memmove(&telem.cmd_buffer.data[0], &telem.cmd_buffer.data[cmd_start], n_move); + } + telem.buffer_offset = 0; - // Map angle to command out of full range, add 0.5 so that float to int truncation rounds correctly - const uint16_t value = linear_interpolate(EXTENDED_POSITION_MIN, EXTENDED_POSITION_MAX, angle, ANGLE_POSITION_MIN, ANGLE_POSITION_MAX) + 0.5; + // Since the buffer is the same length as a full command, we can never get a valid packet after shifting + // Always need to read in some more data + continue; + } - // prepare Volz protocol data. - CMD cmd; - cmd.ID = SET_EXTENDED_POSITION_CMD; - cmd.actuator_id = index + 1; // send actuator id as 1 based index so ch1 will have id 1, ch2 will have id 2 .... - cmd.arg1 = HIGHBYTE(value); - cmd.arg2 = LOWBYTE(value); + if (telem.buffer_offset < sizeof(telem.cmd_buffer)) { + // Not enough data to make up packet + continue; + } - send_command(cmd); - break; + // Have valid ID and enough data, check crc + if (UINT16_VALUE(telem.cmd_buffer.crc1, telem.cmd_buffer.crc2) != calculate_crc(telem.cmd_buffer)) { + // Probably lost sync shift by one and try again + memmove(&telem.cmd_buffer.data[0], &telem.cmd_buffer.data[1], telem.buffer_offset - 1); + telem.buffer_offset -= 1; + continue; } + + // Valid packet passed crc check + process_response(telem.cmd_buffer); + + // zero offset and continue + telem.buffer_offset = 0; } + + // Used up all attempts without running out of data. + // Really should not end up here } +#endif // HAL_LOGGING_ENABLED // Called each time the servo outputs are sent void AP_Volz_Protocol::update() @@ -171,10 +375,53 @@ void AP_Volz_Protocol::update() const uint16_t pwm = c->get_output_pwm(); servo_pwm[i] = (pwm == 0) ? c->get_trim() : pwm; } + + // take semaphore and log all channels +#if HAL_LOGGING_ENABLED + { + WITH_SEMAPHORE(telem.sem); + const uint32_t now_ms = AP_HAL::millis(); + for (uint8_t i=0; i 5000)) { + // Never seen telem, or not had a response for more than 5 seconds + continue; + } + + // @LoggerMessage: VOLZ + // @Description: Volz servo data + // @Field: TimeUS: Time since system startup + // @Field: I: Instance + // @Field: Dang: desired angle + // @Field: ang: reported angle + // @Field: pc: primary supply current + // @Field: sc: secondary supply current + // @Field: pv: primary supply voltage + // @Field: sv: secondary supply voltage + // @Field: mt: motor temperature + // @Field: pt: pcb temperature + AP::logger().WriteStreaming("VOLZ", + "TimeUS,I,Dang,ang,pc,sc,pv,sv,mt,pt", + "s#ddAAvvOO", + "F000000000", + "QBffffffHH", + AP_HAL::micros64(), + i + 1, // convert to 1 indexed to match actuator IDs and SERVOx numbering + telem.data[i].desired_angle, + telem.data[i].angle, + telem.data[i].primary_current, + telem.data[i].secondary_current, + telem.data[i].primary_voltage, + telem.data[i].secondary_voltage, + telem.data[i].motor_temp_deg, + telem.data[i].pcb_temp_deg + ); + } + } +#endif } -// calculate CRC for volz serial protocol and send the data. -void AP_Volz_Protocol::send_command(CMD &cmd) +// Return the crc for a given command packet +uint16_t AP_Volz_Protocol::calculate_crc(const CMD &cmd) const { uint16_t crc = 0xFFFF; @@ -192,6 +439,14 @@ void AP_Volz_Protocol::send_command(CMD &cmd) } } + return crc; +} + +// calculate CRC for volz serial protocol and send the data. +void AP_Volz_Protocol::send_command(CMD &cmd) +{ + const uint16_t crc = calculate_crc(cmd); + // add CRC result to the message cmd.crc1 = HIGHBYTE(crc); cmd.crc2 = LOWBYTE(crc); diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h index d1ccfbe8416f7..417cf014860b5 100644 --- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h +++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h @@ -44,6 +44,8 @@ #include #include #include +#include + class AP_Volz_Protocol { public: @@ -58,10 +60,22 @@ class AP_Volz_Protocol { private: + // Command and response IDs + enum class CMD_ID : uint8_t { + SET_EXTENDED_POSITION = 0xDC, + EXTENDED_POSITION_RESPONSE = 0x2C, + READ_CURRENT = 0xB0, + CURRENT_RESPONSE = 0x30, + READ_VOLTAGE = 0xB1, + VOLTAGE_RESPONSE = 0x31, + READ_TEMPERATURE = 0xC0, + TEMPERATURE_RESPONSE = 0x10, + }; + // Command frame union CMD { struct PACKED { - uint8_t ID; // CMD ID + CMD_ID ID; uint8_t actuator_id; // actuator send to or receiving from uint8_t arg1; // CMD dependant argument 1 uint8_t arg2; // CMD dependant argument 2 @@ -75,17 +89,63 @@ class AP_Volz_Protocol { // Loop in thread to output to uart void loop(); - uint8_t last_sent_index; + uint8_t sent_count; void init(void); + + // Return the crc for a given command packet + uint16_t calculate_crc(const CMD &cmd) const; + + // calculate CRC for volz serial protocol and send the data. void send_command(CMD &cmd); // Incoming PWM commands from the servo lib uint16_t servo_pwm[NUM_SERVO_CHANNELS]; + // Send postion commands from PWM, cycle through each servo + void send_position_cmd(); + uint8_t last_sent_index; + AP_Int32 bitmask; AP_Int16 range; bool initialised; + +#if HAL_LOGGING_ENABLED + // Request telem data, cycling through each servo and telem item + void request_telem(); + + // Return true if the given ID is a valid response + bool is_response(uint8_t ID) const; + + // Reading of telem packets + void read_telem(); + void process_response(const CMD &cmd); + + struct { + CMD_ID types[3] { + CMD_ID::READ_CURRENT, + CMD_ID::READ_VOLTAGE, + CMD_ID::READ_TEMPERATURE, + }; + uint8_t actuator_id; + uint8_t request_type; + HAL_Semaphore sem; + CMD cmd_buffer; + uint8_t buffer_offset; + struct { + uint32_t last_response_ms; + float desired_angle; + float angle; + float primary_current; + float secondary_current; + float primary_voltage; + float secondary_voltage; + uint16_t motor_temp_deg; + uint16_t pcb_temp_deg; + } data[NUM_SERVO_CHANNELS]; + } telem; +#endif + }; #endif // AP_VOLZ_PROTOCOL From baf41ae92eccdc2b8893513ad639a632be08fc09 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Thu, 15 Aug 2024 18:19:24 +0100 Subject: [PATCH 078/314] AP_Volz_Protocol: rate limit logs to 5Hz --- libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp | 10 ++++++---- libraries/AP_Volz_Protocol/AP_Volz_Protocol.h | 1 + 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp index 3c34a4f519004..43f1c17feb705 100644 --- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp +++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp @@ -376,11 +376,13 @@ void AP_Volz_Protocol::update() servo_pwm[i] = (pwm == 0) ? c->get_trim() : pwm; } - // take semaphore and log all channels #if HAL_LOGGING_ENABLED - { + // take semaphore and log all channels at 5 Hz + const uint32_t now_ms = AP_HAL::millis(); + if ((now_ms - telem.last_log_ms) > 200) { + telem.last_log_ms = now_ms; + WITH_SEMAPHORE(telem.sem); - const uint32_t now_ms = AP_HAL::millis(); for (uint8_t i=0; i 5000)) { // Never seen telem, or not had a response for more than 5 seconds @@ -417,7 +419,7 @@ void AP_Volz_Protocol::update() ); } } -#endif +#endif // HAL_LOGGING_ENABLED } // Return the crc for a given command packet diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h index 417cf014860b5..02b18fc4ea421 100644 --- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h +++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h @@ -143,6 +143,7 @@ class AP_Volz_Protocol { uint16_t motor_temp_deg; uint16_t pcb_temp_deg; } data[NUM_SERVO_CHANNELS]; + uint32_t last_log_ms; } telem; #endif From 55c5cb10d008521f01182c57b1a9d914d9c8a3df Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Tue, 8 Oct 2024 23:15:44 -0500 Subject: [PATCH 079/314] AP_PiccoloCAN: use 32 bit microsecond timeouts for connection funcs For consistency with other parts of the code. --- libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 8 ++++---- libraries/AP_PiccoloCAN/AP_PiccoloCAN.h | 4 ++-- libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h | 4 ++-- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp index 428f589b89270..e76b186bd47f8 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp @@ -687,26 +687,26 @@ bool AP_PiccoloCAN::is_esc_channel_active(uint8_t chan) /** * Determine if a servo is present on the CAN bus (has telemetry data been received) */ -bool AP_PiccoloCAN::is_servo_present(uint8_t chan, uint64_t timeout_ms) +bool AP_PiccoloCAN::is_servo_present(uint8_t chan, uint32_t timeout_us) { if (chan >= PICCOLO_CAN_MAX_NUM_SERVO) { return false; } - return _servos[chan].is_connected(timeout_ms); + return _servos[chan].is_connected(timeout_us); } /** * Determine if an ESC is present on the CAN bus (has telemetry data been received) */ -bool AP_PiccoloCAN::is_esc_present(uint8_t chan, uint64_t timeout_ms) +bool AP_PiccoloCAN::is_esc_present(uint8_t chan, uint32_t timeout_us) { if (chan >= PICCOLO_CAN_MAX_NUM_ESC) { return false; } - return _escs[chan].is_connected(timeout_ms); + return _escs[chan].is_connected(timeout_us); } diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h index 3615f3db4fa29..01fd2c0e6db5c 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h @@ -63,10 +63,10 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend bool is_esc_channel_active(uint8_t chan); // return true if a particular servo has been detected on the CAN interface - bool is_servo_present(uint8_t chan, uint64_t timeout_ms = 2000); + bool is_servo_present(uint8_t chan, uint32_t timeout_us = 2000000); // return true if a particular ESC has been detected on the CAN interface - bool is_esc_present(uint8_t chan, uint64_t timeout_ms = 2000); + bool is_esc_present(uint8_t chan, uint32_t timeout_us = 2000000); // return true if a particular servo is enabled bool is_servo_enabled(uint8_t chan); diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h index fff6e17539568..23cea2b24f7f9 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h @@ -58,10 +58,10 @@ class AP_PiccoloCAN_Device virtual bool is_enabled(void) const { return false; } // Determine if this device has been seen within a specified timeframe - virtual bool is_connected(int64_t timeout_ms) const { + virtual bool is_connected(uint32_t timeout_us) const { uint64_t now = AP_HAL::micros64(); - return now < (last_msg_timestamp + (1000ULL * timeout_ms)); + return now < (last_msg_timestamp + timeout_us); } // Reset the received message timestamp From 13544906211fb086bfb6e94a30ec27d60ee4d7b0 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Tue, 8 Oct 2024 23:02:43 -0500 Subject: [PATCH 080/314] AP_PiccoloCAN: use 32 bit microsecond timeouts for read_frame For consistency with other parts of the code. Makes obvious the curious fact that the read_frame timeout is always 0. --- libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 8 ++++---- libraries/AP_PiccoloCAN/AP_PiccoloCAN.h | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp index e76b186bd47f8..92e9b9d6892a8 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp @@ -209,7 +209,6 @@ void AP_PiccoloCAN::loop() uint16_t ecuCmdRateMs = 1000 / _ecu_hz; #endif - uint64_t timeout = AP_HAL::micros64() + 250ULL; // 1ms loop delay hal.scheduler->delay_microseconds(1000); @@ -235,7 +234,7 @@ void AP_PiccoloCAN::loop() #endif // Look for any message responses on the CAN bus - while (read_frame(rxFrame, timeout)) { + while (read_frame(rxFrame, 0)) { // Extract group and device ID values from the frame identifier frame_id_group = (rxFrame.id >> 24) & 0x1F; @@ -296,15 +295,16 @@ bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout) } // read frame on CAN bus, returns true on succses -bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout) +bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us) { if (!_initialized) { debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for read_frame\n\r"); return false; } + bool read_select = true; bool write_select = false; - bool ret = _can_iface->select(read_select, write_select, nullptr, timeout); + bool ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + timeout_us); if (!ret || !read_select) { // No frame available diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h index 01fd2c0e6db5c..ee81242c038dc 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h @@ -86,7 +86,7 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout); // read frame on CAN bus, returns true on succses - bool read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout); + bool read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us); // send ESC commands over CAN void send_esc_messages(void); From f2a9075d4315605a3ae4f6ee0ed72ebccd6876e8 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Tue, 8 Oct 2024 23:11:25 -0500 Subject: [PATCH 081/314] AP_PiccoloCAN: use 32 bit microsecond timeouts for write_frame For consistency with other parts of the code. Note that now different frames in a group could have slightly different deadlines. --- libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 26 +++++++++-------------- libraries/AP_PiccoloCAN/AP_PiccoloCAN.h | 2 +- 2 files changed, 11 insertions(+), 17 deletions(-) diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp index 92e9b9d6892a8..54c5453bfb0c0 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp @@ -275,7 +275,7 @@ void AP_PiccoloCAN::loop() } // write frame on CAN bus, returns true on success -bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout) +bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint32_t timeout_us) { if (!_initialized) { debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for write_frame\n\r"); @@ -284,14 +284,14 @@ bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout) bool read_select = false; bool write_select = true; - - bool ret = _can_iface->select(read_select, write_select, &out_frame, timeout); + const uint64_t deadline_us = AP_HAL::micros64() + timeout_us; + bool ret = _can_iface->select(read_select, write_select, &out_frame, deadline_us); if (!ret || !write_select) { return false; } - return (_can_iface->send(out_frame, timeout, AP_HAL::CANIface::AbortOnError) == 1); + return (_can_iface->send(out_frame, deadline_us, AP_HAL::CANIface::AbortOnError) == 1); } // read frame on CAN bus, returns true on succses @@ -409,8 +409,6 @@ void AP_PiccoloCAN::send_servo_messages(void) { AP_HAL::CANFrame txFrame {}; - uint64_t timeout = AP_HAL::micros64() + 1000ULL; - // No servos are selected? Don't send anything! if (_srv_bm == 0x00) { return; @@ -445,7 +443,7 @@ void AP_PiccoloCAN::send_servo_messages(void) // Servo is not enabled encodeServo_EnablePacket(&txFrame); txFrame.id |= (idx + 1); - write_frame(txFrame, timeout); + write_frame(txFrame, 1000); } else if (_servos[idx].newCommand) { // A new command is provided send_cmd = true; @@ -467,7 +465,7 @@ void AP_PiccoloCAN::send_servo_messages(void) // Broadcast the command to all servos txFrame.id |= 0xFF; - write_frame(txFrame, timeout); + write_frame(txFrame, 1000); } } } @@ -478,8 +476,6 @@ void AP_PiccoloCAN::send_esc_messages(void) { AP_HAL::CANFrame txFrame {}; - uint64_t timeout = AP_HAL::micros64() + 1000ULL; - // No ESCs are selected? Don't send anything if (_esc_bm == 0x00) { return; @@ -515,7 +511,7 @@ void AP_PiccoloCAN::send_esc_messages(void) if (is_esc_present(idx) && !is_esc_enabled(idx)) { encodeESC_EnablePacket(&txFrame); txFrame.id |= (idx + 1); - write_frame(txFrame, timeout); + write_frame(txFrame, 1000); } else if (_escs[idx].newCommand) { send_cmd = true; @@ -540,7 +536,7 @@ void AP_PiccoloCAN::send_esc_messages(void) // Broadcast the command to all ESCs txFrame.id |= 0xFF; - write_frame(txFrame, timeout); + write_frame(txFrame, 1000); } } @@ -553,7 +549,7 @@ void AP_PiccoloCAN::send_esc_messages(void) // Set the ESC address to the broadcast ID (0xFF) txFrame.id |= 0xFF; - write_frame(txFrame, timeout); + write_frame(txFrame, 1000); } } @@ -609,8 +605,6 @@ void AP_PiccoloCAN::send_ecu_messages(void) { AP_HAL::CANFrame txFrame {}; - const uint64_t timeout = AP_HAL::micros64() + 1000ULL; - // No ECU node id set, don't send anything if (_ecu_id == 0) { return; @@ -622,7 +616,7 @@ void AP_PiccoloCAN::send_ecu_messages(void) _ecu_info.newCommand = false; - write_frame(txFrame, timeout); + write_frame(txFrame, 1000); } } diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h index ee81242c038dc..7353de1c034ed 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h @@ -83,7 +83,7 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend void loop(); // write frame on CAN bus, returns true on success - bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout); + bool write_frame(AP_HAL::CANFrame &out_frame, uint32_t timeout_us); // read frame on CAN bus, returns true on succses bool read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us); From f01abb9d5dfdfe7fab488fb78b783b83feb2cbe7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 11 Oct 2024 13:49:17 +1100 Subject: [PATCH 082/314] ArduPlane: remove stray log_init declaration this method went away --- ArduPlane/Plane.h | 1 - 1 file changed, 1 deletion(-) diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index 66df996ec698e..64b5ba6d95647 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -943,7 +943,6 @@ class Plane : public AP_Vehicle { void Log_Write_RC(void); void Log_Write_Vehicle_Startup_Messages(); void Log_Write_AETR(); - void log_init(); #endif // Parameters.cpp From ba9b123e30d40e8c49d3ffa09dcb09c08be02ff5 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 11 Oct 2024 13:49:17 +1100 Subject: [PATCH 083/314] ArduSub: remove stray log_init declaration this method went away --- ArduSub/Sub.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h index 52cd205175f4e..9c6e621bc45f1 100644 --- a/ArduSub/Sub.h +++ b/ArduSub/Sub.h @@ -536,8 +536,6 @@ class Sub : public AP_Vehicle { #endif bool verify_nav_delay(const AP_Mission::Mission_Command& cmd); - void log_init(void); - void failsafe_leak_check(); void failsafe_internal_pressure_check(); void failsafe_internal_temperature_check(); From d8b109683a402ab3729d9c7c6479ccb7cf86ecfd Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 11 Oct 2024 16:45:19 +1100 Subject: [PATCH 084/314] AP_NavEKF3: initialise variables as part of declaration --- .../AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 45 +++++++------------ 1 file changed, 15 insertions(+), 30 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp index ca64421348718..c188681f0e614 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp @@ -20,25 +20,19 @@ void NavEKF3_core::FuseAirspeed() { // declarations - ftype vn; - ftype ve; - ftype vd; - ftype vwn; - ftype vwe; ftype SH_TAS[3]; ftype SK_TAS[2]; Vector24 H_TAS = {}; - ftype VtasPred; // copy required states to local variable names - vn = stateStruct.velocity.x; - ve = stateStruct.velocity.y; - vd = stateStruct.velocity.z; - vwn = stateStruct.wind_vel.x; - vwe = stateStruct.wind_vel.y; + const ftype vn = stateStruct.velocity.x; + const ftype ve = stateStruct.velocity.y; + const ftype vd = stateStruct.velocity.z; + const ftype vwn = stateStruct.wind_vel.x; + const ftype vwe = stateStruct.wind_vel.y; // calculate the predicted airspeed - VtasPred = norm((ve - vwe) , (vn - vwn) , vd); + const ftype VtasPred = norm((ve - vwe) , (vn - vwn) , vd); // perform fusion of True Airspeed measurement if (VtasPred > 1.0f) { @@ -280,15 +274,6 @@ void NavEKF3_core::SelectBetaDragFusion() void NavEKF3_core::FuseSideslip() { // declarations - ftype q0; - ftype q1; - ftype q2; - ftype q3; - ftype vn; - ftype ve; - ftype vd; - ftype vwn; - ftype vwe; const ftype R_BETA = 0.03f; // assume a sideslip angle RMS of ~10 deg Vector13 SH_BETA; Vector8 SK_BETA; @@ -296,15 +281,15 @@ void NavEKF3_core::FuseSideslip() Vector24 H_BETA; // copy required states to local variable names - q0 = stateStruct.quat[0]; - q1 = stateStruct.quat[1]; - q2 = stateStruct.quat[2]; - q3 = stateStruct.quat[3]; - vn = stateStruct.velocity.x; - ve = stateStruct.velocity.y; - vd = stateStruct.velocity.z; - vwn = stateStruct.wind_vel.x; - vwe = stateStruct.wind_vel.y; + const ftype q0 = stateStruct.quat[0]; + const ftype q1 = stateStruct.quat[1]; + const ftype q2 = stateStruct.quat[2]; + const ftype q3 = stateStruct.quat[3]; + const ftype vn = stateStruct.velocity.x; + const ftype ve = stateStruct.velocity.y; + const ftype vd = stateStruct.velocity.z; + const ftype vwn = stateStruct.wind_vel.x; + const ftype vwe = stateStruct.wind_vel.y; // calculate predicted wind relative velocity in NED vel_rel_wind.x = vn - vwn; From e15f72ce58b458f47db1ffc62b84c926a69973a9 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 11 Oct 2024 20:15:51 +1100 Subject: [PATCH 085/314] AP_DAL: document more replay messages --- libraries/AP_DAL/LogStructure.h | 31 +++++++++++++++++++++++-------- 1 file changed, 23 insertions(+), 8 deletions(-) diff --git a/libraries/AP_DAL/LogStructure.h b/libraries/AP_DAL/LogStructure.h index 873251c7dd63e..c8ef343584438 100644 --- a/libraries/AP_DAL/LogStructure.h +++ b/libraries/AP_DAL/LogStructure.h @@ -40,19 +40,24 @@ LOG_RWOH_MSG, \ LOG_RBOH_MSG -// Replay Data Structures +// @LoggerMessage: RFRH +// @Description: Replay FRame Header struct log_RFRH { uint64_t time_us; uint32_t time_flying_ms; uint8_t _end; }; +// @LoggerMessage: RFRF +// @Description: Replay FRame data - Finished frame struct log_RFRF { uint8_t frame_types; uint8_t core_slow; uint8_t _end; }; +// @LoggerMessage: RFRN +// @Description: Replay FRame - aNother frame header struct log_RFRN { int32_t lat; int32_t lng; @@ -73,7 +78,8 @@ struct log_RFRN { uint8_t _end; }; -// Replay Data Structure - Inertial Sensor header +// @LoggerMessage: RISH +// @Description: Replay Inertial Sensor header struct log_RISH { uint16_t loop_rate_hz; uint8_t first_usable_gyro; @@ -84,7 +90,8 @@ struct log_RISH { uint8_t _end; }; -// Replay Data Structure - Inertial Sensor instance data +// @LoggerMessage: RISI +// @Description: Replay Inertial Sensor instance data struct log_RISI { Vector3f delta_velocity; Vector3f delta_angle; @@ -99,14 +106,14 @@ struct log_RISI { }; // @LoggerMessage: REV2 -// @Description: Replay Event +// @Description: Replay Event (EKF2) struct log_REV2 { uint8_t event; uint8_t _end; }; // @LoggerMessage: RSO2 -// @Description: Replay Set Origin event +// @Description: Replay Set Origin event (EKF2) struct log_RSO2 { int32_t lat; int32_t lng; @@ -115,7 +122,7 @@ struct log_RSO2 { }; // @LoggerMessage: RWA2 -// @Description: Replay set-default-airspeed event +// @Description: Replay set-default-airspeed event (EKF2) struct log_RWA2 { float airspeed; float uncertainty; @@ -123,8 +130,14 @@ struct log_RWA2 { }; // same structures for EKF3 +// @LoggerMessage: REV3 +// @Description: Replay Event (EKF3) #define log_REV3 log_REV2 +// @LoggerMessage: RSO3 +// @Description: Replay Set Origin event (EKF3) #define log_RSO3 log_RSO2 +// @LoggerMessage: RWA3 +// @Description: Replay set-default-airspeed event (EKF3) #define log_RWA3 log_RWA2 // @LoggerMessage: REY3 @@ -220,14 +233,16 @@ struct log_RGPJ { uint8_t _end; }; -// Replay Data Structure - Airspeed Sensor header +// @LoggerMessage: RASH +// @Description: Replay Airspeed Sensor Header struct log_RASH { uint8_t num_sensors; uint8_t primary; uint8_t _end; }; -// Replay Data Structure - Airspeed Sensor instance +// @LoggerMessage: RASI +// @Description: Replay Airspeed Sensor Instance data struct log_RASI { float airspeed; uint32_t last_update_ms; From 02fd1f356198578bd03850ac8ffbd1d28142a0d7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 12 Oct 2024 10:56:08 +1100 Subject: [PATCH 086/314] AP_Scripting: use cached in AHRS_switch example and use EKF2/EKF3, more likely to be useful --- libraries/AP_Scripting/examples/AHRS_switch.lua | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/libraries/AP_Scripting/examples/AHRS_switch.lua b/libraries/AP_Scripting/examples/AHRS_switch.lua index a9f06c5a57b1a..72d85703a0608 100644 --- a/libraries/AP_Scripting/examples/AHRS_switch.lua +++ b/libraries/AP_Scripting/examples/AHRS_switch.lua @@ -1,18 +1,21 @@ --- switch between DCM and EKF3 on a switch +-- switch between EKF2 and EKF3 on a switch ----@diagnostic disable: need-check-nil - -local scripting_rc1 = rc:find_channel_for_option(300) +local AUX_FUNCTION_NUM = 300 local EKF_TYPE = Parameter('AHRS_EKF_TYPE') function update() - local sw_pos = scripting_rc1:get_aux_switch_pos() - if sw_pos == 0 then + local sw_pos = rc:get_aux_cached(AUX_FUNCTION_NUM) + if not sw_pos then + return update, 100 + end + if sw_pos == 2 then EKF_TYPE:set(3) else - EKF_TYPE:set(0) + EKF_TYPE:set(2) end return update, 100 end +gcs:send_text(0, "Loaded AHRS switch for EKF3/EKF2") + return update() From dc898e42dd95bc1d9f2045d5e0a79135152e151f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 13 Oct 2024 16:44:29 +1100 Subject: [PATCH 087/314] Plane: document date of conversion code addition --- ArduPlane/system.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp index b5d412d5fc940..5aabf77331ca0 100644 --- a/ArduPlane/system.cpp +++ b/ArduPlane/system.cpp @@ -16,6 +16,7 @@ void Plane::init_ardupilot() pitchController.convert_pid(); // initialise rc channels including setting mode + // CONVERSION: Added for upgrade to ArduPlane 4.2, Sep 2021 #if HAL_QUADPLANE_ENABLED rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, (quadplane.enabled() && quadplane.option_is_set(QuadPlane::OPTION::AIRMODE_UNUSED) && (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr)) ? RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE : RC_Channel::AUX_FUNC::ARMDISARM); #else From ced25ec0d76c18f507aa10e1fdfc1c7f6024b093 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 10 Sep 2024 12:59:20 +1000 Subject: [PATCH 088/314] Tools: remove use of python (as opposed to python3) --- Tools/autotest/bisect-helper.py | 2 +- .../install-prereqs-windows-andAPMSource.ps1 | 2 +- Tools/environment_install/install-prereqs-windows.ps1 | 2 +- Tools/scripts/build_appveyor.sh | 2 +- Tools/scripts/filter_size_compare_branches_csv.py | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Tools/autotest/bisect-helper.py b/Tools/autotest/bisect-helper.py index 3858a53fb6b3a..90f74dec69ed1 100755 --- a/Tools/autotest/bisect-helper.py +++ b/Tools/autotest/bisect-helper.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 '''A helper script for bisecting common problems when working with ArduPilot diff --git a/Tools/environment_install/install-prereqs-windows-andAPMSource.ps1 b/Tools/environment_install/install-prereqs-windows-andAPMSource.ps1 index 2076ce1f588d6..5cc7735a5b0f2 100644 --- a/Tools/environment_install/install-prereqs-windows-andAPMSource.ps1 +++ b/Tools/environment_install/install-prereqs-windows-andAPMSource.ps1 @@ -19,7 +19,7 @@ Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i - Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/pip3.7 /usr/bin/pip'" Write-Output "Downloading extra Python packages (5/8)" -Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'" +Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'python3.7 -m pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'" Write-Output "Downloading APM source (6/8)" Copy-Item "APM_install.sh" -Destination "C:\cygwin64\home" diff --git a/Tools/environment_install/install-prereqs-windows.ps1 b/Tools/environment_install/install-prereqs-windows.ps1 index 15bac628949e8..543f1370c9d0b 100644 --- a/Tools/environment_install/install-prereqs-windows.ps1 +++ b/Tools/environment_install/install-prereqs-windows.ps1 @@ -19,7 +19,7 @@ Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i - Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/pip3.7 /usr/bin/pip'" Write-Output "Downloading extra Python packages (5/7)" -Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'" +Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'python3.7 -m pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'" Write-Output "Installing ARM GCC Compiler 10-2020-Q4-Major (6/7)" & $PSScriptRoot\gcc-arm-none-eabi-10-2020-q4-major-win32.exe /S /P /R diff --git a/Tools/scripts/build_appveyor.sh b/Tools/scripts/build_appveyor.sh index d392bbe4e041d..e06ef2591ac52 100755 --- a/Tools/scripts/build_appveyor.sh +++ b/Tools/scripts/build_appveyor.sh @@ -18,7 +18,7 @@ cd /cygdrive/c/work ./waf configure --board sitl - /usr/bin/python waf -j4 copter plane rover heli sub + python3 waf -j4 copter plane rover heli sub # map to the names that MissionPlanner expects cp /cygdrive/c/work/build/sitl/bin/ardurover.exe /cygdrive/c/work/sitl/Rover.elf diff --git a/Tools/scripts/filter_size_compare_branches_csv.py b/Tools/scripts/filter_size_compare_branches_csv.py index 8030608c5e747..aa42fa2a097dc 100755 --- a/Tools/scripts/filter_size_compare_branches_csv.py +++ b/Tools/scripts/filter_size_compare_branches_csv.py @@ -1,4 +1,4 @@ -#!/usr/bin/python +#!/usr/bin/env python3 import argparse import csv From cbed802ff6bdcf8bac9323f4a42a7f15fb0a28ee Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 2 Oct 2024 16:59:13 +1000 Subject: [PATCH 089/314] .github: remove use of python (as opposed to python3) --- .github/workflows/cygwin_build.yml | 4 ++-- .github/workflows/esp32_build.yml | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml index 39b1051577526..36a76dd1d6674 100644 --- a/.github/workflows/cygwin_build.yml +++ b/.github/workflows/cygwin_build.yml @@ -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 index d503ca6ca9498..e8101d34b1a05 100644 --- 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 From b68427a406ace78d03a37a75ed2eb66003581e44 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 2 Oct 2024 20:48:11 +1000 Subject: [PATCH 090/314] waf: reference commit using python3 for waf-light --- modules/waf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/waf b/modules/waf index b25b5c7d98c50..35eadbb64e205 160000 --- a/modules/waf +++ b/modules/waf @@ -1 +1 @@ -Subproject commit b25b5c7d98c502b07976740b0a65b9f39948c292 +Subproject commit 35eadbb64e2052099a853b571e507c33032b392c From 3ec92731d464aca6451e6447b30901fbea6839c6 Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Mon, 7 Oct 2024 18:33:10 -0700 Subject: [PATCH 091/314] AP_Temperature: fix MCP9600 i2c address and TEMP9 index --- .../AP_TemperatureSensor.cpp | 2 +- .../AP_TemperatureSensor_MCP9600.cpp | 21 +++++-------------- 2 files changed, 6 insertions(+), 17 deletions(-) diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp index 377f303e6c2b5..8b0f75b6782eb 100644 --- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp +++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp @@ -139,7 +139,7 @@ const AP_Param::GroupInfo AP_TemperatureSensor::var_info[] = { // @Group: 9_ // @Path: AP_TemperatureSensor_Analog.cpp - AP_SUBGROUPVARPTR(drivers[8], "9_", 26, AP_TemperatureSensor, backend_var_info[8]), + AP_SUBGROUPVARPTR(drivers[8], "9_", 27, AP_TemperatureSensor, backend_var_info[8]), #endif AP_GROUPEND diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_MCP9600.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_MCP9600.cpp index c0c91382cee13..d8be71f92ef77 100644 --- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_MCP9600.cpp +++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_MCP9600.cpp @@ -47,7 +47,7 @@ static const uint8_t MCP9601_WHOAMI = 0x41; #define MCP9600_ADDR_LOW 0x60 // ADDR pin pulled low -#define MCP9600_ADDR_HIGH 0x66 // ADDR pin pulled high +#define MCP9600_ADDR_HIGH 0x67 // ADDR pin pulled high #define AP_TemperatureSensor_MCP9600_UPDATE_INTERVAL_MS 500 #define AP_TemperatureSensor_MCP9600_SCALE_FACTOR (0.0625f) @@ -56,10 +56,6 @@ static const uint8_t MCP9601_WHOAMI = 0x41; #define AP_TemperatureSensor_MCP9600_ADDR_DEFAULT MCP9600_ADDR_LOW #endif -#ifndef AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS -#define AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1 -#endif - #ifndef AP_TemperatureSensor_MCP9600_Filter #define AP_TemperatureSensor_MCP9600_Filter 2 // can be values 0 through 7 where 0 is no filtering (fast) and 7 is lots of smoothing (very very slow) #endif @@ -68,13 +64,6 @@ void AP_TemperatureSensor_MCP9600::init() { constexpr char name[] = "MCP9600"; -#if AP_TemperatureSensor_MCP9600_ENFORCE_KNOWN_VALID_I2C_ADDRESS - // I2C Address: Default to using MCP9600_ADDR_LOW if it's out of range - if ((_params.bus_address < MCP9600_ADDR_LOW) || ( _params.bus_address > MCP9600_ADDR_HIGH)) { - _params.bus_address.set(MCP9600_ADDR_LOW); - } -#endif - _dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address)); if (!_dev) { // device not found @@ -137,14 +126,14 @@ bool AP_TemperatureSensor_MCP9600::read_temperature(float &temperature) if ((data[0] & MCP9600_CMD_STATUS_UPDATE_READY) == 0) { return false; } - // clear update bit: - if (!_dev->write_register(0x04, data[0] & ~MCP9600_CMD_STATUS_UPDATE_READY)) { - return false; - } // read temperature: if (!_dev->read_registers(MCP9600_CMD_HOT_JUNCT_TEMP, data, 2)) { return false; } + // clear update bit: + if (!_dev->write_register(0x04, data[0] & ~MCP9600_CMD_STATUS_UPDATE_READY)) { + return false; + } // scale temperature: temperature = int16_t(UINT16_VALUE(data[0], data[1])) * AP_TemperatureSensor_MCP9600_SCALE_FACTOR; From 8053c409938919ed79e58048daec3b1afb71caa2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 15 Oct 2024 08:08:18 +1100 Subject: [PATCH 092/314] AP_Logger: mark CSRV non-streaming the rate of CAN servo messages is controlled by the servo. Having this streaming means we can miss logging when there is more than one CAN servo. In the future we will move to holding the CAN servo data in a data structure like we do for ESCs, and then log at a regular rate, but for now this fixes the issue --- libraries/AP_Logger/LogStructure.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index a4f853e240257..ae5197297c373 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -1218,7 +1218,7 @@ LOG_STRUCTURE_FROM_AVOIDANCE \ "TERR","QBLLHffHHf","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded,ROfs", "s-DU-mm--m", "F-GG-00--0", true }, \ LOG_STRUCTURE_FROM_ESC_TELEM \ { LOG_CSRV_MSG, sizeof(log_CSRV), \ - "CSRV","QBfffBfffffB","TimeUS,Id,Pos,Force,Speed,Pow,PosCmd,V,A,MotT,PCBT,Err", "s#---%dvAOO-", "F-000000000-", true }, \ + "CSRV","QBfffBfffffB","TimeUS,Id,Pos,Force,Speed,Pow,PosCmd,V,A,MotT,PCBT,Err", "s#---%dvAOO-", "F-000000000-", false }, \ { LOG_PIDR_MSG, sizeof(log_PID), \ "PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS, true }, \ { LOG_PIDP_MSG, sizeof(log_PID), \ From 84a5cc69a6c6d99aeb3f894f44b04a9cb02a5fc2 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 7 Oct 2024 16:30:48 +0900 Subject: [PATCH 093/314] Plane: 4.5.7 release notes --- ArduPlane/ReleaseNotes.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt index 22dae4c23ce74..e8699fa5c9320 100644 --- a/ArduPlane/ReleaseNotes.txt +++ b/ArduPlane/ReleaseNotes.txt @@ -1,5 +1,11 @@ ArduPilot Plane Release Notes: ------------------------------------------------------------------ +Release 4.5.7 08 Oct 2024 + +Changes from 4.5.7-beta1 + +1) Reverted Septentrio GPS sat count correctly drops to zero when 255 received +------------------------------------------------------------------ Release 4.5.7-beta1 26 Sep 2024 Changes from 4.5.6 From 996b36531b400b8981f5f3d6bf8fc1f88235b37c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 14 Oct 2024 12:10:26 +1100 Subject: [PATCH 094/314] AP_DroneCAN: force DroneCAN zero throttle when disarmed if a user has set CAN_D1_UC_ESC_RV which is the mask of ESCs that are reversible we were sending -8191 when disarmed, which is full reverse throttle. This is the correct output when armed as it is treated as full reverse at "PWM" 1000 and stopped at 1500, but when disarmed we should always send zero or the user may find all ESCs spin up at full reverse when disarmed if the ESC supports reverse throttle (which is rare in DroneCAN ESCs) --- libraries/AP_DroneCAN/AP_DroneCAN.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp index 59174a778b7fe..49aace0952631 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp +++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp @@ -844,9 +844,9 @@ void AP_DroneCAN::SRV_send_esc(void) // if at least one is active (update) we need to send to all if (active_esc_num > 0) { k = 0; - + const bool armed = hal.util->get_soft_armed(); for (uint8_t i = esc_offset; i < max_esc_num && k < 20; i++) { - if ((((uint32_t) 1) << i) & _ESC_armed_mask) { + if (armed && ((((uint32_t) 1U) << i) & _ESC_armed_mask)) { esc_msg.cmd.data[k] = scale_esc_output(i); } else { esc_msg.cmd.data[k] = static_cast(0); @@ -897,9 +897,9 @@ void AP_DroneCAN::SRV_send_esc_hobbywing(void) // if at least one is active (update) we need to send to all if (active_esc_num > 0) { k = 0; - + const bool armed = hal.util->get_soft_armed(); for (uint8_t i = esc_offset; i < max_esc_num && k < 20; i++) { - if ((((uint32_t) 1) << i) & _ESC_armed_mask) { + if (armed && ((((uint32_t) 1U) << i) & _ESC_armed_mask)) { esc_msg.command.data[k] = scale_esc_output(i); } else { esc_msg.command.data[k] = static_cast(0); From b34417f683c73bf57c4d79f9d07cdff66d22fa89 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 8 Oct 2024 12:54:03 +1100 Subject: [PATCH 095/314] GCS_MAVLink: raise number of MAVLink ports with CAN serial ports and network serial ports sometimes need more --- libraries/GCS_MAVLink/GCS_MAVLink.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h index 36e0cd3fb0851..b59ba9d93c311 100644 --- a/libraries/GCS_MAVLink/GCS_MAVLink.h +++ b/libraries/GCS_MAVLink/GCS_MAVLink.h @@ -15,9 +15,9 @@ #define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size) #define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan) -#if AP_NETWORKING_ENABLED -// allow 7 telemetry ports with networking -#define MAVLINK_COMM_NUM_BUFFERS 7 +#if BOARD_FLASH_SIZE > 1024 +// allow 8 telemetry ports, allowing for extra networking or CAN ports +#define MAVLINK_COMM_NUM_BUFFERS 8 #else // allow five telemetry ports #define MAVLINK_COMM_NUM_BUFFERS 5 From 81768b26ff447c7a8684c75f03fe6db941846b92 Mon Sep 17 00:00:00 2001 From: ZeroOne-Aero Date: Sat, 12 Oct 2024 17:26:27 +0800 Subject: [PATCH 096/314] hwdef: added ZeroOneX6 picture upload ZeroOneX6 picture --- .../AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md | 1 + .../hwdef/ZeroOneX6/ZeroOneX6.png | Bin 0 -> 572728 bytes 2 files changed, 1 insertion(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.png diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md index ff9a42c1f4e20..dac9f2daadc34 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md @@ -1,5 +1,6 @@ ## ZeroOneX6 Flight Controller The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications. +![ZeroOneX6](ZeroOneX6.png "ZeroOneX6") ## Features: - Separate flight control core design. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.png b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.png new file mode 100644 index 0000000000000000000000000000000000000000..a2060ec4a1b70e98eea16b98192a459392484daa GIT binary patch literal 572728 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z(cSIcH(q`5YB}NeN9QvC$*ZfYXNSY|XjxC4E~j;=c>(TAF8$5j%?hj!OEu8bR<1LZ zerA9H;^~mri2143-7m?fhTI-+Z&OMCH>LDy%F{1Ddi?O$A3S*UYnPW7zn4>u?B|+_ zg#gMIN$!K`j&>LNs~pa}ZDvkJ04?<^bCs2DwT;+W1m5N+@xfS@Q(xtCdE`8U9jT4Q z1ItX_+JRQ6*CC?i39up%;d(|>&91Qu3Sg9cq#Vc70ZRg2fxwCtfvDeE%s1#8+7|>4 zcrr2e5AEqx_xLbjaR5a0C#SkH3wB32Sm9r|3Q8Pb1wgz#mjFbdVg)FoA0whM5C%T! z*#Tp?KC~}Hm;uv(e%RzT`?*6@&VP)}$0}ig&#`{GTt2O2I=zx`UN)YfPXOH$heY=_;^8y19Lwn8x-gap>T{yD1;iFy~q#) z@I(TlfVYdZ4I=n0qBFZ{B?S_V)G<9Z$y}$|ZmQ zoag6hPLB_V!^JdRe3Ga9+qO9ufnXz=O8W0cK!2~~Z$vD2QHP@bl~B_5Kp?26q@3v6o6h)Cq#N>*D~x`r7Y){P7@YCYC5fguz`uVuAty`%Po} zM8S8Yf5`+icA2Ohz%y9#h|k{#z^I6OLFCZ{ddCCA!5!^xz&8R36a*jPHefzlDbNul zHb`!M)k(`}SdveX>A&ZAlBpital}iFEVgfW-9BMeDKM#~suVmBN(Z%qqPhsbRA6fr zZocgD)2tg1$Gww2m7}th7LI@f;MRyl>Hl5{<^<;)EcY#dzRcz8H@7!`G?#pFd%XKo zX`Zic@9v(zd;9L2DW`|WyW`c>_0?4=<+OaJJk4{OkB5A?KF-I>2iFh&%i(bN&8w@c z-^){ed3|;LTbGxY|9i^Q?{8TtQw8t{Ttr#Y=u>+Po-zmdN3$^!;0))ma&_YkR5kvG)mdjf!Hzj7T1%v}Zo zF-GrxeC78zUOECj0B#PT@_2&(ae*1(9|LO`1Hj#J1ACjCe`bFT`qJ7Hi52U+ls6G! zX8W^;7eYk0`PXs8cXYqAFBoVnef-&v?nUgCzp#0c#E9*SJD_reD>N|o&x`XF-skQ+ zSJg+2r^$`VV2LJ1nBoM3?7=hCZ@7>BiT2vBK#U29QX#E3&R-YD(lijb)HQMooh5L%(7fhPe{4%rR31LnPb_HqwYo%Pa+r3@$jMF5n= zNsR-+Q%wj!w_W1r(HmTC=%sb(k#D_hA5tWNy29>928#5M7F zu|vgq+F5ymsf8g{il39yW$R!4Yvn~7Fy6vRZG6;bFa=b4HKbHip!_)pIN#Xsk|NNa zPxJL$=Ig_BxL!BMrgWEcUKT$tOD>l=O>d_uziOKw>&**6v6LTr>A?Q5JPh;=fmp%- zL*ML%o5WFX+e#0NA8$5IK!B6jT-M~K=5%M6d`Ae75a(FNbMr|+c1(UU5+m37u-8P{ zk5I-D0q+1P@QRQlEJ!?>T_6G^Ho3=C7oq>^eWQpk5)*;ByS{c{nt-4%!RzEj08w%<{!=3r+M0 Y|A9GX7@eUJhX4Qo07*qoM6N<$f?5NjA^-pY literal 0 HcmV?d00001 From 8d3dbd7929a3543f1ede24b95e59cd0f2adeb850 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Tue, 15 Oct 2024 17:41:39 +0800 Subject: [PATCH 097/314] Tools: remove curl from installation as its not needed --- Tools/environment_install/install-prereqs-mac.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh index 7c0701b38a161..0703782d2e5b3 100755 --- a/Tools/environment_install/install-prereqs-mac.sh +++ b/Tools/environment_install/install-prereqs-mac.sh @@ -106,7 +106,7 @@ find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete # brew update randomly failing on CI, so ignore errors: brew update -brew install --force --overwrite gawk curl coreutils wget +brew install --force --overwrite gawk coreutils wget PIP=pip if maybe_prompt_user "Install python using pyenv [N/y]?" ; then From 94fa394eb9694922f7c949cc1b70887245ddcd37 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 7 Oct 2024 16:29:37 +0900 Subject: [PATCH 098/314] Tracker: 4.5.7 release notes --- AntennaTracker/ReleaseNotes.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt index ff6c49b158d24..972964d76c3e7 100644 --- a/AntennaTracker/ReleaseNotes.txt +++ b/AntennaTracker/ReleaseNotes.txt @@ -1,5 +1,11 @@ Antenna Tracker Release Notes: ------------------------------------------------------------------ +Release 4.5.7 08 Oct 2024 + +Changes from 4.5.7-beta1 + +1) Reverted Septentrio GPS sat count correctly drops to zero when 255 received +------------------------------------------------------------------ Release 4.5.7-beta1 26 Sep 2024 Changes from 4.5.6 From 21980c7a3789915188967b7781df921dac243c06 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 7 Oct 2024 16:30:12 +0900 Subject: [PATCH 099/314] Rover: 4.5.7 release notes --- Rover/ReleaseNotes.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt index 4566f6d0bbacd..792f86077d3b0 100644 --- a/Rover/ReleaseNotes.txt +++ b/Rover/ReleaseNotes.txt @@ -1,5 +1,11 @@ Rover Release Notes: ------------------------------------------------------------------ +Release 4.5.7 08 Oct 2024 + +Changes from 4.5.7-beta1 + +1) Reverted Septentrio GPS sat count correctly drops to zero when 255 received +------------------------------------------------------------------ Release 4.5.7-beta1 26 Sep 2024 Changes from 4.5.6 From 775fab505dbafc115ea452c637ac4c91b264ad19 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 7 Oct 2024 16:30:30 +0900 Subject: [PATCH 100/314] Copter: 4.5.7 release notes --- ArduCopter/ReleaseNotes.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 870aa8a30f776..2179e053b3c9b 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,11 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Release 4.5.7 08 Oct 2024 + +Changes from 4.5.7-beta1 + +1) Reverted Septentrio GPS sat count correctly drops to zero when 255 received +------------------------------------------------------------------ Release 4.5.7-beta1 26 Sep 2024 Changes from 4.5.6 From 016a81bc1446cb908a67e14199c2894032863379 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 13 Aug 2024 16:46:57 +0200 Subject: [PATCH 101/314] Plane: Reset TECS along with other controllers --- ArduPlane/mode.cpp | 3 +++ ArduPlane/mode.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp index d9fec93dff4f8..e4f97acc2c089 100644 --- a/ArduPlane/mode.cpp +++ b/ArduPlane/mode.cpp @@ -255,6 +255,9 @@ void Mode::reset_controllers() // reset steering controls plane.steer_state.locked_course = false; plane.steer_state.locked_course_err = 0; + + // reset TECS + plane.TECS_controller.reset(); } bool Mode::is_taking_off() const diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h index c26a1233a87b7..230b372499ff4 100644 --- a/ArduPlane/mode.h +++ b/ArduPlane/mode.h @@ -81,7 +81,7 @@ class Mode // returns true if the vehicle can be armed in this mode bool pre_arm_checks(size_t buflen, char *buffer) const; - // Reset rate and steering controllers + // Reset rate and steering and TECS controllers void reset_controllers(); // From e9cdc46f55a7777e2a42b9d2586ab43c9a723219 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Fri, 11 Oct 2024 12:25:38 +0200 Subject: [PATCH 102/314] Plane: Refactored quadplane's SLT_Transition::active_frwd() --- ArduPlane/quadplane.cpp | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index eb6a16b47c76c..de820ee42091c 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -4374,9 +4374,20 @@ bool SLT_Transition::allow_update_throttle_mix() const bool SLT_Transition::active_frwd() const { - return quadplane.assisted_flight && // We need to be in assisted flight... - ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)) // ... and a transition must be active... - && !quadplane.in_vtol_airbrake(); // ... but not executing an QPOS_AIRBRAKE maneuver during an automated landing. + // We need to be in assisted flight... + if (!quadplane.assisted_flight) { + return false; + } + // ... and a transition must be active... + if (!((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER))) { + return false; + } + // ... but not executing a QPOS_AIRBRAKE maneuver during an automated landing. + if (quadplane.in_vtol_airbrake()) { + return false; + } + + return true; } /* From 0ddaae5cb6a9ec2d3bddd0168e67845b574b81be Mon Sep 17 00:00:00 2001 From: Hayden Donald Date: Tue, 8 Oct 2024 09:10:26 +1100 Subject: [PATCH 103/314] AP_Scripting: Add mcu_voltage Add analog:mcu_voltage() to get a reading of the mcu voltage --- libraries/AP_Scripting/docs/docs.lua | 4 ++++ libraries/AP_Scripting/generator/description/bindings.desc | 2 ++ 2 files changed, 6 insertions(+) diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index 25f5552b3a0e9..059d6ce83a9e8 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -1942,6 +1942,10 @@ analog = {} ---@return number -- MCU temperature function analog:mcu_temperature() end +-- return The current MCU voltage +---@return number -- MCU voltage +function analog:mcu_voltage() end + -- desc ---@return AP_HAL__AnalogSource_ud|nil function analog:channel() end diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index 59b356065bdc2..8c6408efee420 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -647,6 +647,8 @@ singleton hal.analogin literal singleton hal.analogin method channel AP_HAL::AnalogSource ANALOG_INPUT_NONE'literal singleton hal.analogin method mcu_temperature float singleton hal.analogin method mcu_temperature depends HAL_WITH_MCU_MONITORING +singleton hal.analogin method mcu_voltage float +singleton hal.analogin method mcu_voltage depends HAL_WITH_MCU_MONITORING include AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI singleton AP_MotorsMatrix_Scripting_Dynamic depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI From 145cc4bb260c56fb92632886a624bc06b56b0e4d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 16 Oct 2024 08:49:42 +1100 Subject: [PATCH 104/314] AP_Scripting: example to test ESC slew limit can be used to calculate equivalent cutoff frequency --- .../AP_Scripting/examples/ESC_slew_rate.lua | 54 +++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 libraries/AP_Scripting/examples/ESC_slew_rate.lua diff --git a/libraries/AP_Scripting/examples/ESC_slew_rate.lua b/libraries/AP_Scripting/examples/ESC_slew_rate.lua new file mode 100644 index 0000000000000..5b1ba074de0d0 --- /dev/null +++ b/libraries/AP_Scripting/examples/ESC_slew_rate.lua @@ -0,0 +1,54 @@ +--[[ + run an ESC with a sinisoidal demand, with settable limits and frequency +--]] + +local PARAM_TABLE_KEY = 136 +local PARAM_TABLE_PREFIX = "ETEST_" + +-- add a parameter and bind it to a variable +function bind_add_param(name, idx, default_value) + assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name)) + return Parameter(PARAM_TABLE_PREFIX .. name) +end + +-- setup script specific parameters +assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 10), 'could not add param table') + +local ETEST_CHAN = bind_add_param('CHAN', 1, 0) +local ETEST_PCT = bind_add_param('PCT', 2, 100) +local ETEST_PWM_MIN = bind_add_param('PWM_MIN', 3, 1000) +local ETEST_PWM_MAX = bind_add_param('PWM_MAX', 4, 2000) +local ETEST_FREQ = bind_add_param('FREQ', 5, 1) +local ETEST_WTYPE = bind_add_param('WTYPE', 6, 0) + +-- local WTYPE_SIN = 0 +local WTYPE_SQUARE = 1 + +function update() + local chan = ETEST_CHAN:get() + local freq = ETEST_FREQ:get() + if chan > 0 and freq > 0 then + local t = 0.001 * millis():tofloat() + local pi = 3.1415 + local out_sin = math.sin(pi * t * freq * 2.0) + if ETEST_WTYPE:get() == WTYPE_SQUARE then + if out_sin > 0 then + out_sin = 1 + else + out_sin = -1 + end + end + local output = out_sin * ETEST_PCT:get() * 0.01 + local pwm_min = ETEST_PWM_MIN:get() + local pwm_max = ETEST_PWM_MAX:get() + local pwm_mid = 0.5*(pwm_min+pwm_max) + local pwm = math.floor(pwm_mid + (pwm_max-pwm_mid) * output) + SRV_Channels:set_output_pwm_chan_timeout(chan-1, pwm, 100) + logger.write('ESLW', 'PWM,Freq', 'If', pwm, freq) + gcs:send_named_float('PWN',pwm) + gcs:send_named_float('FREQ',freq) + end + return update, 5 -- 200Hz +end + +return update() From a22e28cf020591109bf7cd79bb36b76a1ac4ba2f Mon Sep 17 00:00:00 2001 From: Alessandro Date: Tue, 15 Oct 2024 17:52:58 +0200 Subject: [PATCH 105/314] Tools: added name to GIT_Success.txt --- Tools/GIT_Test/GIT_Success.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt index c20eb0bb4cf0e..27838489ce850 100644 --- a/Tools/GIT_Test/GIT_Success.txt +++ b/Tools/GIT_Test/GIT_Success.txt @@ -203,3 +203,4 @@ Amr Tsuyoshi Arakawa Naveen Kumar Kilaparthi Amr Attia +Alessandro Martini From 8347a86d5952ea79b42a519d498fc77e4b979a6c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 20 Oct 2024 12:53:41 +1100 Subject: [PATCH 106/314] Tools: add --core to solution_status_change.py --- Tools/scripts/solution_status_change.py | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/Tools/scripts/solution_status_change.py b/Tools/scripts/solution_status_change.py index 4a052aa0e4d4a..4431b576eb8bc 100755 --- a/Tools/scripts/solution_status_change.py +++ b/Tools/scripts/solution_status_change.py @@ -17,8 +17,11 @@ class SolutionStatusChange(object): - def __init__(self, master): + def __init__(self, master, core=None): self.master = master + self.core = core + if self.core is not None: + self.core = set(self.core) def progress(self, text): '''emit text with possible timestamps etc''' @@ -53,13 +56,13 @@ def run(self): old_message_per_core = {} while True: m = self.conn.recv_match(type=desired_type) - if m.C != 0: - continue if m is None: break if m.C not in old_message_per_core: old_message_per_core[m.C] = m continue + if self.core is not None and m.C not in self.core: + continue current = old_message_per_core[m.C] if m.SS == current.SS: continue @@ -86,6 +89,9 @@ def run(self): if __name__ == '__main__': parser = optparse.OptionParser("solution-status-change.py [options]") + parser.add_option("", "--core", action="append", type="int", + default=[], help="core to show (default is all)") + (opts, args) = parser.parse_args() if len(args) < 1: @@ -94,5 +100,8 @@ def run(self): master = args[0] - tester = SolutionStatusChange(master) + if len(opts.core) == 0: + opts.core = None + + tester = SolutionStatusChange(master, core=opts.core) tester.run() From ef7e39e6c4b3f21d88c125859eaae6c1316deed9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?EREN=20MERT=20Y=C4=B0=C4=9E=C4=B0T?= Date: Wed, 16 Oct 2024 17:17:00 +0300 Subject: [PATCH 107/314] Tools: added name to GIT_Success.txt --- Tools/GIT_Test/GIT_Success.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt index 27838489ce850..13d517d005c22 100644 --- a/Tools/GIT_Test/GIT_Success.txt +++ b/Tools/GIT_Test/GIT_Success.txt @@ -204,3 +204,4 @@ Tsuyoshi Arakawa Naveen Kumar Kilaparthi Amr Attia Alessandro Martini +Eren Mert YİĞİT From 87ae3bccecf3ba6804562528bba1b31d136b6f1c Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 13:55:59 +0800 Subject: [PATCH 108/314] AP_HAL_ChibiOS: change name CubePilot-CANMod and -PPPGW to CubeNode --- .../defaults.parm | 0 .../hwdef-bl.dat | 2 +- .../{CubePilot-PPPGW => CubeNode-ETH}/hwdef.dat | 2 +- .../CubeNode_PinOut.pdf | Bin .../{CubePilot-CANMod => CubeNode}/hwdef-bl.dat | 0 .../{CubePilot-CANMod => CubeNode}/hwdef.dat | 16 +++++++++++++++- 6 files changed, 17 insertions(+), 3 deletions(-) rename libraries/AP_HAL_ChibiOS/hwdef/{CubePilot-PPPGW => CubeNode-ETH}/defaults.parm (100%) rename libraries/AP_HAL_ChibiOS/hwdef/{CubePilot-PPPGW => CubeNode-ETH}/hwdef-bl.dat (90%) rename libraries/AP_HAL_ChibiOS/hwdef/{CubePilot-PPPGW => CubeNode-ETH}/hwdef.dat (92%) rename libraries/AP_HAL_ChibiOS/hwdef/{CubePilot-CANMod => CubeNode}/CubeNode_PinOut.pdf (100%) rename libraries/AP_HAL_ChibiOS/hwdef/{CubePilot-CANMod => CubeNode}/hwdef-bl.dat (100%) rename libraries/AP_HAL_ChibiOS/hwdef/{CubePilot-CANMod => CubeNode}/hwdef.dat (88%) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/defaults.parm similarity index 100% rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/defaults.parm diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef-bl.dat similarity index 90% rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef-bl.dat index 183c98b57b6a7..6e6f3b172a874 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef-bl.dat @@ -1,4 +1,4 @@ -include ../CubePilot-CANMod/hwdef-bl.dat +include ../CubeNode/hwdef-bl.dat # Ethernet PC1 ETH_MDC ETH1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat similarity index 92% rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat index abf8516ffb6e1..b31cf596f206c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat @@ -1,4 +1,4 @@ -include ../CubePilot-CANMod/hwdef.dat +include ../CubeNode/hwdef.dat # we need RTS/CTS for the PPP link undef PE0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/CubeNode_PinOut.pdf b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/CubeNode_PinOut.pdf similarity index 100% rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/CubeNode_PinOut.pdf rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode/CubeNode_PinOut.pdf diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef-bl.dat similarity index 100% rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef-bl.dat rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef-bl.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat similarity index 88% rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat index f0d426ad8e10b..58464c44be778 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat @@ -70,12 +70,26 @@ define BOARD_PHY_ID MII_LAN8720_ID define BOARD_PHY_RMII define HAL_PERIPH_ENABLE_NETWORKING +# IMU +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PC12 SPI3_MOSI SPI3 +PG15 IMU_CS CS + +SPIDEV icm45686 SPI3 DEVID4 IMU_CS MODE0 24*MHZ 24*MHZ + +IMU Invensensev3 SPI:icm45686 ROTATION_NONE + +define HAL_PERIPH_ENABLE_IMU + +# Periph GCS +define HAL_GCS_ENABLED 1 + ################################# # AP_Periph - configurations specific to this App ################################# define HAL_BARO_ALLOW_INIT_NO_BARO -define AP_INERTIALSENSOR_ENABLED 0 define AP_NETWORKING_MAX_INSTANCES 4 From bb1a8a66b0ef35338909f8955bce6392cef735f0 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 13:57:11 +0800 Subject: [PATCH 109/314] bootloaders: update CubeNode bootloaders --- Tools/bootloaders/CubeNode-ETH_bl.bin | Bin 0 -> 101248 bytes Tools/bootloaders/CubeNode-ETH_bl.hex | 6331 +++++++++++++++++++++ Tools/bootloaders/CubeNode_bl.bin | Bin 0 -> 34204 bytes Tools/bootloaders/CubeNode_bl.hex | 2140 +++++++ Tools/bootloaders/CubePilot-CANMod_bl.bin | Bin 34012 -> 0 bytes Tools/bootloaders/CubePilot-CANMod_bl.hex | 2128 ------- Tools/bootloaders/CubePilot-PPPGW_bl.bin | Bin 101824 -> 0 bytes 7 files changed, 8471 insertions(+), 2128 deletions(-) create mode 100755 Tools/bootloaders/CubeNode-ETH_bl.bin create mode 100644 Tools/bootloaders/CubeNode-ETH_bl.hex create mode 100755 Tools/bootloaders/CubeNode_bl.bin create mode 100644 Tools/bootloaders/CubeNode_bl.hex delete mode 100755 Tools/bootloaders/CubePilot-CANMod_bl.bin delete mode 100644 Tools/bootloaders/CubePilot-CANMod_bl.hex delete mode 100755 Tools/bootloaders/CubePilot-PPPGW_bl.bin diff --git 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z$@b|CHq?r|7&{wQwaaz>(UiCNQZ4wv?x8u7R-*Px& z9Rz@p-3xvoKA=IpewL@1uhEq2Q_?16iqo^NB!BcETFz_2aQ|9bj;Vy@Y~DPJLVk`P zKGTWEwKtjVWxEMLo9Rz940D%U`0YKw^gLu_*j|QM*cLhpWu?8Ai1HwP}t&+6w-k}uBH@c zTVk=~&ov*()T&Yo|YTQZxUqQP1S zf*$8+_y<;3A-L@16#_dP#Bg40(JmDk1U}HRC0!sxcG#eh;w0>Y-ZJ?>mVkQT%w={s zJDkLf`KDZvd3;N8#<{u5iW9|{$g#QZaJoQC{J#MCJY|Z?J1)k~&l1?{@Do?b?}+8% zTLQBHrV@rv1t$~fzB8)dQuu8}{A=*7$5+DFKN$gs@Q<$@`sjya12=FUr5o)>{Y?HN M&ee|=@e=(02a&)c-v9sr From 3e88173847a48cbd9c65e76b4028e8c9ab5533ef Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 13:57:42 +0800 Subject: [PATCH 110/314] AP_Bootloader: change board name from CUBEPILOT_CANMOD to CUBENODE --- Tools/AP_Bootloader/board_types.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 9d0df7ac01493..b306e7615810c 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -194,7 +194,7 @@ AP_HW_SKYSTARSH7HD 1075 AP_HW_PixSurveyA1 1076 AP_HW_AEROFOX_AIRSPEED 1077 AP_HW_ATOMRCF405 1078 -AP_HW_CUBEPILOT_CANMOD 1079 +AP_HW_CUBENODE 1079 AP_HW_AEROFOX_PMU 1080 AP_HW_JHEMCUGF16F405 1081 AP_HW_SPEEDYBEEF4V3 1082 From 830de73e583868c02b547401fb67abd5d04c279f Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 13:58:54 +0800 Subject: [PATCH 111/314] AP_HAL_ChibiOS: add support for raw imu publishing in AP_Periph --- .../AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h | 5 ----- .../AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h | 10 +++++++--- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h index c3d8aa22c26b5..205a2002304d2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h @@ -15,11 +15,6 @@ #define HAL_GCS_ENABLED 0 #endif -// by default bootloaders don't use INS: -#ifndef AP_INERTIALSENSOR_ENABLED -#define AP_INERTIALSENSOR_ENABLED 0 -#endif - #define HAL_MAX_CAN_PROTOCOL_DRIVERS 0 // bootloader does not save temperature cals etc: diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h index 68d9a8914837b..9240bf000a226 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h @@ -266,9 +266,12 @@ #define RANGEFINDER_MAX_INSTANCES 1 #endif -// by default AP_Periphs don't use INS: -#ifndef AP_INERTIALSENSOR_ENABLED -#define AP_INERTIALSENSOR_ENABLED 0 +#ifndef HAL_ADSB_ENABLED +#define HAL_ADSB_ENABLED 0 +#endif + +#ifndef AP_AIS_ENABLED +#define AP_AIS_ENABLED 0 #endif // no fence by default in AP_Periph: @@ -347,6 +350,7 @@ #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN) #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC) #define HAL_VISUALODOM_ENABLED defined(HAL_PERIPH_ENABLE_VISUALODOM) +#define AP_INERTIALSENSOR_ENABLED defined(HAL_PERIPH_ENABLE_IMU) #ifndef AP_BOOTLOADER_ALWAYS_ERASE #define AP_BOOTLOADER_ALWAYS_ERASE 1 From 2cc72776925e8d5ab47880644822a31df1fe4032 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 13:59:27 +0800 Subject: [PATCH 112/314] AP_Scripting: fix build with both GCS and Scripting enabled --- libraries/AP_Scripting/generator/description/bindings.desc | 4 ++-- libraries/AP_Scripting/lua_bindings.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index 8c6408efee420..67c11a646019d 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -284,7 +284,7 @@ singleton AP_Relay method toggle void uint8_t 0 AP_RELAY_NUM_RELAYS singleton AP_Relay method get uint8_t uint8_t 0 AP_RELAY_NUM_RELAYS include GCS_MAVLink/GCS.h -singleton GCS depends HAL_GCS_ENABLED +singleton GCS depends (HAL_GCS_ENABLED && !defined(HAL_BUILD_AP_PERIPH)) singleton GCS rename gcs singleton GCS method send_text void MAV_SEVERITY'enum MAV_SEVERITY_EMERGENCY MAV_SEVERITY_DEBUG "%s"'literal string singleton GCS method set_message_interval MAV_RESULT'enum uint8_t 0 MAVLINK_COMM_NUM_BUFFERS uint32_t'skip_check int32_t -1 INT32_MAX @@ -970,7 +970,7 @@ global manual dirlist lua_dirlist 1 2 global manual remove lua_removefile 1 3 global manual print lua_print 1 0 -singleton mavlink depends HAL_GCS_ENABLED +singleton mavlink depends (HAL_GCS_ENABLED && !defined(HAL_BUILD_AP_PERIPH)) singleton mavlink manual init lua_mavlink_init 2 0 singleton mavlink manual register_rx_msgid lua_mavlink_register_rx_msgid 1 1 singleton mavlink manual send_chan lua_mavlink_send_chan 3 1 diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp index 0004c6c3f3864..1c7db4a2df10f 100644 --- a/libraries/AP_Scripting/lua_bindings.cpp +++ b/libraries/AP_Scripting/lua_bindings.cpp @@ -1165,7 +1165,7 @@ void lua_abort() #endif } -#if HAL_GCS_ENABLED +#if (HAL_GCS_ENABLED && !defined(HAL_BUILD_AP_PERIPH)) /* implement gcs:command_int() access to MAV_CMD_xxx commands */ From b05a6c00b691f1b1fcbe14f675791c292a797b3a Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 13 Oct 2024 14:00:04 +0800 Subject: [PATCH 113/314] AP_Periph: add support for publishing raw imu data --- Tools/AP_Periph/AP_Periph.cpp | 9 ++++++ Tools/AP_Periph/AP_Periph.h | 9 ++++++ Tools/AP_Periph/Parameters.cpp | 14 ++++++++++ Tools/AP_Periph/Parameters.h | 6 ++++ Tools/AP_Periph/imu.cpp | 50 ++++++++++++++++++++++++++++++++++ 5 files changed, 88 insertions(+) create mode 100644 Tools/AP_Periph/imu.cpp diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp index b952d7ae2495c..2ab0e4437a616 100644 --- a/Tools/AP_Periph/AP_Periph.cpp +++ b/Tools/AP_Periph/AP_Periph.cpp @@ -168,6 +168,15 @@ void AP_Periph_FW::init() baro.init(); #endif +#ifdef HAL_PERIPH_ENABLE_IMU + if (g.imu_sample_rate) { + imu.init(g.imu_sample_rate); + if (imu.get_accel_count() > 0 || imu.get_gyro_count() > 0) { + hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Periph_FW::can_imu_update, void), "IMU_UPDATE", 16384, AP_HAL::Scheduler::PRIORITY_CAN, 0); + } + } +#endif + #ifdef HAL_PERIPH_ENABLE_BATTERY battery_lib.init(); #endif diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h index dc3f6754e4be3..0cbf5f419e792 100644 --- a/Tools/AP_Periph/AP_Periph.h +++ b/Tools/AP_Periph/AP_Periph.h @@ -6,6 +6,7 @@ #include #include #include +#include #include "SRV_Channel/SRV_Channel.h" #include #include @@ -173,6 +174,10 @@ class AP_Periph_FW { void send_relposheading_msg(); void can_baro_update(); void can_airspeed_update(); +#ifdef HAL_PERIPH_ENABLE_IMU + void can_imu_update(); +#endif + #ifdef HAL_PERIPH_ENABLE_RANGEFINDER void can_rangefinder_update(); #endif @@ -230,6 +235,10 @@ class AP_Periph_FW { AP_Baro baro; #endif +#ifdef HAL_PERIPH_ENABLE_IMU + AP_InertialSensor imu; +#endif + #ifdef HAL_PERIPH_ENABLE_RPM AP_RPM rpm_sensor; uint32_t rpm_last_update_ms; diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp index e0196045a972f..21826edd675fd 100644 --- a/Tools/AP_Periph/Parameters.cpp +++ b/Tools/AP_Periph/Parameters.cpp @@ -723,6 +723,20 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { GSCALAR(esc_extended_telem_rate, "ESC_EXT_TLM_RATE", AP_PERIPH_ESC_TELEM_RATE_DEFAULT / 10), #endif + +#ifdef HAL_PERIPH_ENABLE_IMU + // @Param: IMU_SAMPLE_RATE + // @DisplayName: IMU Sample Rate + // @Description: IMU Sample Rate + // @Range: 0 1000 + // @User: Standard + GSCALAR(imu_sample_rate, "INS_SAMPLE_RATE", 0), + + // @Group: INS_ + // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp + GOBJECT(imu, "INS", AP_InertialSensor), +#endif + AP_VAREND }; diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h index 6479b511687b7..c2df5d27f0d5e 100644 --- a/Tools/AP_Periph/Parameters.h +++ b/Tools/AP_Periph/Parameters.h @@ -97,6 +97,8 @@ class Parameters { k_param_rpm_msg_rate, k_param_esc_rate, k_param_esc_extended_telem_rate, + k_param_imu_sample_rate, + k_param_imu, }; AP_Int16 format_version; @@ -211,6 +213,10 @@ class Parameters { AP_Int8 efi_port; #endif +#ifdef HAL_PERIPH_ENABLE_IMU + AP_Int16 imu_sample_rate; +#endif + #if HAL_PERIPH_CAN_MIRROR AP_Int8 can_mirror_ports; #endif // HAL_PERIPH_CAN_MIRROR diff --git a/Tools/AP_Periph/imu.cpp b/Tools/AP_Periph/imu.cpp new file mode 100644 index 0000000000000..c0c5aaf40128d --- /dev/null +++ b/Tools/AP_Periph/imu.cpp @@ -0,0 +1,50 @@ +#include "AP_Periph.h" + +#ifdef HAL_PERIPH_ENABLE_IMU +#include + +extern const AP_HAL::HAL &hal; + +/* + update CAN magnetometer + */ +void AP_Periph_FW::can_imu_update(void) +{ + while (true) { + // sleep for a bit to avoid flooding the CPU + hal.scheduler->delay_microseconds(100); + + imu.update(); + + if (!imu.healthy()) { + continue; + } + + uavcan_equipment_ahrs_RawIMU pkt {}; + + Vector3f tmp; + imu.get_delta_velocity(tmp, pkt.integration_interval); + pkt.accelerometer_integral[0] = tmp.x; + pkt.accelerometer_integral[1] = tmp.y; + pkt.accelerometer_integral[2] = tmp.z; + + imu.get_delta_angle(tmp, pkt.integration_interval); + pkt.rate_gyro_integral[0] = tmp.x; + pkt.rate_gyro_integral[1] = tmp.y; + pkt.rate_gyro_integral[2] = tmp.z; + + tmp = imu.get_accel(); + pkt.accelerometer_latest[0] = tmp.x; + pkt.accelerometer_latest[1] = tmp.y; + pkt.accelerometer_latest[2] = tmp.z; + + uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_RAWIMU_MAX_SIZE]; + uint16_t total_size = uavcan_equipment_ahrs_RawIMU_encode(&pkt, buffer, !canfdout()); + canard_broadcast(UAVCAN_EQUIPMENT_AHRS_RAWIMU_SIGNATURE, + UAVCAN_EQUIPMENT_AHRS_RAWIMU_ID, + CANARD_TRANSFER_PRIORITY_HIGH, + &buffer[0], + total_size); + } +} +#endif // HAL_PERIPH_ENABLE_IMU From 76d6a88b7b08e4aaed0249ed11a1e331d13419f6 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Mon, 14 Oct 2024 11:54:41 +0800 Subject: [PATCH 114/314] AP_HAL_ChibiOS: properly enable periph IMU on CubeOrange-periph and heavy --- .../AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat | 3 +-- libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat index b2dfc2a1cf47e..2aeea2620be87 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat @@ -22,10 +22,9 @@ define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY +define HAL_PERIPH_ENABLE_IMU define HAL_LOGGING_ENABLED TRUE -define AP_INERTIALSENSOR_ENABLED 1 - # single GPS and compass for peripherals define GPS_MAX_RECEIVERS 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat index 1d094e4ebd2b5..8afdcc21f1f2a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat @@ -22,8 +22,8 @@ define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY +define HAL_PERIPH_ENABLE_IMU -define AP_INERTIALSENSOR_ENABLED 1 define AP_KDECAN_ENABLED 1 # single GPS and compass for peripherals From 9381404a9ff5b74ec35820b1d640f05122210d9d Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Tue, 15 Oct 2024 12:13:17 +0800 Subject: [PATCH 115/314] AP_InertialSensor: fix continuing after ins init fail in AP_Periph --- libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h | 2 ++ libraries/AP_InertialSensor/AP_InertialSensor.cpp | 6 +++++- libraries/AP_InertialSensor/AP_InertialSensor_config.h | 4 ++++ 3 files changed, 11 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h index 9240bf000a226..4954c9be656eb 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h @@ -351,6 +351,8 @@ #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC) #define HAL_VISUALODOM_ENABLED defined(HAL_PERIPH_ENABLE_VISUALODOM) #define AP_INERTIALSENSOR_ENABLED defined(HAL_PERIPH_ENABLE_IMU) +#define AP_INERTIALSENSOR_ALLOW_NO_SENSORS defined(HAL_PERIPH_ENABLE_IMU) +#define AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED 0 #ifndef AP_BOOTLOADER_ALWAYS_ERASE #define AP_BOOTLOADER_ALWAYS_ERASE 1 diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index f717d23b81d69..8c6f05fd1e678 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -854,9 +854,11 @@ void AP_InertialSensor::_start_backends() _backends[i]->start(); } +#if AP_INERTIALSENSOR_ALLOW_NO_SENSORS if (_gyro_count == 0 || _accel_count == 0) { AP_HAL::panic("INS needs at least 1 gyro and 1 accel"); } +#endif // clear IDs for unused sensor instances for (uint8_t i=get_accel_count(); i 0) { init_gyro(); } @@ -1324,8 +1326,10 @@ AP_InertialSensor::detect_backends(void) #else DEV_PRINTF("INS: unable to initialise driver\n"); GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "INS: unable to initialise driver"); + #if !AP_INERTIALSENSOR_ALLOW_NO_SENSORS AP_BoardConfig::config_error("INS: unable to initialise driver"); #endif + #endif } } diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_config.h b/libraries/AP_InertialSensor/AP_InertialSensor_config.h index d4775b7219133..5ad27d0300334 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_config.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_config.h @@ -51,6 +51,10 @@ #define AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED AP_INERTIALSENSOR_ENABLED #endif +#ifndef AP_INERTIALSENSOR_ALLOW_NO_SENSORS +#define AP_INERTIALSENSOR_ALLOW_NO_SENSORS 0 +#endif + #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED #ifndef HAL_INS_NUM_HARMONIC_NOTCH_FILTERS #define HAL_INS_NUM_HARMONIC_NOTCH_FILTERS 2 From b69087ae6142d7e8b1c8fe8d1e298806e1cecbf5 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Tue, 15 Oct 2024 17:59:25 +0800 Subject: [PATCH 116/314] AP_HAL_ChibiOS:CubeNode: undefine IMU for CubeNode_ETH --- libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat index b31cf596f206c..6da6a16c7a131 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat @@ -3,6 +3,8 @@ include ../CubeNode/hwdef.dat # we need RTS/CTS for the PPP link undef PE0 undef PE1 +undef PC11 +undef HAL_PERIPH_ENABLE_IMU # need to use UART8 to get RTS/CTS PE1 UART8_TX UART8 From 04d18f1efbe86f0412f37b72184d71c6ab128e7a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 14 Oct 2024 19:30:17 +1100 Subject: [PATCH 117/314] AP_AHRS: support variances from External_AHRS --- libraries/AP_AHRS/AP_AHRS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp index c773be6fadb26..945ad67d414b6 100644 --- a/libraries/AP_AHRS/AP_AHRS.cpp +++ b/libraries/AP_AHRS/AP_AHRS.cpp @@ -3164,7 +3164,7 @@ bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3 #if AP_AHRS_EXTERNAL_ENABLED case EKFType::EXTERNAL: - return false; + return external.get_variances(velVar, posVar, hgtVar, magVar, tasVar); #endif } From 92693e023793133e49a035daf37c14433e484778 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 15 Oct 2024 14:18:39 +1100 Subject: [PATCH 118/314] AP_ExternalAHRS: support backends with get_variances() re-implement send_status_report in terms of get_variances and support EKF failsafe with ExternalAHRS --- libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 84 ++++++++++++++++++- libraries/AP_ExternalAHRS/AP_ExternalAHRS.h | 1 + .../AP_ExternalAHRS_InertialLabs.cpp | 57 ++----------- .../AP_ExternalAHRS_InertialLabs.h | 2 +- .../AP_ExternalAHRS_MicroStrain5.cpp | 55 ++---------- .../AP_ExternalAHRS_MicroStrain5.h | 2 +- .../AP_ExternalAHRS_MicroStrain7.cpp | 63 ++------------ .../AP_ExternalAHRS_MicroStrain7.h | 2 +- .../AP_ExternalAHRS_VectorNav.cpp | 58 ++----------- .../AP_ExternalAHRS_VectorNav.h | 2 +- .../AP_ExternalAHRS/AP_ExternalAHRS_backend.h | 9 +- 11 files changed, 123 insertions(+), 212 deletions(-) diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp index 9abbfff0d1a97..07d875e57de95 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp @@ -289,6 +289,17 @@ void AP_ExternalAHRS::get_filter_status(nav_filter_status &status) const } } +/* + get estimated variances, return false if not implemented + */ +bool AP_ExternalAHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const +{ + if (backend != nullptr) { + return backend->get_variances(velVar, posVar, hgtVar, magVar, tasVar); + } + return false; +} + bool AP_ExternalAHRS::get_gyro(Vector3f &gyro) { WITH_SEMAPHORE(state.sem); @@ -312,9 +323,56 @@ bool AP_ExternalAHRS::get_accel(Vector3f &accel) // send an EKF_STATUS message to GCS void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const { - if (backend) { - backend->send_status_report(link); + float velVar, posVar, hgtVar, tasVar; + Vector3f magVar; + if (backend == nullptr || !backend->get_variances(velVar, posVar, hgtVar, magVar, tasVar)) { + return; + } + + uint16_t flags = 0; + nav_filter_status filterStatus {}; + get_filter_status(filterStatus); + + if (filterStatus.flags.attitude) { + flags |= EKF_ATTITUDE; + } + if (filterStatus.flags.horiz_vel) { + flags |= EKF_VELOCITY_HORIZ; } + if (filterStatus.flags.vert_vel) { + flags |= EKF_VELOCITY_VERT; + } + if (filterStatus.flags.horiz_pos_rel) { + flags |= EKF_POS_HORIZ_REL; + } + if (filterStatus.flags.horiz_pos_abs) { + flags |= EKF_POS_HORIZ_ABS; + } + if (filterStatus.flags.vert_pos) { + flags |= EKF_POS_VERT_ABS; + } + if (filterStatus.flags.terrain_alt) { + flags |= EKF_POS_VERT_AGL; + } + if (filterStatus.flags.const_pos_mode) { + flags |= EKF_CONST_POS_MODE; + } + if (filterStatus.flags.pred_horiz_pos_rel) { + flags |= EKF_PRED_POS_HORIZ_REL; + } + if (filterStatus.flags.pred_horiz_pos_abs) { + flags |= EKF_PRED_POS_HORIZ_ABS; + } + if (!filterStatus.flags.initalized) { + flags |= EKF_UNINITIALIZED; + } + + const float mag_var = MAX(magVar.x, MAX(magVar.y, magVar.z)); + mavlink_msg_ekf_status_report_send(link.get_chan(), flags, + velVar, + posVar, + hgtVar, + mag_var, 0, 0); } void AP_ExternalAHRS::update(void) @@ -357,6 +415,28 @@ void AP_ExternalAHRS::update(void) state.velocity.x, state.velocity.y, state.velocity.z, state.location.lat, state.location.lng, state.location.alt*0.01, filterStatus.value); + + // @LoggerMessage: EAHV + // @Description: External AHRS variances + // @Field: TimeUS: Time since system startup + // @Field: Vel: velocity variance + // @Field: Pos: position variance + // @Field: Hgt: height variance + // @Field: MagX: magnetic variance, X + // @Field: MagY: magnetic variance, Y + // @Field: MagZ: magnetic variance, Z + // @Field: TAS: true airspeed variance + + float velVar, posVar, hgtVar, tasVar; + Vector3f magVar; + if (backend != nullptr && backend->get_variances(velVar, posVar, hgtVar, magVar, tasVar)) { + AP::logger().WriteStreaming("EAHV", "TimeUS,Vel,Pos,Hgt,MagX,MagY,MagZ,TAS", + "Qfffffff", + AP_HAL::micros64(), + velVar, posVar, hgtVar, + magVar.x, magVar.y, magVar.z, + tasVar); + } } #endif // HAL_LOGGING_ENABLED } diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h index b617a18e0507d..c5913baa8c6db 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h @@ -120,6 +120,7 @@ class AP_ExternalAHRS { bool get_gyro(Vector3f &gyro); bool get_accel(Vector3f &accel); void send_status_report(class GCS_MAVLINK &link) const; + bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const; // update backend void update(); diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp index 0d2eac1629071..fb057d000fde1 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp @@ -1110,57 +1110,14 @@ void AP_ExternalAHRS_InertialLabs::get_filter_status(nav_filter_status &status) status.flags.rejecting_airspeed = (state2.air_data_status & ILABS_AIRDATA_AIRSPEED_FAIL); } -// send an EKF_STATUS message to GCS -void AP_ExternalAHRS_InertialLabs::send_status_report(GCS_MAVLINK &link) const +// get variances +bool AP_ExternalAHRS_InertialLabs::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const { - // prepare flags - uint16_t flags = 0; - nav_filter_status filterStatus; - get_filter_status(filterStatus); - if (filterStatus.flags.attitude) { - flags |= EKF_ATTITUDE; - } - if (filterStatus.flags.horiz_vel) { - flags |= EKF_VELOCITY_HORIZ; - } - if (filterStatus.flags.vert_vel) { - flags |= EKF_VELOCITY_VERT; - } - if (filterStatus.flags.horiz_pos_rel) { - flags |= EKF_POS_HORIZ_REL; - } - if (filterStatus.flags.horiz_pos_abs) { - flags |= EKF_POS_HORIZ_ABS; - } - if (filterStatus.flags.vert_pos) { - flags |= EKF_POS_VERT_ABS; - } - if (filterStatus.flags.terrain_alt) { - flags |= EKF_POS_VERT_AGL; - } - if (filterStatus.flags.const_pos_mode) { - flags |= EKF_CONST_POS_MODE; - } - if (filterStatus.flags.pred_horiz_pos_rel) { - flags |= EKF_PRED_POS_HORIZ_REL; - } - if (filterStatus.flags.pred_horiz_pos_abs) { - flags |= EKF_PRED_POS_HORIZ_ABS; - } - if (!filterStatus.flags.initalized) { - flags |= EKF_UNINITIALIZED; - } - - // send message - const float vel_gate = 5; - const float pos_gate = 5; - const float hgt_gate = 5; - const float mag_var = 0; - mavlink_msg_ekf_status_report_send(link.get_chan(), flags, - state2.kf_vel_covariance.length()/vel_gate, - state2.kf_pos_covariance.xy().length()/pos_gate, - state2.kf_pos_covariance.z/hgt_gate, - mag_var, 0, 0); + velVar = state2.kf_vel_covariance.length() * vel_gate_scale; + posVar = state2.kf_pos_covariance.xy().length() * pos_gate_scale; + hgtVar = state2.kf_pos_covariance.z * hgt_gate_scale; + tasVar = 0; + return true; } #endif // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h index d2ffcf1717355..0db51358e79b3 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h @@ -37,7 +37,7 @@ class AP_ExternalAHRS_InertialLabs : public AP_ExternalAHRS_backend { bool initialised(void) const override; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; void get_filter_status(nav_filter_status &status) const override; - void send_status_report(class GCS_MAVLINK &link) const override; + bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override; // check for new data void update() override { diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp index a5e4d41c4ced1..0e500bc403a89 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp @@ -268,55 +268,14 @@ void AP_ExternalAHRS_MicroStrain5::get_filter_status(nav_filter_status &status) } } -void AP_ExternalAHRS_MicroStrain5::send_status_report(GCS_MAVLINK &link) const +// get variances +bool AP_ExternalAHRS_MicroStrain5::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const { - // prepare flags - uint16_t flags = 0; - nav_filter_status filterStatus; - get_filter_status(filterStatus); - if (filterStatus.flags.attitude) { - flags |= EKF_ATTITUDE; - } - if (filterStatus.flags.horiz_vel) { - flags |= EKF_VELOCITY_HORIZ; - } - if (filterStatus.flags.vert_vel) { - flags |= EKF_VELOCITY_VERT; - } - if (filterStatus.flags.horiz_pos_rel) { - flags |= EKF_POS_HORIZ_REL; - } - if (filterStatus.flags.horiz_pos_abs) { - flags |= EKF_POS_HORIZ_ABS; - } - if (filterStatus.flags.vert_pos) { - flags |= EKF_POS_VERT_ABS; - } - if (filterStatus.flags.terrain_alt) { - flags |= EKF_POS_VERT_AGL; - } - if (filterStatus.flags.const_pos_mode) { - flags |= EKF_CONST_POS_MODE; - } - if (filterStatus.flags.pred_horiz_pos_rel) { - flags |= EKF_PRED_POS_HORIZ_REL; - } - if (filterStatus.flags.pred_horiz_pos_abs) { - flags |= EKF_PRED_POS_HORIZ_ABS; - } - if (!filterStatus.flags.initalized) { - flags |= EKF_UNINITIALIZED; - } - - // send message - const float vel_gate = 4; // represents hz value data is posted at - const float pos_gate = 4; // represents hz value data is posted at - const float hgt_gate = 4; // represents hz value data is posted at - const float mag_var = 0; //we may need to change this to be like the other gates, set to 0 because mag is ignored by the ins filter in vectornav - mavlink_msg_ekf_status_report_send(link.get_chan(), flags, - gnss_data[gnss_instance].speed_accuracy/vel_gate, gnss_data[gnss_instance].horizontal_position_accuracy/pos_gate, gnss_data[gnss_instance].vertical_position_accuracy/hgt_gate, - mag_var, 0, 0); - + velVar = gnss_data[gnss_instance].speed_accuracy * vel_gate_scale; + posVar = gnss_data[gnss_instance].horizontal_position_accuracy * pos_gate_scale; + hgtVar = gnss_data[gnss_instance].vertical_position_accuracy * hgt_gate_scale; + tasVar = 0; + return true; } diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.h index 7d5c199eb1365..a311af5089f24 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.h @@ -42,7 +42,7 @@ class AP_ExternalAHRS_MicroStrain5: public AP_ExternalAHRS_backend, public AP_Mi bool initialised(void) const override; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; void get_filter_status(nav_filter_status &status) const override; - void send_status_report(class GCS_MAVLINK &link) const override; + bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override; // check for new data void update() override { diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp index 43c961a57d6f4..31082aea9b2e5 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp @@ -317,63 +317,14 @@ void AP_ExternalAHRS_MicroStrain7::get_filter_status(nav_filter_status &status) } } -void AP_ExternalAHRS_MicroStrain7::send_status_report(GCS_MAVLINK &link) const +// get variances +bool AP_ExternalAHRS_MicroStrain7::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const { - // prepare flags - uint16_t flags = 0; - nav_filter_status filterStatus; - get_filter_status(filterStatus); - if (filterStatus.flags.attitude) { - flags |= EKF_ATTITUDE; - } - if (filterStatus.flags.horiz_vel) { - flags |= EKF_VELOCITY_HORIZ; - } - if (filterStatus.flags.vert_vel) { - flags |= EKF_VELOCITY_VERT; - } - if (filterStatus.flags.horiz_pos_rel) { - flags |= EKF_POS_HORIZ_REL; - } - if (filterStatus.flags.horiz_pos_abs) { - flags |= EKF_POS_HORIZ_ABS; - } - if (filterStatus.flags.vert_pos) { - flags |= EKF_POS_VERT_ABS; - } - if (filterStatus.flags.terrain_alt) { - flags |= EKF_POS_VERT_AGL; - } - if (filterStatus.flags.const_pos_mode) { - flags |= EKF_CONST_POS_MODE; - } - if (filterStatus.flags.pred_horiz_pos_rel) { - flags |= EKF_PRED_POS_HORIZ_REL; - } - if (filterStatus.flags.pred_horiz_pos_abs) { - flags |= EKF_PRED_POS_HORIZ_ABS; - } - if (!filterStatus.flags.initalized) { - flags |= EKF_UNINITIALIZED; - } - - // send message - const float vel_gate = 4; // represents hz value data is posted at - const float pos_gate = 4; // represents hz value data is posted at - const float hgt_gate = 4; // represents hz value data is posted at - const float mag_var = 0; //we may need to change this to be like the other gates, set to 0 because mag is ignored by the ins filter in vectornav - - const float velocity_variance {filter_data.ned_velocity_uncertainty.length() / vel_gate}; - const float pos_horiz_variance {filter_data.ned_position_uncertainty.xy().length() / pos_gate}; - const float pos_vert_variance {filter_data.ned_position_uncertainty.z / hgt_gate}; - // No terrain alt sensor on MicroStrain7. - const float terrain_alt_variance {0}; - // No airspeed sensor on MicroStrain7. - const float airspeed_variance {0}; - mavlink_msg_ekf_status_report_send(link.get_chan(), flags, - velocity_variance, pos_horiz_variance, pos_vert_variance, - mag_var, terrain_alt_variance, airspeed_variance); - + velVar = filter_data.ned_velocity_uncertainty.length() * vel_gate_scale; + posVar = filter_data.ned_position_uncertainty.xy().length() * pos_gate_scale; + hgtVar = filter_data.ned_position_uncertainty.z * hgt_gate_scale; + tasVar = 0; + return true; } bool AP_ExternalAHRS_MicroStrain7::times_healthy() const diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.h index f278289d15fb4..27fcd19d00eb1 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.h @@ -42,7 +42,7 @@ class AP_ExternalAHRS_MicroStrain7: public AP_ExternalAHRS_backend, public AP_Mi bool initialised(void) const override; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; void get_filter_status(nav_filter_status &status) const override; - void send_status_report(class GCS_MAVLINK &link) const override; + bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override; // check for new data void update() override diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp index 92e4147fe8a47..4a502624021a1 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp @@ -788,59 +788,15 @@ void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) con } } -// send an EKF_STATUS message to GCS -void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const +// get variances +bool AP_ExternalAHRS_VectorNav::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const { - if (!latest_ins_ekf_packet) { - return; - } - // prepare flags - uint16_t flags = 0; - nav_filter_status filterStatus; - get_filter_status(filterStatus); - if (filterStatus.flags.attitude) { - flags |= EKF_ATTITUDE; - } - if (filterStatus.flags.horiz_vel) { - flags |= EKF_VELOCITY_HORIZ; - } - if (filterStatus.flags.vert_vel) { - flags |= EKF_VELOCITY_VERT; - } - if (filterStatus.flags.horiz_pos_rel) { - flags |= EKF_POS_HORIZ_REL; - } - if (filterStatus.flags.horiz_pos_abs) { - flags |= EKF_POS_HORIZ_ABS; - } - if (filterStatus.flags.vert_pos) { - flags |= EKF_POS_VERT_ABS; - } - if (filterStatus.flags.terrain_alt) { - flags |= EKF_POS_VERT_AGL; - } - if (filterStatus.flags.const_pos_mode) { - flags |= EKF_CONST_POS_MODE; - } - if (filterStatus.flags.pred_horiz_pos_rel) { - flags |= EKF_PRED_POS_HORIZ_REL; - } - if (filterStatus.flags.pred_horiz_pos_abs) { - flags |= EKF_PRED_POS_HORIZ_ABS; - } - if (!filterStatus.flags.initalized) { - flags |= EKF_UNINITIALIZED; - } - - // send message const struct VN_INS_ekf_packet &pkt = *(struct VN_INS_ekf_packet *)latest_ins_ekf_packet; - const float vel_gate = 5; - const float pos_gate = 5; - const float hgt_gate = 5; - const float mag_var = 0; - mavlink_msg_ekf_status_report_send(link.get_chan(), flags, - pkt.velU / vel_gate, pkt.posU / pos_gate, pkt.posU / hgt_gate, - mag_var, 0, 0); + velVar = pkt.velU * vel_gate_scale; + posVar = pkt.posU * pos_gate_scale; + hgtVar = pkt.posU * hgt_gate_scale; + tasVar = 0; + return true; } #endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h index e500a0d8b3a81..c6665bb59bc48 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h @@ -37,7 +37,7 @@ class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend { bool initialised(void) const override; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; void get_filter_status(nav_filter_status &status) const override; - void send_status_report(class GCS_MAVLINK &link) const override; + bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override; // check for new data void update() override { diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h index e5a22a87cbe44..8ee9af82ce594 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h @@ -41,7 +41,7 @@ class AP_ExternalAHRS_backend { virtual bool initialised(void) const = 0; virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const = 0; virtual void get_filter_status(nav_filter_status &status) const {} - virtual void send_status_report(class GCS_MAVLINK &link) const {} + virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const { return false; } // Check for new data. // This is used when there's not a separate thread for EAHRS. @@ -73,6 +73,13 @@ class AP_ExternalAHRS_backend { */ bool in_fly_forward(void) const; + /* + scale factors for get_variances() to return normalised values from SI units + */ + const float vel_gate_scale = 0.2; + const float pos_gate_scale = 0.2; + const float hgt_gate_scale = 0.2; + private: AP_ExternalAHRS &frontend; }; From 72f0ecc18f2daec9bb60f6925c44a97a7bcdcca9 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Sat, 19 Oct 2024 10:52:16 -0600 Subject: [PATCH 119/314] AP_DDS: Support compile-time configurable rates for each publisher Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- libraries/AP_DDS/AP_DDS_Client.cpp | 18 +++++++-------- libraries/AP_DDS/AP_DDS_config.h | 36 ++++++++++++++++++++++++++++++ 2 files changed, 45 insertions(+), 9 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 9ba608c20290d..a3ae6506f0f3a 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -32,31 +32,31 @@ // Enable DDS at runtime by default static constexpr uint8_t ENABLED_BY_DEFAULT = 1; #if AP_DDS_TIME_PUB_ENABLED -static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10; +static constexpr uint16_t DELAY_TIME_TOPIC_MS = AP_DDS_DELAY_TIME_TOPIC_MS; #endif // AP_DDS_TIME_PUB_ENABLED #if AP_DDS_BATTERY_STATE_PUB_ENABLED -static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000; +static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS; #endif // AP_DDS_BATTERY_STATE_PUB_ENABLED #if AP_DDS_IMU_PUB_ENABLED -static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5; +static constexpr uint16_t DELAY_IMU_TOPIC_MS = AP_DDS_DELAY_IMU_TOPIC_MS; #endif // AP_DDS_IMU_PUB_ENABLED #if AP_DDS_LOCAL_POSE_PUB_ENABLED -static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33; +static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS; #endif // AP_DDS_LOCAL_POSE_PUB_ENABLED #if AP_DDS_LOCAL_VEL_PUB_ENABLED -static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33; +static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS; #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED #if AP_DDS_AIRSPEED_PUB_ENABLED -static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = 33; +static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = AP_DDS_DELAY_AIRSPEED_TOPIC_MS; #endif // AP_DDS_AIRSPEED_PUB_ENABLED #if AP_DDS_GEOPOSE_PUB_ENABLED -static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33; +static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = AP_DDS_DELAY_GEO_POSE_TOPIC_MS; #endif // AP_DDS_GEOPOSE_PUB_ENABLED #if AP_DDS_CLOCK_PUB_ENABLED -static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10; +static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS; #endif // AP_DDS_CLOCK_PUB_ENABLED #if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED -static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000; +static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS; #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED static constexpr uint16_t DELAY_PING_MS = 500; diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h index 2e0d3d6264f8c..4b82ed7465d3c 100644 --- a/libraries/AP_DDS/AP_DDS_config.h +++ b/libraries/AP_DDS/AP_DDS_config.h @@ -26,10 +26,18 @@ #define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED #endif +#ifndef AP_DDS_DELAY_IMU_TOPIC_MS +#define AP_DDS_DELAY_IMU_TOPIC_MS 5 +#endif + #ifndef AP_DDS_TIME_PUB_ENABLED #define AP_DDS_TIME_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_TIME_TOPIC_MS +#define AP_DDS_DELAY_TIME_TOPIC_MS 10 +#endif + #ifndef AP_DDS_NAVSATFIX_PUB_ENABLED #define AP_DDS_NAVSATFIX_PUB_ENABLED 1 #endif @@ -42,30 +50,58 @@ #define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS +#define AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS 1000 +#endif + #ifndef AP_DDS_GEOPOSE_PUB_ENABLED #define AP_DDS_GEOPOSE_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_GEO_POSE_TOPIC_MS +#define AP_DDS_DELAY_GEO_POSE_TOPIC_MS 33 +#endif + #ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED #define AP_DDS_LOCAL_POSE_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS +#define AP_DDS_DELAY_LOCAL_POSE_TOPIC_MS 33 +#endif + #ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED #define AP_DDS_LOCAL_VEL_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS +#define AP_DDS_DELAY_LOCAL_VELOCITY_TOPIC_MS 33 +#endif + #ifndef AP_DDS_AIRSPEED_PUB_ENABLED #define AP_DDS_AIRSPEED_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_AIRSPEED_TOPIC_MS +#define AP_DDS_DELAY_AIRSPEED_TOPIC_MS 33 +#endif + #ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED #define AP_DDS_BATTERY_STATE_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS +#define AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS 1000 +#endif + #ifndef AP_DDS_CLOCK_PUB_ENABLED #define AP_DDS_CLOCK_PUB_ENABLED 1 #endif +#ifndef AP_DDS_DELAY_CLOCK_TOPIC_MS +#define AP_DDS_DELAY_CLOCK_TOPIC_MS 10 +#endif + #ifndef AP_DDS_JOY_SUB_ENABLED #define AP_DDS_JOY_SUB_ENABLED 1 #endif From ab886f1d8928d7a0fbf1d7c25f54c99b70e14238 Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Wed, 23 Oct 2024 23:39:38 -0700 Subject: [PATCH 120/314] Tools: Frame_params: Added Starling 2 Max params file --- Tools/Frame_params/ModalAI/Starling2Max.parm | 48 ++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 Tools/Frame_params/ModalAI/Starling2Max.parm diff --git a/Tools/Frame_params/ModalAI/Starling2Max.parm b/Tools/Frame_params/ModalAI/Starling2Max.parm new file mode 100644 index 0000000000000..7e06a8e3bd462 --- /dev/null +++ b/Tools/Frame_params/ModalAI/Starling2Max.parm @@ -0,0 +1,48 @@ +# Parameters for Starling 2 Max drone +# https://www.modalai.com/products/starling-2-max?variant=48172375310640 + +# IMU orientation is ROLL_180 +AHRS_ORIENT 8 + +# Mag orientation is ROLL_180 +COMPASS_ORIENT 8 + +# Pitch control is backwards? +RC2_REVERSED 1 + +# Left 3-pos switch is RC6 +FLTMODE_CH 6 + +# Flight mode channel mapping +FLTMODE1 0 +FLTMODE3 2 +FLTMODE6 5 + +# Motor mapping +SERVO1_FUNCTION 34 +SERVO2_FUNCTION 35 +SERVO3_FUNCTION 33 +SERVO4_FUNCTION 36 + +# Motor spin +MOT_SPIN_ARM 0.05 +MOT_SPIN_MIN 0.15 + +# Visual Inertial Odometry setup +VISO_TYPE 3 +EK3_SRC1_POSXY 6 +EK3_SRC1_VELXY 6 +EK3_SRC1_POSZ 6 +EK3_SRC1_VELZ 6 +EK3_SRC1_YAW 6 + +# To improve Mavlink connection disable forwarding from camera/viso +SERIAL2_OPTIONS 1024 + +# PID tuning +ATC_RAT_RLL_P 0.07 +ATC_RAT_RLL_I 0.07 +ATC_RAT_RLL_D 0.0015 +ATC_RAT_PIT_P 0.07 +ATC_RAT_PIT_I 0.07 +ATC_RAT_PIT_D 0.0015 \ No newline at end of file From 7d3740f79f7bdf4a1e5d55704eb4165f630c2659 Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Wed, 23 Oct 2024 00:40:04 -0700 Subject: [PATCH 121/314] AP_HAL_QURT: Add Debian packaging script and support files --- libraries/AP_HAL_QURT/packaging/.gitignore | 5 + .../AP_HAL_QURT/packaging/make_package.sh | 100 ++++++++++++++++++ .../packaging/pkg/control/control.in | 8 ++ .../packaging/pkg/control/postinst | 39 +++++++ 4 files changed, 152 insertions(+) create mode 100644 libraries/AP_HAL_QURT/packaging/.gitignore create mode 100755 libraries/AP_HAL_QURT/packaging/make_package.sh create mode 100644 libraries/AP_HAL_QURT/packaging/pkg/control/control.in create mode 100755 libraries/AP_HAL_QURT/packaging/pkg/control/postinst diff --git a/libraries/AP_HAL_QURT/packaging/.gitignore b/libraries/AP_HAL_QURT/packaging/.gitignore new file mode 100644 index 0000000000000..eaa90ca25d79c --- /dev/null +++ b/libraries/AP_HAL_QURT/packaging/.gitignore @@ -0,0 +1,5 @@ +*.deb +pkg/DEB +pkg/data +pkg/control/control + diff --git a/libraries/AP_HAL_QURT/packaging/make_package.sh b/libraries/AP_HAL_QURT/packaging/make_package.sh new file mode 100755 index 0000000000000..839450217ce26 --- /dev/null +++ b/libraries/AP_HAL_QURT/packaging/make_package.sh @@ -0,0 +1,100 @@ +#!/bin/bash + +set -e # exit on error to prevent bad ipk from being generated + +[ $# -eq 2 ] || { + echo "Usage: make_package.sh VEHICLETYPE VEHICLE_BINARY" + exit 1 +} + +VEHICLETYPE="$1" +VEHICLE_BINARY="$2" + +[ -d $VEHICLETYPE ] || { + echo "Vehicle directory $VEHICLETYPE not found" + exit 1 +} + +# get version numbers +FW_MAJOR=$(grep FW_MAJOR $VEHICLETYPE/version.h | cut -d' ' -f3) +FW_MINOR=$(grep FW_MINOR $VEHICLETYPE/version.h | cut -d' ' -f3) +FW_PATCH=$(grep FW_PATCH $VEHICLETYPE/version.h | cut -d' ' -f3) +GIT_VERSION=$(git rev-parse HEAD | cut -c1-8) + +VERSION="${FW_MAJOR}.${FW_MINOR}.${FW_PATCH}-${GIT_VERSION}" + +echo "Package Name: " $PACKAGE +echo "version Number: " $VERSION + +cd libraries/AP_HAL_QURT/packaging + +cat pkg/control/control.in | sed "s/FW_VERSION/$VERSION/g" > pkg/control/control + +################################################################################ +# variables +################################################################################ +PACKAGE=$(cat pkg/control/control | grep "Package" | cut -d' ' -f 2) + +DATA_DIR=pkg/data +CONTROL_DIR=pkg/control +DEB_DIR=pkg/DEB + +################################################################################ +# start with a little cleanup to remove old files +################################################################################ +# remove data directory where 'make install' installed to +sudo rm -rf $DATA_DIR +mkdir $DATA_DIR + +# remove deb packaging folders +rm -rf $DEB_DIR + +################################################################################ +## install compiled stuff into data directory +################################################################################ + +if [ -f ../../../build/QURT/ardupilot ] && \ + [ -f ../../../build/QURT/bin/$VEHICLE_BINARY ]; then + + # Copy the SLPI DSP AP library + sudo mkdir -p $DATA_DIR/usr/lib/rfsa/adsp + sudo cp ../../../build/QURT/bin/$VEHICLE_BINARY $DATA_DIR/usr/lib/rfsa/adsp/ArduPilot.so + + # Install executables + sudo mkdir -p $DATA_DIR/usr/bin + sudo cp ../../../build/QURT/ardupilot $DATA_DIR/usr/bin + sudo cp ../ap_host/service/voxl-ardupilot $DATA_DIR/usr/bin + sudo chmod a+x $DATA_DIR/usr/bin/ardupilot + sudo chmod a+x $DATA_DIR/usr/bin/voxl-ardupilot + + # Create necessary directories for ArduPilot operation + sudo mkdir -p $DATA_DIR/data/APM + + # Install default parameter files + sudo cp ../../../Tools/Frame_params/ModalAI/*.parm $DATA_DIR/data/APM + + sudo mkdir -p $DATA_DIR/etc/systemd/system/ + sudo cp ../ap_host/service/voxl-ardupilot.service $DATA_DIR/etc/systemd/system/ + +else + echo "Error: Build artifacts not found" + exit 1 +fi + +################################################################################ +# make a DEB package +################################################################################ + +echo "starting building Debian Package" + +## make a folder dedicated to Deb building and copy the requires debian-binary file in +mkdir $DEB_DIR + +## copy the control stuff in +cp -rf $CONTROL_DIR/ $DEB_DIR/DEBIAN +cp -rf $DATA_DIR/* $DEB_DIR + +DEB_NAME="${PACKAGE}_${VEHICLETYPE}_${VERSION}_arm64.deb" +dpkg-deb --build "${DEB_DIR}" "${DEB_NAME}" + +echo "DONE" diff --git a/libraries/AP_HAL_QURT/packaging/pkg/control/control.in b/libraries/AP_HAL_QURT/packaging/pkg/control/control.in new file mode 100644 index 0000000000000..1ad0196bdf57b --- /dev/null +++ b/libraries/AP_HAL_QURT/packaging/pkg/control/control.in @@ -0,0 +1,8 @@ +Package: voxl-ardupilot +Version: FW_VERSION +Section: devel +Priority: optional +Architecture: arm64 +Depends: modalai-slpi(>=1.1.19), libslpi-link +Maintainer: Eric Katzfey +Description: ModalAI ArduPilot flight controller diff --git a/libraries/AP_HAL_QURT/packaging/pkg/control/postinst b/libraries/AP_HAL_QURT/packaging/pkg/control/postinst new file mode 100755 index 0000000000000..04f668085e805 --- /dev/null +++ b/libraries/AP_HAL_QURT/packaging/pkg/control/postinst @@ -0,0 +1,39 @@ +#!/bin/bash + +# Create directory for APM use +cd /data +mkdir -p APM +chown system:system APM + +# Make sure the run scripts are executable +cd /usr/bin +chmod a+x voxl-ardupilot + +# Check to see if a DSP test signature exists +if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then + /bin/echo "Found DSP signature file" +else + /bin/echo "Could not find DSP signature file" + # Look for the DSP signature generation script + if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then + /bin/echo "Attempting to generate the DSP signature file" + # Automatically generate the test signature so that px4 can run on SLPI DSP + /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh + else + /bin/echo "Could not find the DSP signature file generation script" + fi +fi + +# Always flush all changes to disk +/bin/sync + +cd - + +# try to reload services, but don't fail if it can't +set +e +if [ -f /bin/systemctl ]; then + systemctl daemon-reload +fi + +# exit 0 even if systemctl failed +exit 0 From e91cab3349340f91a76a008059eeb837c44ba0fe Mon Sep 17 00:00:00 2001 From: jamming Date: Fri, 11 Oct 2024 14:58:02 +0800 Subject: [PATCH 122/314] hwdef: Add icm42688 support for KakuteH7Mini --- libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat index 0c2d49296f146..434d61bdb3ea2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat @@ -136,6 +136,7 @@ DMA_NOSHARE SPI1* SPI4* # spi devices SPIDEV mpu6000 SPI4 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV icm42688 SPI4 DEVID1 MPU6000_CS MODE3 2*MHZ 16*MHZ SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ @@ -146,8 +147,9 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 -# one IMU +# one IMU v1.1 mpu6000, v1.5 icm42688 IMU Invensense SPI:mpu6000 ROTATION_YAW_180 +IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 # one BARO BARO BMP280 I2C:0:0x76 From 5e47fa13530dbb13a1c9cba45e9ca42073147a82 Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 13 Oct 2024 06:44:43 +0900 Subject: [PATCH 123/314] AP_AHRS: Change the order in which you make judgments --- libraries/AP_AHRS/AP_AHRS_DCM.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index eb10db1b45880..d7aa5c7cd3da5 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -434,7 +434,7 @@ AP_AHRS_DCM::_yaw_gain(void) const // return true if we have and should use GPS bool AP_AHRS_DCM::have_gps(void) const { - if (AP::gps().status() <= AP_GPS::NO_FIX || _gps_use == GPSUse::Disable) { + if (_gps_use == GPSUse::Disable || AP::gps().status() <= AP_GPS::NO_FIX) { return false; } return true; From 9fdd0a4e84001902c4452750d027e82b5afd93e2 Mon Sep 17 00:00:00 2001 From: Bob Long Date: Wed, 2 Oct 2024 18:29:21 +1000 Subject: [PATCH 124/314] SITL: FlightAxis: add options bitmask parameter --- libraries/SITL/SIM_FlightAxis.cpp | 31 +++++++++++++++++++++++++------ libraries/SITL/SIM_FlightAxis.h | 25 +++++++++++++++++-------- libraries/SITL/SIM_config.h | 4 ++++ libraries/SITL/SITL.cpp | 7 +++++++ libraries/SITL/SITL.h | 4 ++++ 5 files changed, 57 insertions(+), 14 deletions(-) diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp index b2aff331f8d31..52b24f03c3b6a 100644 --- a/libraries/SITL/SIM_FlightAxis.cpp +++ b/libraries/SITL/SIM_FlightAxis.cpp @@ -18,7 +18,7 @@ #include "SIM_FlightAxis.h" -#if HAL_SIM_FLIGHTAXIS_ENABLED +#if AP_SIM_FLIGHTAXIS_ENABLED #include #include @@ -36,6 +36,17 @@ extern const AP_HAL::HAL& hal; using namespace SITL; +const AP_Param::GroupInfo FlightAxis::var_info[] = { + // @Param: OPTS + // @DisplayName: FlightAxis options + // @Description: Bitmask of FlightAxis options + // @Bitmask: 1: Swap first 4 and last 4 servos (for quadplane testing) + // @Bitmask: 2: Demix heli servos and send roll/pitch/collective/yaw + // @User: Advanced + AP_GROUPINFO("OPTS", 1, FlightAxis, _options, 0), + AP_GROUPEND +}; + /* we use a thread for socket creation to reduce the impact of socket creation latency. These condition variables are used to synchronise @@ -108,10 +119,18 @@ static double timestamp_sec() FlightAxis::FlightAxis(const char *frame_str) : Aircraft(frame_str) { + AP::sitl()->models.flightaxis_ptr = this; + AP_Param::setup_object_defaults(this, var_info); + use_time_sync = false; rate_hz = 250 / target_speedup; - heli_demix = strstr(frame_str, "helidemix") != nullptr; - rev4_servos = strstr(frame_str, "rev4") != nullptr; + if(strstr(frame_str, "helidemix") != nullptr) { + _options.set(_options | uint32_t(Option::HeliDemix)); + } + if(strstr(frame_str, "rev4") != nullptr) { + _options.set(_options | uint32_t(Option::Rev4Servos)); + } + const char *colon = strchr(frame_str, ':'); if (colon) { controller_ip = colon+1; @@ -301,7 +320,7 @@ void FlightAxis::exchange_data(const struct sitl_input &input) scaled_servos[i] = (input.servos[i] - 1000) / 1000.0f; } - if (rev4_servos) { + if (option_is_set(Option::Rev4Servos)) { // swap first 4 and last 4 servos, for quadplane testing float saved[4]; memcpy(saved, &scaled_servos[0], sizeof(saved)); @@ -309,7 +328,7 @@ void FlightAxis::exchange_data(const struct sitl_input &input) memcpy(&scaled_servos[4], saved, sizeof(saved)); } - if (heli_demix) { + if (option_is_set(Option::HeliDemix)) { // FlightAxis expects "roll/pitch/collective/yaw" input float swash1 = scaled_servos[0]; float swash2 = scaled_servos[1]; @@ -615,4 +634,4 @@ void FlightAxis::socket_creator(void) } } -#endif // HAL_SIM_FLIGHTAXIS_ENABLED +#endif // AP_SIM_FLIGHTAXIS_ENABLED diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h index c8fcd97c19d52..e19e11d94d810 100644 --- a/libraries/SITL/SIM_FlightAxis.h +++ b/libraries/SITL/SIM_FlightAxis.h @@ -19,12 +19,9 @@ #pragma once #include +#include "SIM_config.h" -#ifndef HAL_SIM_FLIGHTAXIS_ENABLED -#define HAL_SIM_FLIGHTAXIS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) -#endif - -#if HAL_SIM_FLIGHTAXIS_ENABLED +#if AP_SIM_FLIGHTAXIS_ENABLED #include @@ -39,6 +36,8 @@ class FlightAxis : public Aircraft { public: FlightAxis(const char *frame_str); + static const struct AP_Param::GroupInfo var_info[]; + /* update model by one time step */ void update(const struct sitl_input &input) override; @@ -175,12 +174,22 @@ class FlightAxis : public Aircraft { struct sitl_input last_input; + AP_Int32 _options; + + enum class Option : uint32_t{ + Rev4Servos = (1U<<1), + HeliDemix = (1U<<2), + }; + + // return true if an option is set + bool option_is_set(Option option) const { + return (uint32_t(option) & uint32_t(_options)) != 0; + } + double average_frame_time_s; double extrapolated_s; double initial_time_s; double last_time_s; - bool heli_demix; - bool rev4_servos; bool controller_started; uint32_t glitch_count; uint64_t frame_counter; @@ -204,4 +213,4 @@ class FlightAxis : public Aircraft { } // namespace SITL -#endif // HAL_SIM_FLIGHTAXIS_ENABLED +#endif // AP_SIM_FLIGHTAXIS_ENABLED diff --git a/libraries/SITL/SIM_config.h b/libraries/SITL/SIM_config.h index aa281c45f753a..91956ad90c2ae 100644 --- a/libraries/SITL/SIM_config.h +++ b/libraries/SITL/SIM_config.h @@ -55,6 +55,10 @@ #define AP_SIM_SLUNGPAYLOAD_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) #endif +#ifndef AP_SIM_FLIGHTAXIS_ENABLED +#define AP_SIM_FLIGHTAXIS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) +#endif + #ifndef AP_SIM_TSYS03_ENABLED #define AP_SIM_TSYS03_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) #endif diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index 970fdd6a52f41..1ff14520b72df 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -39,6 +39,7 @@ #include "SIM_StratoBlimp.h" #include "SIM_Glider.h" +#include "SIM_FlightAxis.h" extern const AP_HAL::HAL& hal; @@ -1487,6 +1488,12 @@ const AP_Param::GroupInfo SIM::ModelParm::var_info[] = { AP_SUBGROUPINFO(slung_payload_sim, "SLUP_", 4, SIM::ModelParm, SlungPayloadSim), #endif +#if AP_SIM_FLIGHTAXIS_ENABLED + // @Group: RFL_ + // @Path: ./SIM_FlightAxis.cpp + AP_SUBGROUPPTR(flightaxis_ptr, "RFL_", 5, SIM::ModelParm, FlightAxis), +#endif + AP_GROUPEND }; diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h index d3ad9ebbd962a..e23b2f6144791 100644 --- a/libraries/SITL/SITL.h +++ b/libraries/SITL/SITL.h @@ -51,6 +51,7 @@ struct float_array { class StratoBlimp; class Glider; +class FlightAxis; struct sitl_fdm { // this is the structure passed between FDM models and the main SITL code @@ -326,6 +327,9 @@ class SIM { #endif #if AP_SIM_SLUNGPAYLOAD_ENABLED SlungPayloadSim slung_payload_sim; +#endif +#if AP_SIM_FLIGHTAXIS_ENABLED + FlightAxis *flightaxis_ptr; #endif }; ModelParm models; From 49bbb2c923f09be2bee499b789571238a8aefa2c Mon Sep 17 00:00:00 2001 From: Bob Long Date: Wed, 2 Oct 2024 18:45:52 +1000 Subject: [PATCH 125/314] SITL: FlightAxis: add position reset option --- libraries/SITL/SIM_FlightAxis.cpp | 12 +++++++++++- libraries/SITL/SIM_FlightAxis.h | 1 + 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp index 52b24f03c3b6a..bd33e5822faf2 100644 --- a/libraries/SITL/SIM_FlightAxis.cpp +++ b/libraries/SITL/SIM_FlightAxis.cpp @@ -40,10 +40,11 @@ const AP_Param::GroupInfo FlightAxis::var_info[] = { // @Param: OPTS // @DisplayName: FlightAxis options // @Description: Bitmask of FlightAxis options + // @Bitmask: 0: Reset position on startup // @Bitmask: 1: Swap first 4 and last 4 servos (for quadplane testing) // @Bitmask: 2: Demix heli servos and send roll/pitch/collective/yaw // @User: Advanced - AP_GROUPINFO("OPTS", 1, FlightAxis, _options, 0), + AP_GROUPINFO("OPTS", 1, FlightAxis, _options, uint32_t(Option::ResetPosition)), AP_GROUPEND }; @@ -303,6 +304,15 @@ void FlightAxis::exchange_data(const struct sitl_input &input) )"); soap_request_end(1000); + if(option_is_set(Option::ResetPosition)) { + soap_request_start("ResetAircraft", R"( + + +12 + +)"); + soap_request_end(1000); + } soap_request_start("InjectUAVControllerInterface", R"( diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h index e19e11d94d810..ea987c663b859 100644 --- a/libraries/SITL/SIM_FlightAxis.h +++ b/libraries/SITL/SIM_FlightAxis.h @@ -177,6 +177,7 @@ class FlightAxis : public Aircraft { AP_Int32 _options; enum class Option : uint32_t{ + ResetPosition = (1U<<0), Rev4Servos = (1U<<1), HeliDemix = (1U<<2), }; From 61593e2b36f932722237a0a5755adc82f40cbdd1 Mon Sep 17 00:00:00 2001 From: Bob Long Date: Wed, 2 Oct 2024 19:24:26 +1000 Subject: [PATCH 126/314] SITL: FlightAxis: add option to silence FPS --- libraries/SITL/SIM_FlightAxis.cpp | 7 +++++-- libraries/SITL/SIM_FlightAxis.h | 1 + 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp index bd33e5822faf2..0e1a947449e6b 100644 --- a/libraries/SITL/SIM_FlightAxis.cpp +++ b/libraries/SITL/SIM_FlightAxis.cpp @@ -43,6 +43,7 @@ const AP_Param::GroupInfo FlightAxis::var_info[] = { // @Bitmask: 0: Reset position on startup // @Bitmask: 1: Swap first 4 and last 4 servos (for quadplane testing) // @Bitmask: 2: Demix heli servos and send roll/pitch/collective/yaw + // @Bitmask: 3: Don't print frame rate stats // @User: Advanced AP_GROUPINFO("OPTS", 1, FlightAxis, _options, uint32_t(Option::ResetPosition)), AP_GROUPEND @@ -603,8 +604,10 @@ void FlightAxis::report_FPS(void) uint64_t frames = socket_frame_counter - last_socket_frame_counter; last_socket_frame_counter = socket_frame_counter; double dt = state.m_currentPhysicsTime_SEC - last_frame_count_s; - printf("%.2f/%.2f FPS avg=%.2f glitches=%u\n", - frames / dt, 1000 / dt, 1.0/average_frame_time_s, unsigned(glitch_count)); + if(!option_is_set(Option::SilenceFPS)) { + printf("%.2f/%.2f FPS avg=%.2f glitches=%u\n", + frames / dt, 1000 / dt, 1.0/average_frame_time_s, unsigned(glitch_count)); + } } else { printf("Initial position %f %f %f\n", position.x, position.y, position.z); } diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h index ea987c663b859..276a2aa69c20d 100644 --- a/libraries/SITL/SIM_FlightAxis.h +++ b/libraries/SITL/SIM_FlightAxis.h @@ -180,6 +180,7 @@ class FlightAxis : public Aircraft { ResetPosition = (1U<<0), Rev4Servos = (1U<<1), HeliDemix = (1U<<2), + SilenceFPS = (1U<<3), }; // return true if an option is set From 9dca511e7e5c305ee4f5773fa62fe443d174542f Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Mon, 14 Oct 2024 16:40:22 +0800 Subject: [PATCH 127/314] AP_HAL_ChibiOS: do not run through SPI_RX and TX as well we use MISO and MOSI name for SPI --- libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py index 674ea794b8907..935db8536f8bb 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py @@ -2404,6 +2404,8 @@ def write_GPIO_config(self, f): gpioset = set() for label in self.bylabel: p = self.bylabel[label] + if 'SPI' in label and ('RX' in label or 'TX' in label): + continue gpio = p.extra_value('GPIO', type=int) if gpio is None: continue From 28a6a874ec74094c76940be902e15c2fb6bff9c4 Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Thu, 24 Oct 2024 19:02:07 -0700 Subject: [PATCH 128/314] mavlink: add trajectory msgs --- modules/mavlink | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/mavlink b/modules/mavlink index cdfe7a82380b4..83e75ffdb2709 160000 --- a/modules/mavlink +++ b/modules/mavlink @@ -1 +1 @@ -Subproject commit cdfe7a82380b4dae477cf5fac2fe0089817ac560 +Subproject commit 83e75ffdb2709f4821b9746477639e2ae6df103f From 73360c72990d0acb0a786ba69953b0b0eb1ca7ef Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 25 Oct 2024 12:41:43 +0900 Subject: [PATCH 129/314] HAL_QURT: build deb packages in CI --- .github/workflows/qurt_build.yml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/qurt_build.yml b/.github/workflows/qurt_build.yml index 6d89e14c3bd6b..9120c9f683c2f 100644 --- 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 From f161d5745e3e87bd359848645eccdc51212be587 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 25 Oct 2024 12:50:44 +0900 Subject: [PATCH 130/314] HAL_QURT: avoid sudo in make_package.sh sudo is not allowed on build server --- .../AP_HAL_QURT/packaging/make_package.sh | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/libraries/AP_HAL_QURT/packaging/make_package.sh b/libraries/AP_HAL_QURT/packaging/make_package.sh index 839450217ce26..241f4e93c2f3a 100755 --- a/libraries/AP_HAL_QURT/packaging/make_package.sh +++ b/libraries/AP_HAL_QURT/packaging/make_package.sh @@ -23,13 +23,13 @@ GIT_VERSION=$(git rev-parse HEAD | cut -c1-8) VERSION="${FW_MAJOR}.${FW_MINOR}.${FW_PATCH}-${GIT_VERSION}" -echo "Package Name: " $PACKAGE -echo "version Number: " $VERSION - cd libraries/AP_HAL_QURT/packaging cat pkg/control/control.in | sed "s/FW_VERSION/$VERSION/g" > pkg/control/control +echo "Package Name: " $PACKAGE +echo "version Number: " $VERSION + ################################################################################ # variables ################################################################################ @@ -43,7 +43,7 @@ DEB_DIR=pkg/DEB # start with a little cleanup to remove old files ################################################################################ # remove data directory where 'make install' installed to -sudo rm -rf $DATA_DIR +rm -rf $DATA_DIR mkdir $DATA_DIR # remove deb packaging folders @@ -57,24 +57,24 @@ if [ -f ../../../build/QURT/ardupilot ] && \ [ -f ../../../build/QURT/bin/$VEHICLE_BINARY ]; then # Copy the SLPI DSP AP library - sudo mkdir -p $DATA_DIR/usr/lib/rfsa/adsp - sudo cp ../../../build/QURT/bin/$VEHICLE_BINARY $DATA_DIR/usr/lib/rfsa/adsp/ArduPilot.so + mkdir -p $DATA_DIR/usr/lib/rfsa/adsp + cp ../../../build/QURT/bin/$VEHICLE_BINARY $DATA_DIR/usr/lib/rfsa/adsp/ArduPilot.so # Install executables - sudo mkdir -p $DATA_DIR/usr/bin - sudo cp ../../../build/QURT/ardupilot $DATA_DIR/usr/bin - sudo cp ../ap_host/service/voxl-ardupilot $DATA_DIR/usr/bin - sudo chmod a+x $DATA_DIR/usr/bin/ardupilot - sudo chmod a+x $DATA_DIR/usr/bin/voxl-ardupilot + mkdir -p $DATA_DIR/usr/bin + cp ../../../build/QURT/ardupilot $DATA_DIR/usr/bin + cp ../ap_host/service/voxl-ardupilot $DATA_DIR/usr/bin + chmod a+x $DATA_DIR/usr/bin/ardupilot + chmod a+x $DATA_DIR/usr/bin/voxl-ardupilot # Create necessary directories for ArduPilot operation - sudo mkdir -p $DATA_DIR/data/APM + mkdir -p $DATA_DIR/data/APM # Install default parameter files - sudo cp ../../../Tools/Frame_params/ModalAI/*.parm $DATA_DIR/data/APM + cp ../../../Tools/Frame_params/ModalAI/*.parm $DATA_DIR/data/APM - sudo mkdir -p $DATA_DIR/etc/systemd/system/ - sudo cp ../ap_host/service/voxl-ardupilot.service $DATA_DIR/etc/systemd/system/ + mkdir -p $DATA_DIR/etc/systemd/system/ + cp ../ap_host/service/voxl-ardupilot.service $DATA_DIR/etc/systemd/system/ else echo "Error: Build artifacts not found" @@ -95,6 +95,6 @@ cp -rf $CONTROL_DIR/ $DEB_DIR/DEBIAN cp -rf $DATA_DIR/* $DEB_DIR DEB_NAME="${PACKAGE}_${VEHICLETYPE}_${VERSION}_arm64.deb" -dpkg-deb --build "${DEB_DIR}" "${DEB_NAME}" +dpkg-deb --root-owner-group --build "${DEB_DIR}" "${DEB_NAME}" echo "DONE" From b4df082618f4495b602bf86b2e0452c00788ee96 Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Fri, 25 Oct 2024 22:26:17 -0700 Subject: [PATCH 131/314] AP_RCProtocol: get rid of compiler warning from clang about unknown warning group -Wswitch-unreachable --- libraries/AP_RCProtocol/AP_RCProtocol.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h index 37f46a28da6d1..bcf7038ba96bd 100644 --- a/libraries/AP_RCProtocol/AP_RCProtocol.h +++ b/libraries/AP_RCProtocol/AP_RCProtocol.h @@ -128,11 +128,13 @@ class AP_RCProtocol { _disabled_for_pulses |= (1U<<(uint8_t)protocol); } +#if !defined(__clang__) // in the case we've disabled most backends then the "return true" in // the following method can never be reached, and the compiler gets // annoyed at that. #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wswitch-unreachable" +#endif // for protocols without strong CRCs we require 3 good frames to lock on bool requires_3_frames(enum rcprotocol_t p) { @@ -203,7 +205,9 @@ class AP_RCProtocol { } return false; } +#if !defined(__clang__) #pragma GCC diagnostic pop +#endif uint8_t num_channels(); uint16_t read(uint8_t chan); From 0725109d1cf56efa210704c301c48accb360342b Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Wed, 23 Oct 2024 18:01:57 +0900 Subject: [PATCH 132/314] waf: Fail if custom hwdef file doesn't exist Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- wscript | 3 +++ 1 file changed, 3 insertions(+) diff --git a/wscript b/wscript index 89ab8961fb321..f400c74cdb7ee 100644 --- a/wscript +++ b/wscript @@ -506,6 +506,9 @@ def configure(cfg): cfg.env.ENABLE_STATS = cfg.options.enable_stats cfg.env.SAVE_TEMPS = cfg.options.save_temps + extra_hwdef = cfg.options.extra_hwdef + if extra_hwdef is not None and not os.path.exists(extra_hwdef): + raise FileNotFoundError(f"extra-hwdef file NOT found: '{cfg.options.extra_hwdef}'") cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef if cfg.env.HWDEF_EXTRA: cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA) From b2b45477afcb274fd9712ce411e2e031b783101c Mon Sep 17 00:00:00 2001 From: ZeroOne-Aero Date: Thu, 17 Oct 2024 11:53:31 +0800 Subject: [PATCH 133/314] hwdef: update ZeroOne X6 documentation --- .../AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md | 3 ++- .../hwdef/ZeroOneX6/ZeroOneX6.jpg | Bin 0 -> 992449 bytes 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.jpg diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md index dac9f2daadc34..0c34e35e269be 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md @@ -1,6 +1,7 @@ ## ZeroOneX6 Flight Controller The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications. -![ZeroOneX6](ZeroOneX6.png "ZeroOneX6") +![Uploading ZeroOneX6.jpg…]() + ## Features: - Separate flight control core design. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.jpg b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6.jpg new file mode 100644 index 0000000000000000000000000000000000000000..60a0558f1753b90b1cfcde9796a1fbccf514cbfd GIT binary patch literal 992449 zcmeFZc{r5++dn)r$W|GQEMGAgS+gr--$}+;<0E97q_QPbjG>QejGYv+C88lJiAty} zWv!5k&`ePzCi^y?_citT-oHQY=Xd;$`+4r?Igb0tag;IFb-l0ma$e{8dcV%sd2PMh z`UDfPAOr=%U^X_2FfQ1C{A_)P@ta5b1)qh%VeH^*e;91*6Pxm})2BoAR8>z!s2ueV z@eNS%3puGuI2x*|uA-(2(>Ef79`y?jIF0rVzz3Z&ke+?qER7EGH;{JIKBRUi)GXjw 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++++++++++++++--- libraries/AP_DDS/AP_DDS_Client.h | 4 ++-- libraries/AP_DDS/AP_DDS_Service_Table.h | 9 +++++++++ libraries/AP_DDS/AP_DDS_Topic_Table.h | 8 ++++---- libraries/AP_DDS/AP_DDS_config.h | 14 +++++++++++--- 5 files changed, 40 insertions(+), 12 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index a3ae6506f0f3a..fca7d2f614687 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -1,5 +1,6 @@ #include +#include "AP_DDS_config.h" #if AP_DDS_ENABLED #include @@ -12,16 +13,22 @@ #include #include #include +#if AP_DDS_ARM_SERVER_ENABLED #include +# endif // AP_DDS_ARM_SERVER_ENABLED #include #include +#if AP_DDS_ARM_SERVER_ENABLED #include "ardupilot_msgs/srv/ArmMotors.h" +#endif // AP_DDS_ARM_SERVER_ENABLED +#if AP_DDS_MODE_SWITCH_SERVER_ENABLED #include "ardupilot_msgs/srv/ModeSwitch.h" +#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED #if AP_EXTERNAL_CONTROL_ENABLED #include "AP_DDS_ExternalControl.h" -#endif +#endif // AP_EXTERNAL_CONTROL_ENABLED #include "AP_DDS_Frames.h" #include "AP_DDS_Client.h" @@ -667,7 +674,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin break; } #endif // AP_DDS_JOY_SUB_ENABLED -#if AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_DYNAMIC_TF_SUB_ENABLED case topics[to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB)].dr_id.id: { const bool success = tf2_msgs_msg_TFMessage_deserialize_topic(ub, &rx_dynamic_transforms_topic); if (success == false) { @@ -684,7 +691,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin } break; } -#endif // AP_DDS_DYNAMIC_TF_SUB +#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED #if AP_DDS_VEL_CTRL_ENABLED case topics[to_underlying(TopicIndex::VELOCITY_CONTROL_SUB)].dr_id.id: { const bool success = geometry_msgs_msg_TwistStamped_deserialize_topic(ub, &rx_velocity_control_topic); @@ -732,6 +739,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u (void) request_id; (void) length; switch (object_id.id) { +#if AP_DDS_ARM_SERVER_ENABLED case services[to_underlying(ServiceIndex::ARMING_MOTORS)].rep_id: { ardupilot_msgs_srv_ArmMotors_Request arm_motors_request; ardupilot_msgs_srv_ArmMotors_Response arm_motors_response; @@ -761,6 +769,8 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Arming/Disarming : %s", msg_prefix, arm_motors_response.result ? "SUCCESS" : "FAIL"); break; } +#endif // AP_DDS_ARM_SERVER_ENABLED +#if AP_DDS_MODE_SWITCH_SERVER_ENABLED case services[to_underlying(ServiceIndex::MODE_SWITCH)].rep_id: { ardupilot_msgs_srv_ModeSwitch_Request mode_switch_request; ardupilot_msgs_srv_ModeSwitch_Response mode_switch_response; @@ -789,6 +799,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Mode Switch : %s", msg_prefix, mode_switch_response.status ? "SUCCESS" : "FAIL"); break; } +#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED } } diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h index 005b87f30aa21..92bdbf2a4bd30 100644 --- a/libraries/AP_DDS/AP_DDS_Client.h +++ b/libraries/AP_DDS/AP_DDS_Client.h @@ -195,10 +195,10 @@ class AP_DDS_Client // incoming REP147 goal interface global position static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic; #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED -#if AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_DYNAMIC_TF_SUB_ENABLED // incoming transforms static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic; -#endif // AP_DDS_DYNAMIC_TF_SUB +#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED HAL_Semaphore csem; // connection parametrics diff --git a/libraries/AP_DDS/AP_DDS_Service_Table.h b/libraries/AP_DDS/AP_DDS_Service_Table.h index 22f6716beffd0..0e86496dd5777 100644 --- a/libraries/AP_DDS/AP_DDS_Service_Table.h +++ b/libraries/AP_DDS/AP_DDS_Service_Table.h @@ -1,8 +1,13 @@ #include "uxr/client/client.h" +#include enum class ServiceIndex: uint8_t { +#if AP_DDS_ARM_SERVER_ENABLED ARMING_MOTORS, +#endif // #if AP_DDS_ARM_SERVER_ENABLED +#if AP_DDS_MODE_SWITCH_SERVER_ENABLED MODE_SWITCH +#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED }; static inline constexpr uint8_t to_underlying(const ServiceIndex index) @@ -12,6 +17,7 @@ static inline constexpr uint8_t to_underlying(const ServiceIndex index) } constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = { +#if AP_DDS_ARM_SERVER_ENABLED { .req_id = to_underlying(ServiceIndex::ARMING_MOTORS), .rep_id = to_underlying(ServiceIndex::ARMING_MOTORS), @@ -28,6 +34,8 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = { .depth = 5, }, }, +#endif // AP_DDS_ARM_SERVER_ENABLED +#if AP_DDS_MODE_SWITCH_SERVER_ENABLED { .req_id = to_underlying(ServiceIndex::MODE_SWITCH), .rep_id = to_underlying(ServiceIndex::MODE_SWITCH), @@ -38,4 +46,5 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = { .request_topic_name = "rq/ap/mode_switchRequest", .reply_topic_name = "rr/ap/mode_switchReply", }, +#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED }; diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h index 92d546dd51290..8e3823bc238ea 100644 --- a/libraries/AP_DDS/AP_DDS_Topic_Table.h +++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h @@ -51,9 +51,9 @@ enum class TopicIndex: uint8_t { #if AP_DDS_JOY_SUB_ENABLED JOY_SUB, #endif // AP_DDS_JOY_SUB_ENABLED -#if AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_DYNAMIC_TF_SUB_ENABLED DYNAMIC_TRANSFORMS_SUB, -#endif // AP_DDS_DYNAMIC_TF_SUB +#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED #if AP_DDS_VEL_CTRL_ENABLED VELOCITY_CONTROL_SUB, #endif // AP_DDS_VEL_CTRL_ENABLED @@ -286,7 +286,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { }, }, #endif // AP_DDS_JOY_SUB_ENABLED -#if AP_DDS_DYNAMIC_TF_SUB +#if AP_DDS_DYNAMIC_TF_SUB_ENABLED { .topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), @@ -303,7 +303,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .depth = 5, }, }, -#endif // AP_DDS_DYNAMIC_TF_SUB +#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED #if AP_DDS_VEL_CTRL_ENABLED { .topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h index 4b82ed7465d3c..b8f31e368c8a4 100644 --- a/libraries/AP_DDS/AP_DDS_config.h +++ b/libraries/AP_DDS/AP_DDS_config.h @@ -114,15 +114,23 @@ #define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1 #endif -#ifndef AP_DDS_DYNAMIC_TF_SUB -#define AP_DDS_DYNAMIC_TF_SUB 1 +#ifndef AP_DDS_DYNAMIC_TF_SUB_ENABLED +#define AP_DDS_DYNAMIC_TF_SUB_ENABLED 1 +#endif + +#ifndef AP_DDS_ARM_SERVER_ENABLED +#define AP_DDS_ARM_SERVER_ENABLED 1 +#endif + +#ifndef AP_DDS_MODE_SWITCH_SERVER_ENABLED +#define AP_DDS_MODE_SWITCH_SERVER_ENABLED 1 #endif // Whether to include Twist support #define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED // Whether to include Transform support -#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB || AP_DDS_STATIC_TF_PUB_ENABLED +#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED #ifndef AP_DDS_DEFAULT_UDP_IP_ADDR #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS From d27742983fda7ea3aaf0fd35d91c861c8646b9d3 Mon Sep 17 00:00:00 2001 From: Bayu Laksono Date: Sat, 5 Oct 2024 12:17:04 +0700 Subject: [PATCH 135/314] AP_HAL_ESP32: Switch WIFI task from FASTCPU to SLOWCPU Switching WIFI task from FASTCPU to SLOWCPU seems to bring more balance between CPUs and thus increasing connection reliabiiity --- libraries/AP_HAL_ESP32/WiFiDriver.cpp | 6 +++--- libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ESP32/WiFiDriver.cpp b/libraries/AP_HAL_ESP32/WiFiDriver.cpp index f1c7eb9e97276..fbc9e85ddb839 100644 --- a/libraries/AP_HAL_ESP32/WiFiDriver.cpp +++ b/libraries/AP_HAL_ESP32/WiFiDriver.cpp @@ -56,10 +56,10 @@ void WiFiDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS) #define FASTCPU 0 #define SLOWCPU 1 - if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle,FASTCPU) != pdPASS) { - hal.console->printf("FAILED to create task _wifi_thread on FASTCPU\n"); + if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle, SLOWCPU) != pdPASS) { + hal.console->printf("FAILED to create task _wifi_thread on SLOWCPU\n"); } else { - hal.console->printf("OK created task _wifi_thread for TCP with PORT 5760 on FASTCPU\n"); + hal.console->printf("OK created task _wifi_thread for TCP with PORT 5760 on SLOWCPU\n"); } _readbuf.set_size(RX_BUF_SIZE); diff --git a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp index d6a247e13c5d6..2d97b4f491008 100644 --- a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp +++ b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp @@ -59,10 +59,10 @@ void WiFiUdpDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS) #define FASTCPU 0 #define SLOWCPU 1 - if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle,FASTCPU) != pdPASS) { - hal.console->printf("FAILED to create task _wifi_thread2 on FASTCPU\n"); + if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle, SLOWCPU) != pdPASS) { + hal.console->printf("FAILED to create task _wifi_thread2 on SLOWCPU\n"); } else { - hal.console->printf("OK created task _wifi_thread2 for UDP on port 14550 on FASTCPU\n"); //UDP_PORT + hal.console->printf("OK created task _wifi_thread2 for UDP on port 14550 on SLOWCPU\n"); //UDP_PORT } _readbuf.set_size(RX_BUF_SIZE); From a6f00a34b118ffa13ab1e36901c1e2d5c9000e74 Mon Sep 17 00:00:00 2001 From: ARg Date: Wed, 9 Oct 2024 20:02:42 +0200 Subject: [PATCH 136/314] AP_HAL_ESP32: RCOutput ported to new mcpwm driver --- libraries/AP_HAL_ESP32/RCOutput.cpp | 140 +++++++++++++++++----------- libraries/AP_HAL_ESP32/RCOutput.h | 24 +++-- 2 files changed, 103 insertions(+), 61 deletions(-) diff --git a/libraries/AP_HAL_ESP32/RCOutput.cpp b/libraries/AP_HAL_ESP32/RCOutput.cpp index c456b3d8edad4..2c6a7ac530743 100644 --- a/libraries/AP_HAL_ESP32/RCOutput.cpp +++ b/libraries/AP_HAL_ESP32/RCOutput.cpp @@ -12,7 +12,7 @@ * You should have received a copy of the GNU General Public License along * with this program. If not, see . * - * Code by Charles "Silvanosky" Villard and David "Buzz" Bussenschutt + * Code by Charles "Silvanosky" Villard, David "Buzz" Bussenschutt and Andrey "ARg" Romanov * */ @@ -27,6 +27,13 @@ #include +#include "esp_log.h" + +#define SERVO_TIMEBASE_RESOLUTION_HZ 1000000 // 1MHz, 1us per tick +#define SERVO_TIMEBASE_PERIOD 20000 // 20000 ticks, 20ms + +#define TAG "RCOut" + extern const AP_HAL::HAL& hal; using namespace ESP32; @@ -50,63 +57,90 @@ void RCOutput::init() { _max_channels = MAX_CHANNELS; - - //32 and 33 are special as they dont default to gpio, but can be if u disable their rtc setup: +#ifdef CONFIG_IDF_TARGET_ESP32 + // only on plain esp32 + // 32 and 33 are special as they dont default to gpio, but can be if u disable their rtc setup: rtc_gpio_deinit(GPIO_NUM_32); rtc_gpio_deinit(GPIO_NUM_33); +#endif printf("oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo\n"); printf("RCOutput::init() - channels available: %d \n",(int)MAX_CHANNELS); printf("oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo\n"); - static const mcpwm_io_signals_t signals[] = { - MCPWM0A, - MCPWM0B, - MCPWM1A, - MCPWM1B, - MCPWM2A, - MCPWM2B - }; - static const mcpwm_timer_t timers[] = { - MCPWM_TIMER_0, - MCPWM_TIMER_1, - MCPWM_TIMER_2 - - }; - static const mcpwm_unit_t units[] = { - MCPWM_UNIT_0, - MCPWM_UNIT_1 - }; - static const mcpwm_operator_t operators[] = { - MCPWM_OPR_A, - MCPWM_OPR_B - }; - - for (uint8_t i = 0; i < MAX_CHANNELS; ++i) { - auto unit = units[i/6]; - auto signal = signals[i % 6]; - auto timer = timers[i/2]; + const int MCPWM_CNT = SOC_MCPWM_OPERATORS_PER_GROUP*SOC_MCPWM_GENERATORS_PER_OPERATOR; + + for (int i = 0; i < MAX_CHANNELS; ++i) { + + mcpwm_timer_handle_t h_timer; + mcpwm_oper_handle_t h_oper; + + ESP_LOGI(TAG, "Initialize CH%02d", i+1); //Save struct infos pwm_out &out = pwm_group_list[i]; + out.group_id = i/MCPWM_CNT; out.gpio_num = outputs_pins[i]; - out.unit_num = unit; - out.timer_num = timer; - out.io_signal = signal; - out.op = operators[i%2]; out.chan = i; - //Setup gpio - mcpwm_gpio_init(unit, signal, outputs_pins[i]); - //Setup MCPWM module - mcpwm_config_t pwm_config; - pwm_config.frequency = 50; //frequency = 50Hz, i.e. for every servo motor time period should be 20ms - pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0 - pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0 - pwm_config.counter_mode = MCPWM_UP_COUNTER; - pwm_config.duty_mode = MCPWM_DUTY_MODE_0; - mcpwm_init(unit, timer, &pwm_config); - mcpwm_start(unit, timer); + if (0 == i % MCPWM_CNT) { + + mcpwm_timer_config_t timer_config = { + .group_id = out.group_id, + .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT, + .resolution_hz = SERVO_TIMEBASE_RESOLUTION_HZ, + .count_mode = MCPWM_TIMER_COUNT_MODE_UP, + .period_ticks = SERVO_TIMEBASE_PERIOD, + }; + + ESP_LOGI(TAG, "Initialize timer"); + ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &h_timer)); + + out.freq = timer_config.resolution_hz/timer_config.period_ticks; + + ESP_LOGI(TAG, "Enable and start timer"); + ESP_ERROR_CHECK(mcpwm_timer_enable(h_timer)); + ESP_ERROR_CHECK(mcpwm_timer_start_stop(h_timer, MCPWM_TIMER_START_NO_STOP)); + } + out.h_timer = h_timer; + + + if (0 == i % SOC_MCPWM_GENERATORS_PER_OPERATOR) { + + ESP_LOGI(TAG, "Initialize operator"); + + mcpwm_operator_config_t operator_config = { + .group_id = out.group_id, // operator must be in the same group to the timer + }; + ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config, &h_oper)); + } + out.h_oper = h_oper; + + ESP_LOGI(TAG, "Connect timer and operator"); + ESP_ERROR_CHECK(mcpwm_operator_connect_timer(out.h_oper, out.h_timer)); + + ESP_LOGI(TAG, "Create comparator and generator from the operator"); + mcpwm_comparator_config_t comparator_config = {}; + comparator_config.flags.update_cmp_on_tez = true; + + ESP_ERROR_CHECK(mcpwm_new_comparator(out.h_oper, &comparator_config, &out.h_cmpr)); + + mcpwm_generator_config_t generator_config = { + .gen_gpio_num = out.gpio_num, + }; + ESP_ERROR_CHECK(mcpwm_new_generator(out.h_oper, &generator_config, &out.h_gen)); + + ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(out.h_cmpr, 1500)); + out.value = 1500; + + ESP_LOGI(TAG, "Set generator action on timer and compare event"); + // go high on counter empty + ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(out.h_gen, + MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH))); + // go low on compare threshold + ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(out.h_gen, + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, out.h_cmpr, MCPWM_GEN_ACTION_LOW))); + } _initialized = true; @@ -123,7 +157,8 @@ void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) for (uint8_t i = 0; i < MAX_CHANNELS; i++) { if (chmask & 1 << i) { pwm_out &out = pwm_group_list[i]; - mcpwm_set_frequency(out.unit_num, out.timer_num, freq_hz); + ESP_ERROR_CHECK(mcpwm_timer_set_period( out.h_timer, SERVO_TIMEBASE_RESOLUTION_HZ/freq_hz)); + out.freq = freq_hz; } } } @@ -143,7 +178,7 @@ uint16_t RCOutput::get_freq(uint8_t chan) } pwm_out &out = pwm_group_list[chan]; - return mcpwm_get_frequency(out.unit_num, out.timer_num); + return out.freq; } void RCOutput::enable_ch(uint8_t chan) @@ -153,7 +188,7 @@ void RCOutput::enable_ch(uint8_t chan) } pwm_out &out = pwm_group_list[chan]; - mcpwm_start(out.unit_num, out.timer_num); + ESP_ERROR_CHECK(mcpwm_timer_start_stop(out.h_timer, MCPWM_TIMER_START_NO_STOP)); } void RCOutput::disable_ch(uint8_t chan) @@ -164,7 +199,7 @@ void RCOutput::disable_ch(uint8_t chan) write(chan, 0); pwm_out &out = pwm_group_list[chan]; - mcpwm_stop(out.unit_num, out.timer_num); + ESP_ERROR_CHECK(mcpwm_timer_start_stop(out.h_timer, MCPWM_TIMER_STOP_EMPTY)); } void RCOutput::write(uint8_t chan, uint16_t period_us) @@ -189,9 +224,7 @@ uint16_t RCOutput::read(uint8_t chan) } pwm_out &out = pwm_group_list[chan]; - double freq = mcpwm_get_frequency(out.unit_num, out.timer_num); - double dprc = mcpwm_get_duty(out.unit_num, out.timer_num, out.op); - return (1000000.0 * (dprc / 100.)) / freq; + return out.value; } void RCOutput::read(uint16_t *period_us, uint8_t len) @@ -248,7 +281,8 @@ void RCOutput::write_int(uint8_t chan, uint16_t period_us) } pwm_out &out = pwm_group_list[chan]; - mcpwm_set_duty_in_us(out.unit_num, out.timer_num, out.op, period_us); + ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(out.h_cmpr, period_us)); + out.value = period_us; } /* diff --git a/libraries/AP_HAL_ESP32/RCOutput.h b/libraries/AP_HAL_ESP32/RCOutput.h index cf70a8fb89d4e..bdaf4f348322a 100644 --- a/libraries/AP_HAL_ESP32/RCOutput.h +++ b/libraries/AP_HAL_ESP32/RCOutput.h @@ -12,7 +12,7 @@ * You should have received a copy of the GNU General Public License along * with this program. If not, see . * - * Code by Charles "Silvanosky" Villard and David "Buzz" Bussenschutt + * Code by Charles "Silvanosky" Villard, David "Buzz" Bussenschutt and Andrey "ARg" Romanov * */ @@ -21,10 +21,12 @@ #include #include "HAL_ESP32_Namespace.h" -#include "driver/mcpwm.h" #define HAL_PARAM_DEFAULTS_PATH nullptr #include +#include "driver/gpio.h" +#include "driver/mcpwm_prelude.h" + namespace ESP32 { @@ -96,13 +98,19 @@ class RCOutput : public AP_HAL::RCOutput private: + struct pwm_out { - int gpio_num; - mcpwm_unit_t unit_num; - mcpwm_timer_t timer_num; - mcpwm_io_signals_t io_signal; - mcpwm_operator_t op; - uint8_t chan; + + uint8_t chan; + uint8_t gpio_num; + uint8_t group_id; + int freq; + int value; + + mcpwm_timer_handle_t h_timer; + mcpwm_oper_handle_t h_oper; + mcpwm_cmpr_handle_t h_cmpr; + mcpwm_gen_handle_t h_gen; }; From de301dcd23bc10938fdbf69b477bc5504c88c6d1 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 30 Oct 2024 08:48:32 +0000 Subject: [PATCH 137/314] AP_Bootloader: reserve board ids and range for TBS --- Tools/AP_Bootloader/board_types.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index b306e7615810c..3a4dbddf6c46a 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -357,6 +357,10 @@ AP_HW_UAV-DEV-UM982-G4 5224 AP_HW_UAV-DEV-M20D-G4 5225 AP_HW_UAV-DEV-Sensorboard-G4 5226 +# IDs 5250-5269 reserved for Team Black Sheep +AP_HW_TBS_LUCID_H7 5250 +AP_HW_TBS_LUCID_PRO 5251 + #IDs 5301-5399 reserved for Sierra Aerospace AP_HW_Sierra-TrueNavPro-G4 5301 AP_HW_Sierra-TrueNavIC 5302 From be5c68d74db69dd2f3e5226ff576e1b9b8166c79 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Tue, 29 Oct 2024 22:52:34 -0600 Subject: [PATCH 138/314] ArduPlane: Remove unused radio_in_rssi function Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- ArduPlane/GCS_Mavlink.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h index da77d1b357d56..9e03940882713 100644 --- a/ArduPlane/GCS_Mavlink.h +++ b/ArduPlane/GCS_Mavlink.h @@ -83,8 +83,6 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK MAV_MODE base_mode() const override; MAV_STATE vehicle_system_status() const override; - uint8_t radio_in_rssi() const; - float vfr_hud_airspeed() const override; int16_t vfr_hud_throttle() const override; float vfr_hud_climbrate() const override; From 7a6031c7463f81ca106220b01351eb49985bc9e6 Mon Sep 17 00:00:00 2001 From: nicholas-inocencio Date: Wed, 9 Oct 2024 13:31:38 -0500 Subject: [PATCH 139/314] AP_ADSB: Bugfixes and improvements to ping200X integration AP_ADSB: uAvionix Transponder Status V3 + Current version of ping200X sends the v1 status message periodically and the v3 status message in response to the transponder control message, so ardupilot needs to handle both gracefully; version 1 and version 3 are very different in structure and naively assuming one version over another will cause errors. AP_ADSB: Process additional xpdr status v3 fields AP_ADSB: Send GCS xpdr status at least every 10s AP_ADSB: Send ping200X estimated HPL + When AP sends the ping200X the GPS data GDL90 message, it needs to provide a valid HPL for the ping200X to report a valid NIC. AP_ADSB: Don't send unsolicited transponder status AP_ADSB: Better initialization of xpdr id/config AP_ADSB: Better initialization of frontend status AP_ADSB: Suggestions from review --- libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp | 239 +++++++++++++----- libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h | 19 +- .../GDL90_protocol/GDL90_Message_Structs.h | 9 +- 3 files changed, 194 insertions(+), 73 deletions(-) diff --git a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp index 5ecaffc5d7506..20d9e214948d5 100644 --- a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp +++ b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp @@ -59,8 +59,10 @@ bool AP_ADSB_uAvionix_UCP::init() return false; } - request_msg(GDL90_ID_IDENTIFICATION); - request_msg(GDL90_ID_TRANSPONDER_CONFIG); + _frontend.out_state.ctrl.squawkCode = 1200; + _frontend.out_state.tx_status.squawk = 1200; + _frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; + return true; } @@ -88,8 +90,32 @@ void AP_ADSB_uAvionix_UCP::update() } } // while nbytes + + if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5) + { + if (now_ms - run_state.last_packet_Request_Transponder_Id_ms >= 1000) + { + request_msg(GDL90_ID_IDENTIFICATION); + run_state.request_Transponder_Id_tries++; + } + } + + if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5) + { + if (now_ms - run_state.last_packet_Request_Transponder_Config_ms >= 1000) + { + request_msg(GDL90_ID_TRANSPONDER_CONFIG); + run_state.request_Transponder_Config_tries++; + } + } + if (now_ms - run_state.last_packet_Transponder_Control_ms >= 1000) { run_state.last_packet_Transponder_Control_ms = now_ms; + + // We want to use the defaults stored on the ping200X, if possible. + // Until we get the config message (or we've tried requesting it several times), + // don't send the control message. + if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5) send_Transponder_Control(); } @@ -99,12 +125,13 @@ void AP_ADSB_uAvionix_UCP::update() } // if the transponder has stopped giving us the data needed to - // fill the transponder status mavlink message, reset that data. - if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000 && run_state.last_packet_Transponder_Status_ms != 0) - && (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000 && run_state.last_packet_Transponder_Heartbeat_ms != 0) - && (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000 && run_state.last_packet_Transponder_Ownship_ms != 0)) + // fill the transponder status mavlink message, indicate status unavailable. + if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000) + && (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000) + && (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000)) { _frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; + // TODO reset the data for each message when timeout occurs } } @@ -118,9 +145,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) // protocol. memcpy(&rx.decoded.heartbeat, msg.raw, sizeof(rx.decoded.heartbeat)); run_state.last_packet_Transponder_Heartbeat_ms = AP_HAL::millis(); - - // this is always true. The "ground/air bit place" is set meaning we're always in the air - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_ON_GROUND; + _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; if (rx.decoded.heartbeat.status.one.maintenanceRequired) { _frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_MAINT_REQ; @@ -145,13 +170,11 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) } else { _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_TX_SYSTEM_FAIL; } - - _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; - } break; case GDL90_ID_IDENTIFICATION: + run_state.last_packet_Transponder_Id_ms = AP_HAL::millis(); // The Identification message contains information used to identify the connected device. The // Identification message will be transmitted with a period of one second regardless of data status // or update for the UCP protocol and will be transmitted upon request for the UCP-HD protocol. @@ -176,11 +199,13 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) break; case GDL90_ID_TRANSPONDER_CONFIG: + run_state.last_packet_Transponder_Config_ms = AP_HAL::millis(); memcpy(&rx.decoded.transponder_config, msg.raw, sizeof(rx.decoded.transponder_config)); break; #if AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS case GDL90_ID_OWNSHIP_REPORT: + _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; // The Ownship message contains information on the GNSS position. If the Ownship GNSS // position fix is invalid, the Latitude, Longitude, and NIC fields will all have the ZERO value. The // Ownship message will be transmitted with a period of one second regardless of data status or @@ -189,7 +214,6 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) run_state.last_packet_Transponder_Ownship_ms = AP_HAL::millis(); _frontend.out_state.tx_status.NIC_NACp = rx.decoded.ownship_report.report.NIC | (rx.decoded.ownship_report.report.NACp << 4); memcpy(_frontend.out_state.tx_status.flight_id, rx.decoded.ownship_report.report.callsign, sizeof(_frontend.out_state.tx_status.flight_id)); - //_frontend.out_state.tx_status.temperature = rx.decoded.ownship_report.report.temperature; // there is no message in the vocabulary of the 200x that has board temperature break; case GDL90_ID_OWNSHIP_GEOMETRIC_ALTITUDE: @@ -204,61 +228,146 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) break; case GDL90_ID_TRANSPONDER_STATUS: - memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status)); - if (rx.decoded.transponder_status.identActive) { - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE; - } else { - _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE; - } - - if (rx.decoded.transponder_status.modeAEnabled) { - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED; - } else { - _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED; - } + { + _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; + switch (msg.payload[0]) + { + case 1: + { + // version 1 of the transponder status message is sent at 1 Hz (if UCP protocol out is enabled on the transponder) + memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status)); + if (rx.decoded.transponder_status.identActive) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE; + } - if (rx.decoded.transponder_status.modeCEnabled) { - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED; - } else { - _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED; - } + if (rx.decoded.transponder_status.modeAEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED; + } - if (rx.decoded.transponder_status.modeSEnabled) { - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED; - } else { - _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED; - } + if (rx.decoded.transponder_status.modeCEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED; + } - if (rx.decoded.transponder_status.es1090TxEnabled) { - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED; - } else { - _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED; - } + if (rx.decoded.transponder_status.modeSEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED; + } - if (rx.decoded.transponder_status.x_bit) { - _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED; - } else { - _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED; + if (rx.decoded.transponder_status.es1090TxEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED; + } + + if (rx.decoded.transponder_status.x_bit) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED; + } + + _frontend.out_state.tx_status.squawk = rx.decoded.transponder_status.squawkCode; + + if (run_state.last_packet_Transponder_Status_ms == 0 && run_state.last_packet_Transponder_Config_ms == 0) { + // If this is the first time we've seen a status message, + // and we haven't initialized the control message from the config message, + // set initial control message contents to match transponder's current behavior. + _frontend.out_state.ctrl.modeAEnabled = rx.decoded.transponder_status.modeAEnabled; + _frontend.out_state.ctrl.modeCEnabled = rx.decoded.transponder_status.modeCEnabled; + _frontend.out_state.ctrl.modeSEnabled = rx.decoded.transponder_status.modeSEnabled; + _frontend.out_state.ctrl.es1090TxEnabled = rx.decoded.transponder_status.es1090TxEnabled; + _frontend.out_state.ctrl.squawkCode = rx.decoded.transponder_status.squawkCode; + _frontend.out_state.ctrl.x_bit = rx.decoded.transponder_status.x_bit; + } + run_state.last_packet_Transponder_Status_ms = AP_HAL::millis(); +#if AP_MAVLINK_MSG_UAVIONIX_ADSB_OUT_STATUS_ENABLED + GCS_SEND_MESSAGE(MSG_UAVIONIX_ADSB_OUT_STATUS); + run_state.last_gcs_send_message_Transponder_Status_ms = AP_HAL::millis(); +#endif + break; } + case 2: + // deprecated + break; + case 3: + { + // Version 3 of the transponder status message is sent in response to the transponder control message (if UCP-HD protocol out is enabled on the transponder) + memcpy(&rx.decoded.transponder_status_v3, msg.raw, sizeof(rx.decoded.transponder_status_v3)); + + if (rx.decoded.transponder_status_v3.indicatingOnGround) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_ON_GROUND; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_ON_GROUND; + } - _frontend.out_state.tx_status.squawk = rx.decoded.transponder_status.squawkCode; + if (rx.decoded.transponder_status_v3.fault) { + // unsure what fault is indicated, query heartbeat for more info + request_msg(GDL90_ID_HEARTBEAT); + } - _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; + if (rx.decoded.transponder_status_v3.identActive) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE; + } - if (run_state.last_packet_Transponder_Status_ms == 0) { - // set initial control message contents to transponder defaults - _frontend.out_state.ctrl.modeAEnabled = rx.decoded.transponder_status.modeAEnabled; - _frontend.out_state.ctrl.modeCEnabled = rx.decoded.transponder_status.modeCEnabled; - _frontend.out_state.ctrl.modeSEnabled = rx.decoded.transponder_status.modeSEnabled; - _frontend.out_state.ctrl.es1090TxEnabled = rx.decoded.transponder_status.es1090TxEnabled; - _frontend.out_state.ctrl.squawkCode = rx.decoded.transponder_status.squawkCode; - _frontend.out_state.ctrl.x_bit = rx.decoded.transponder_status.x_bit; - } - run_state.last_packet_Transponder_Status_ms = AP_HAL::millis(); + if (rx.decoded.transponder_status_v3.modeAEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED; + } + + if (rx.decoded.transponder_status_v3.modeCEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED; + } + + if (rx.decoded.transponder_status_v3.modeSEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED; + } + + if (rx.decoded.transponder_status_v3.es1090TxEnabled) { + _frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED; + } else { + _frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED; + } + + _frontend.out_state.tx_status.squawk = rx.decoded.transponder_status_v3.squawkCode; + _frontend.out_state.tx_status.NIC_NACp = rx.decoded.transponder_status_v3.NIC | (rx.decoded.transponder_status_v3.NACp << 4); + _frontend.out_state.tx_status.boardTemp = rx.decoded.transponder_status_v3.temperature; + + // TODO not the best approach + if (run_state.last_packet_Transponder_Status_ms == 0 && run_state.last_packet_Transponder_Config_ms == 0) { + // If this is the first time we've seen a status message, + // and we haven't initialized the control message from the config message, + // set initial control message contents to match transponder's current behavior. + _frontend.out_state.ctrl.modeAEnabled = rx.decoded.transponder_status_v3.modeAEnabled; + _frontend.out_state.ctrl.modeCEnabled = rx.decoded.transponder_status_v3.modeCEnabled; + _frontend.out_state.ctrl.modeSEnabled = rx.decoded.transponder_status_v3.modeSEnabled; + _frontend.out_state.ctrl.es1090TxEnabled = rx.decoded.transponder_status_v3.es1090TxEnabled; + _frontend.out_state.ctrl.squawkCode = rx.decoded.transponder_status_v3.squawkCode; + } + run_state.last_packet_Transponder_Status_ms = AP_HAL::millis(); #if AP_MAVLINK_MSG_UAVIONIX_ADSB_OUT_STATUS_ENABLED - GCS_SEND_MESSAGE(MSG_UAVIONIX_ADSB_OUT_STATUS); + GCS_SEND_MESSAGE(MSG_UAVIONIX_ADSB_OUT_STATUS); + run_state.last_gcs_send_message_Transponder_Status_ms = AP_HAL::millis(); #endif + break; + } + default: + break; + } break; + } #endif // AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS case GDL90_ID_TRANSPONDER_CONTROL: @@ -339,7 +448,6 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control() gdl90Transmit((GDL90_TX_MESSAGE&)msg, sizeof(msg)); } - void AP_ADSB_uAvionix_UCP::send_GPS_Data() { GDL90_GPS_DATA_V2 msg {}; @@ -358,12 +466,19 @@ void AP_ADSB_uAvionix_UCP::send_GPS_Data() msg.altitudeGnss_mm = fix_is_good ? (_frontend._my_loc.alt * 10): INT32_MAX; // Protection Limits. FD or SBAS-based depending on state bits - msg.HPL_mm = UINT32_MAX; - msg.VPL_cm = UINT32_MAX; + // Estimate HPL based on horizontal accuracy/HFOM to a probability of 10^-7: + // Using the central limit theorem for a Gaussian distribution, + // this is 5.326724*stdDev. + // Conservatively round up to 6 as a scaling factor, + // and asssume HFOM of 95% was calculated as 2*stdDev*HDOP. + // This yields a factor of 3 to estimate HPL from horizontal accuracy. + float accHoriz; + bool gotAccHoriz = gps.horizontal_accuracy(accHoriz); + msg.HPL_mm = gotAccHoriz ? 3 * accHoriz * 1E3 : UINT32_MAX; // required to calculate NIC + msg.VPL_cm = UINT32_MAX; // unused by ping200X // Figure of Merits - float accHoriz; - msg.horizontalFOM_mm = gps.horizontal_accuracy(accHoriz) ? accHoriz * 1E3 : UINT32_MAX; + msg.horizontalFOM_mm = gotAccHoriz ? accHoriz * 1E3 : UINT32_MAX; float accVert; msg.verticalFOM_cm = gps.vertical_accuracy(accVert) ? accVert * 1E2 : UINT16_MAX; float accVel; diff --git a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h index 742b7924a87cc..a7b77a40807a6 100644 --- a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h +++ b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h @@ -64,6 +64,7 @@ class AP_ADSB_uAvionix_UCP : public AP_ADSB_Backend { GDL90_TRANSPONDER_CONFIG_MSG_V4_V5 transponder_config; GDL90_HEARTBEAT heartbeat; GDL90_TRANSPONDER_STATUS_MSG transponder_status; + GDL90_TRANSPONDER_STATUS_MSG_V3 transponder_status_v3; #if AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS GDL90_OWNSHIP_REPORT ownship_report; GDL90_OWNSHIP_GEO_ALTITUDE ownship_geometric_altitude; @@ -73,11 +74,19 @@ class AP_ADSB_uAvionix_UCP : public AP_ADSB_Backend { } rx; struct { - uint32_t last_packet_GPS_ms; - uint32_t last_packet_Transponder_Control_ms; - uint32_t last_packet_Transponder_Status_ms; - uint32_t last_packet_Transponder_Heartbeat_ms; - uint32_t last_packet_Transponder_Ownship_ms; + uint32_t last_packet_GPS_ms; // out + uint32_t last_packet_Transponder_Control_ms; // out + uint32_t last_packet_Transponder_Status_ms; // in + uint32_t last_packet_Transponder_Heartbeat_ms; // in + uint32_t last_packet_Transponder_Ownship_ms; // in + uint32_t last_gcs_send_message_Transponder_Status_ms; // out + uint32_t last_packet_Request_Transponder_Config_ms; // out + uint32_t last_packet_Transponder_Config_ms; // in + uint32_t request_Transponder_Config_tries; + uint32_t last_packet_Request_Transponder_Id_ms; // out + uint32_t last_packet_Transponder_Id_ms; // in + uint32_t request_Transponder_Id_tries; + } run_state; }; diff --git a/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h b/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h index 4a386c73865f7..456852fb8db3e 100644 --- a/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h +++ b/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h @@ -103,10 +103,8 @@ typedef struct __attribute__((__packed__)) } GDL90_TRANSPONDER_CONTROL_MSG; #endif -#define GDL90_TRANSPONDER_STATUS_VERSION (1) // Version 1 is the correct UCP format; version 3 is half-duplex and not used by the ping200x #define GDL90_STATUS_MAX_ALTITUDE_FT (101338) #define GDL90_STATUS_MIN_ALTITUDE_FT (-1000) -#if GDL90_TRANSPONDER_STATUS_VERSION == 1 typedef struct __attribute__((__packed__)) { GDL90_MESSAGE_ID messageId; @@ -122,9 +120,9 @@ typedef struct __attribute__((__packed__)) uint16_t modecRepliesPerSecond; uint16_t modeSRepliesPerSecond; uint16_t squawkCode; + uint16_t crc; } GDL90_TRANSPONDER_STATUS_MSG; -#endif -#if GDL90_TRANSPONDER_STATUS_VERSION == 3 + typedef struct __attribute__((__packed__)) { GDL90_MESSAGE_ID messageId; @@ -147,8 +145,7 @@ typedef struct __attribute__((__packed__)) uint8_t NACp : 4; uint8_t temperature; uint16_t crc; -} GDL90_TRANSPONDER_STATUS_MSG; -#endif +} GDL90_TRANSPONDER_STATUS_MSG_V3; typedef struct __attribute__((__packed__)) From c270c392c4847ab946bf0464defb85c16b8c8921 Mon Sep 17 00:00:00 2001 From: nicholas-inocencio Date: Thu, 17 Oct 2024 09:52:25 -0500 Subject: [PATCH 140/314] AP_ADSB: Style fixes --- libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp | 45 +- libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h | 2 +- .../GDL90_protocol/GDL90_Message_Structs.h | 894 +++++++++--------- .../AP_ADSB/GDL90_protocol/hostGDL90Support.h | 91 +- 4 files changed, 511 insertions(+), 521 deletions(-) diff --git a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp index 20d9e214948d5..0f92293c519f2 100644 --- a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp +++ b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp @@ -90,9 +90,8 @@ void AP_ADSB_uAvionix_UCP::update() } } // while nbytes - - if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5) - { + + if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5) { if (now_ms - run_state.last_packet_Request_Transponder_Id_ms >= 1000) { request_msg(GDL90_ID_IDENTIFICATION); @@ -100,8 +99,7 @@ void AP_ADSB_uAvionix_UCP::update() } } - if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5) - { + if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5) { if (now_ms - run_state.last_packet_Request_Transponder_Config_ms >= 1000) { request_msg(GDL90_ID_TRANSPONDER_CONFIG); @@ -114,9 +112,10 @@ void AP_ADSB_uAvionix_UCP::update() // We want to use the defaults stored on the ping200X, if possible. // Until we get the config message (or we've tried requesting it several times), - // don't send the control message. - if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5) - send_Transponder_Control(); + // don't send the control message. + if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5) { + send_Transponder_Control(); + } } if ((now_ms - run_state.last_packet_GPS_ms >= 200) && (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Ping200X_Send_GPS)) != 0) { @@ -124,14 +123,12 @@ void AP_ADSB_uAvionix_UCP::update() send_GPS_Data(); } - // if the transponder has stopped giving us the data needed to + // if the transponder has stopped giving us the data needed to // fill the transponder status mavlink message, indicate status unavailable. if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000) && (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000) - && (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000)) - { + && (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000)) { _frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; - // TODO reset the data for each message when timeout occurs } } @@ -187,7 +184,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) char primaryFwPartNumber[str_len+1]; memcpy(&primaryFwPartNumber, rx.decoded.identification.primaryFwPartNumber, str_len); primaryFwPartNumber[str_len] = 0; - + GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"ADSB:Detected %s v%u.%u.%u SN:%u %s", get_hardware_name(rx.decoded.identification.primary.hwId), (unsigned)rx.decoded.identification.primary.fwMajorVersion, @@ -230,10 +227,8 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) case GDL90_ID_TRANSPONDER_STATUS: { _frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL; - switch (msg.payload[0]) - { - case 1: - { + switch (msg.payload[0]) { + case 1: { // version 1 of the transponder status message is sent at 1 Hz (if UCP protocol out is enabled on the transponder) memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status)); if (rx.decoded.transponder_status.identActive) { @@ -295,8 +290,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) case 2: // deprecated break; - case 3: - { + case 3: { // Version 3 of the transponder status message is sent in response to the transponder control message (if UCP-HD protocol out is enabled on the transponder) memcpy(&rx.decoded.transponder_status_v3, msg.raw, sizeof(rx.decoded.transponder_status_v3)); @@ -345,7 +339,6 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) _frontend.out_state.tx_status.NIC_NACp = rx.decoded.transponder_status_v3.NIC | (rx.decoded.transponder_status_v3.NACp << 4); _frontend.out_state.tx_status.boardTemp = rx.decoded.transponder_status_v3.temperature; - // TODO not the best approach if (run_state.last_packet_Transponder_Status_ms == 0 && run_state.last_packet_Transponder_Config_ms == 0) { // If this is the first time we've seen a status message, // and we haven't initialized the control message from the config message, @@ -535,14 +528,14 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui // Set flag byte in frame buffer gdl90FrameBuffer[0] = GDL90_FLAG_BYTE; uint16_t frameIndex = 1; - + // Copy and stuff all payload bytes into frame buffer for (uint16_t i = 0; i < length+2; i++) { // Check for overflow of frame buffer if (frameIndex >= GDL90_TX_MAX_FRAME_LENGTH) { return 0; } - + uint8_t data; // Append CRC to payload if (i == length) { @@ -550,7 +543,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui } else if (i == length+1) { data = HIGHBYTE(frameCrc); } else { - data = message.raw[i]; + data = message.raw[i]; } if (data == GDL90_FLAG_BYTE || data == GDL90_CONTROL_ESCAPE_BYTE) { @@ -558,7 +551,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui if (frameIndex + 2 > GDL90_TX_MAX_FRAME_LENGTH) { return 0; } - + // Set control break and stuff this byte gdl90FrameBuffer[frameIndex++] = GDL90_CONTROL_ESCAPE_BYTE; gdl90FrameBuffer[frameIndex++] = data ^ GDL90_STUFF_BYTE; @@ -566,7 +559,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui gdl90FrameBuffer[frameIndex++] = data; } } - + // Add end of frame indication gdl90FrameBuffer[frameIndex++] = GDL90_FLAG_BYTE; @@ -574,7 +567,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui if (hostTransmit(gdl90FrameBuffer, frameIndex)) { return frameIndex; } - + return 0; } diff --git a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h index a7b77a40807a6..abf76569aa3a1 100644 --- a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h +++ b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h @@ -82,7 +82,7 @@ class AP_ADSB_uAvionix_UCP : public AP_ADSB_Backend { uint32_t last_gcs_send_message_Transponder_Status_ms; // out uint32_t last_packet_Request_Transponder_Config_ms; // out uint32_t last_packet_Transponder_Config_ms; // in - uint32_t request_Transponder_Config_tries; + uint32_t request_Transponder_Config_tries; uint32_t last_packet_Request_Transponder_Id_ms; // out uint32_t last_packet_Transponder_Id_ms; // in uint32_t request_Transponder_Id_tries; diff --git a/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h b/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h index 456852fb8db3e..36a549d8af6c9 100644 --- a/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h +++ b/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h @@ -1,22 +1,22 @@ /* - Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved. + Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved. - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with this program. If not, see . + You should have received a copy of the GNU General Public License + along with this program. If not, see . - - Author: GDL90/UCP protocol by uAvionix, 2021. - Implemented by: Tom Pittenger + + Author: GDL90/UCP protocol by uAvionix, 2021. + Implemented by: Tom Pittenger */ #include @@ -25,81 +25,81 @@ typedef enum __attribute__((__packed__)) { - GDL90_ID_HEARTBEAT = 0, - GDL90_ID_OWNSHIP_REPORT = 10, // 0x0A - GDL90_ID_OWNSHIP_GEOMETRIC_ALTITUDE = 11, // 0x0B - GDL90_ID_IDENTIFICATION = 37, // 0x25 - GDL90_ID_SENSOR_MESSAGE = 40, // 0x28 - GDL90_ID_TRANSPONDER_CONFIG = 43, // 0x2B - GDL90_ID_MESSAGE_REQUEST = 44, // 0x2C - GDL90_ID_TRANSPONDER_CONTROL = 45, // 0x2D - GDL90_ID_GPS_DATA = 46, // 0x2E - GDL90_ID_TRANSPONDER_STATUS = 47, // 0x2F + GDL90_ID_HEARTBEAT = 0, + GDL90_ID_OWNSHIP_REPORT = 10, // 0x0A + GDL90_ID_OWNSHIP_GEOMETRIC_ALTITUDE = 11, // 0x0B + GDL90_ID_IDENTIFICATION = 37, // 0x25 + GDL90_ID_SENSOR_MESSAGE = 40, // 0x28 + GDL90_ID_TRANSPONDER_CONFIG = 43, // 0x2B + GDL90_ID_MESSAGE_REQUEST = 44, // 0x2C + GDL90_ID_TRANSPONDER_CONTROL = 45, // 0x2D + GDL90_ID_GPS_DATA = 46, // 0x2E + GDL90_ID_TRANSPONDER_STATUS = 47, // 0x2F } GDL90_MESSAGE_ID; -typedef enum __attribute__((__packed__)) +typedef enum __attribute__((__packed__)) { - ADSB_NIC_BARO_UNVERIFIED = 0, // Baro is Gilman bases, and not cross checked - ADSB_NIC_BARO_VERIFIED = 1, // Baro is cross-checked, or not Gilman based + ADSB_NIC_BARO_UNVERIFIED = 0, // Baro is Gilman bases, and not cross checked + ADSB_NIC_BARO_VERIFIED = 1, // Baro is cross-checked, or not Gilman based } ADSB_NIC_BARO; // Barometric Altitude Integrity Code typedef enum __attribute__((__packed__)) { - ADSB_AIRBORNE_SUBSONIC = 0, - ADSB_AIRBORNE_SUPERSONIC = 1, - ADSB_ON_GROUND = 2, - // 3 Reserved + ADSB_AIRBORNE_SUBSONIC = 0, + ADSB_AIRBORNE_SUPERSONIC = 1, + ADSB_ON_GROUND = 2, + // 3 Reserved } ADSB_AIR_GROUND_STATE; // Determines how horizontal velocity fields are processed in UAT -typedef enum __attribute__((__packed__)) -{ - ADSB_EMERGENCY_NONE = 0, - ADSB_EMERGENCY_GENERAL = 1, - ADSB_EMERGENCY_MEDICAL = 2, - ADSB_EMERGENCY_MINIMUM_FUEL = 3, - ADSB_EMERGENCY_NO_COMMUNICATION = 4, - ADSB_EMERGNECY_INTERFERENCE = 5, - ADSB_EMERGENCY_DOWNED_AIRCRAFT = 6, - ADSB_EMERGENCY_UAS_LOST_LINK = 7, - // 7 Reserved +typedef enum __attribute__((__packed__)) +{ + ADSB_EMERGENCY_NONE = 0, + ADSB_EMERGENCY_GENERAL = 1, + ADSB_EMERGENCY_MEDICAL = 2, + ADSB_EMERGENCY_MINIMUM_FUEL = 3, + ADSB_EMERGENCY_NO_COMMUNICATION = 4, + ADSB_EMERGNECY_INTERFERENCE = 5, + ADSB_EMERGENCY_DOWNED_AIRCRAFT = 6, + ADSB_EMERGENCY_UAS_LOST_LINK = 7, + // 7 Reserved } ADSB_EMERGENCY_STATUS; #define GDL90_TRANSPONDER_CONTROL_VERSION (2) #if GDL90_TRANSPONDER_CONTROL_VERSION == 1 typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - ADSB_NIC_BARO baroCrossChecked : 1; - ADSB_AIR_GROUND_STATE airGroundState : 2; - uint8_t identActive : 1; - uint8_t modeAEnabled : 1; - uint8_t modeCEnabled : 1; - uint8_t modeSEnabled : 1; - uint8_t es1090TxEnabled : 1; - int32_t externalBaroAltitude_mm; - uint16_t squawkCode; - ADSB_EMERGENCY_STATUS emergencyState; - uint8_t callsign[8]; + GDL90_MESSAGE_ID messageId; + uint8_t version; + ADSB_NIC_BARO baroCrossChecked : 1; + ADSB_AIR_GROUND_STATE airGroundState : 2; + uint8_t identActive : 1; + uint8_t modeAEnabled : 1; + uint8_t modeCEnabled : 1; + uint8_t modeSEnabled : 1; + uint8_t es1090TxEnabled : 1; + int32_t externalBaroAltitude_mm; + uint16_t squawkCode; + ADSB_EMERGENCY_STATUS emergencyState; + uint8_t callsign[8]; } GDL90_TRANSPONDER_CONTROL_MSG; #elif GDL90_TRANSPONDER_CONTROL_VERSION == 2 typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - ADSB_NIC_BARO baroCrossChecked : 1; - ADSB_AIR_GROUND_STATE airGroundState : 2; - uint8_t identActive : 1; - uint8_t modeAEnabled : 1; - uint8_t modeCEnabled : 1; - uint8_t modeSEnabled : 1; - uint8_t es1090TxEnabled : 1; - int32_t externalBaroAltitude_mm; - uint16_t squawkCode; - ADSB_EMERGENCY_STATUS emergencyState; - uint8_t callsign[8]; - uint8_t rfu : 7; - uint8_t x_bit : 1; + GDL90_MESSAGE_ID messageId; + uint8_t version; + ADSB_NIC_BARO baroCrossChecked : 1; + ADSB_AIR_GROUND_STATE airGroundState : 2; + uint8_t identActive : 1; + uint8_t modeAEnabled : 1; + uint8_t modeCEnabled : 1; + uint8_t modeSEnabled : 1; + uint8_t es1090TxEnabled : 1; + int32_t externalBaroAltitude_mm; + uint16_t squawkCode; + ADSB_EMERGENCY_STATUS emergencyState; + uint8_t callsign[8]; + uint8_t rfu : 7; + uint8_t x_bit : 1; } GDL90_TRANSPONDER_CONTROL_MSG; #endif @@ -107,547 +107,547 @@ typedef struct __attribute__((__packed__)) #define GDL90_STATUS_MIN_ALTITUDE_FT (-1000) typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - uint8_t rfu : 2; - uint8_t x_bit : 1; - uint8_t identActive : 1; - uint8_t modeAEnabled : 1; - uint8_t modeCEnabled : 1; - uint8_t modeSEnabled : 1; - uint8_t es1090TxEnabled : 1; - uint16_t modeARepliesPerSecond; - uint16_t modecRepliesPerSecond; - uint16_t modeSRepliesPerSecond; - uint16_t squawkCode; - uint16_t crc; + GDL90_MESSAGE_ID messageId; + uint8_t version; + uint8_t rfu : 2; + uint8_t x_bit : 1; + uint8_t identActive : 1; + uint8_t modeAEnabled : 1; + uint8_t modeCEnabled : 1; + uint8_t modeSEnabled : 1; + uint8_t es1090TxEnabled : 1; + uint16_t modeARepliesPerSecond; + uint16_t modecRepliesPerSecond; + uint16_t modeSRepliesPerSecond; + uint16_t squawkCode; + uint16_t crc; } GDL90_TRANSPONDER_STATUS_MSG; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - uint8_t indicatingOnGround : 1; - uint8_t interrogatedSinceLast : 1; - uint8_t fault : 1; - uint8_t identActive : 1; - uint8_t modeAEnabled : 1; - uint8_t modeCEnabled : 1; - uint8_t modeSEnabled : 1; - uint8_t es1090TxEnabled : 1; - uint8_t latitude[3]; - uint8_t longitude[3]; - uint32_t track_Heading : 8; - uint32_t horizontalVelocity :12; - uint32_t altitude :12; - uint16_t squawkCode; - uint8_t NIC : 4; - uint8_t NACp : 4; - uint8_t temperature; - uint16_t crc; + GDL90_MESSAGE_ID messageId; + uint8_t version; + uint8_t indicatingOnGround : 1; + uint8_t interrogatedSinceLast : 1; + uint8_t fault : 1; + uint8_t identActive : 1; + uint8_t modeAEnabled : 1; + uint8_t modeCEnabled : 1; + uint8_t modeSEnabled : 1; + uint8_t es1090TxEnabled : 1; + uint8_t latitude[3]; + uint8_t longitude[3]; + uint32_t track_Heading : 8; + uint32_t horizontalVelocity :12; + uint32_t altitude :12; + uint16_t squawkCode; + uint8_t NIC : 4; + uint8_t NACp : 4; + uint8_t temperature; + uint16_t crc; } GDL90_TRANSPONDER_STATUS_MSG_V3; typedef struct __attribute__((__packed__)) { - uint8_t HPLfdeActive : 1; - uint8_t fault : 1; - uint8_t HrdMagNorth : 1; - uint8_t reserved : 5; + uint8_t HPLfdeActive : 1; + uint8_t fault : 1; + uint8_t HrdMagNorth : 1; + uint8_t reserved : 5; } GDL90_GPS_NAV_STATE; typedef enum __attribute__((__packed__)) { - GPS_FIX_NONE = 0, - GPS_FIX_NO_FIX = 1, - GPS_FIX_2D = 2, - GPS_FIX_3D = 3, - GPS_FIX_DIFFERENTIAL = 4, - GPS_FIX_RTK = 5, + GPS_FIX_NONE = 0, + GPS_FIX_NO_FIX = 1, + GPS_FIX_2D = 2, + GPS_FIX_3D = 3, + GPS_FIX_DIFFERENTIAL = 4, + GPS_FIX_RTK = 5, } GPS_FIX; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - uint32_t utcTime_s; // Time since GPS epoch - int32_t latitude_ddE7; - int32_t longitude_ddE7; - int32_t altitudeGnss_mm; // Height about WGS84 ellipsoid - // Protection Limits. FD or SBAS-based depending on state bits - uint32_t HPL_mm; - uint32_t VPL_cm; - // FOMS - uint32_t horizontalFOM_mm; - uint16_t verticalFOM_cm; - uint16_t horizontalVelocityFOM_mmps; - uint16_t verticalVelocityFOM_mmps; - // Velocities - int16_t verticalVelocity_cmps; - int32_t northVelocity_mmps; // millimeter/s - int32_t eastVelocity_mmps; - // State - GPS_FIX fixType; - GDL90_GPS_NAV_STATE navState; - uint8_t satsUsed; + GDL90_MESSAGE_ID messageId; + uint8_t version; + uint32_t utcTime_s; // Time since GPS epoch + int32_t latitude_ddE7; + int32_t longitude_ddE7; + int32_t altitudeGnss_mm; // Height about WGS84 ellipsoid + // Protection Limits. FD or SBAS-based depending on state bits + uint32_t HPL_mm; + uint32_t VPL_cm; + // FOMS + uint32_t horizontalFOM_mm; + uint16_t verticalFOM_cm; + uint16_t horizontalVelocityFOM_mmps; + uint16_t verticalVelocityFOM_mmps; + // Velocities + int16_t verticalVelocity_cmps; + int32_t northVelocity_mmps; // millimeter/s + int32_t eastVelocity_mmps; + // State + GPS_FIX fixType; + GDL90_GPS_NAV_STATE navState; + uint8_t satsUsed; } GDL90_GPS_DATA_V2; -#define GDL90_GPS_DATA_VERSION (2) +#define GDL90_GPS_DATA_VERSION (2) typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - GDL90_MESSAGE_ID reqMsgId; + GDL90_MESSAGE_ID messageId; + uint8_t version; + GDL90_MESSAGE_ID reqMsgId; } GDL90_TRANSPONDER_MESSAGE_REQUEST_V2; typedef enum __attribute__((__packed__)) { - GDL90_BARO_DATA_SOURCE_INTERNAL = 0, - GDL90_BARO_DATA_SOURCE_EXTERNAL, + GDL90_BARO_DATA_SOURCE_INTERNAL = 0, + GDL90_BARO_DATA_SOURCE_EXTERNAL, }GDL90_BARO_DATA_SOURCE; -typedef enum __attribute__((__packed__)) +typedef enum __attribute__((__packed__)) { - ADSB_SDA_UNKNOWN = 0, - ADSB_SDA_10_NEG3 = 1, - ADSB_SDA_10_NEG5 = 2, - ADSB_SDA_10_NEG7 = 3, + ADSB_SDA_UNKNOWN = 0, + ADSB_SDA_10_NEG3 = 1, + ADSB_SDA_10_NEG5 = 2, + ADSB_SDA_10_NEG7 = 3, } ADSB_SDA; // System Design Assurance typedef enum __attribute__((__packed__)) { - ADSB_SIL_UNKNOWN = 0, - ADSB_SIL_10_NEG3 = 1, - ADSB_SIL_10_NEG5 = 2, - ADSB_SIL_10_NEG7 = 3, + ADSB_SIL_UNKNOWN = 0, + ADSB_SIL_10_NEG3 = 1, + ADSB_SIL_10_NEG5 = 2, + ADSB_SIL_10_NEG7 = 3, } ADSB_SIL; // Source Integrity Level typedef enum __attribute__((__packed__)) { - ADSB_AV_LW_NO_DATA = 0, - ADSB_AV_LW_15M_23M = 1, - ADSB_AV_LW_25M_28P5M = 2, - ADSB_AV_LW_25M_34M = 3, - ADSB_AV_LW_35M_33M = 4, - ADSB_AV_LW_35M_38M = 5, - ADSB_AV_LW_45M_39P5M = 6, - ADSB_AV_LW_45M_45M = 7, - ADSB_AV_LW_55M_45M = 8, - ADSB_AV_LW_55M_52M = 9, - ADSB_AV_LW_65M_59P5M = 10, - ADSB_AV_LW_65M_67M = 11, - ADSB_AV_LW_75M_72P5M = 12, - ADSB_AV_LW_75M_80M = 13, - ADSB_AV_LW_85M_80M = 14, - ADSB_AV_LW_85M_90M = 15, + ADSB_AV_LW_NO_DATA = 0, + ADSB_AV_LW_15M_23M = 1, + ADSB_AV_LW_25M_28P5M = 2, + ADSB_AV_LW_25M_34M = 3, + ADSB_AV_LW_35M_33M = 4, + ADSB_AV_LW_35M_38M = 5, + ADSB_AV_LW_45M_39P5M = 6, + ADSB_AV_LW_45M_45M = 7, + ADSB_AV_LW_55M_45M = 8, + ADSB_AV_LW_55M_52M = 9, + ADSB_AV_LW_65M_59P5M = 10, + ADSB_AV_LW_65M_67M = 11, + ADSB_AV_LW_75M_72P5M = 12, + ADSB_AV_LW_75M_80M = 13, + ADSB_AV_LW_85M_80M = 14, + ADSB_AV_LW_85M_90M = 15, } ADSB_AIRCRAFT_LENGTH_WIDTH; typedef enum __attribute__((__packed__)) { - ADSB_NOT_UAT_IN_CAPABLE = 0, - ADSB_UAT_IN_CAPABLE = 1 + ADSB_NOT_UAT_IN_CAPABLE = 0, + ADSB_UAT_IN_CAPABLE = 1 } ADSB_UAT_IN_CAPABILITY; typedef enum __attribute__((__packed__)) { - ADSB_NOT_1090ES_IN_CAPABLE = 0, - ADSB_1090ES_IN_CAPABLE = 1 + ADSB_NOT_1090ES_IN_CAPABLE = 0, + ADSB_1090ES_IN_CAPABLE = 1 } ADSB_1090ES_IN_CAPABILITY; typedef enum __attribute__((__packed__)) { - ADSB_GPS_LON_NO_DATA = 0, - ADSB_GPS_LON_FROM_SENSOR = 1, - // 2 - 31 valid values in 2 meter increments + ADSB_GPS_LON_NO_DATA = 0, + ADSB_GPS_LON_FROM_SENSOR = 1, + // 2 - 31 valid values in 2 meter increments } ADSB_GPS_LONGITUDINAL_OFFSET; typedef enum __attribute__((__packed__)) { - ADSB_GPS_LAT_NO_DATA = 0, - ADSB_GPS_LAT_LEFT_2M = 1, - ADSB_GPS_LAT_LEFT_4M = 2, - ADSB_GPS_LAT_LEFT_6M = 3, - ADSB_GPS_LAT_0M = 4, - ADSB_GPS_LAT_RIGHT_2M = 5, - ADSB_GPS_LAT_RIGHT_4M = 6, - ADSB_GPS_LAT_RIGHT_6M = 7, + ADSB_GPS_LAT_NO_DATA = 0, + ADSB_GPS_LAT_LEFT_2M = 1, + ADSB_GPS_LAT_LEFT_4M = 2, + ADSB_GPS_LAT_LEFT_6M = 3, + ADSB_GPS_LAT_0M = 4, + ADSB_GPS_LAT_RIGHT_2M = 5, + ADSB_GPS_LAT_RIGHT_4M = 6, + ADSB_GPS_LAT_RIGHT_6M = 7, } ADSB_GPS_LATERAL_OFFSET; typedef enum __attribute__((__packed__)) { - ADSB_EMITTER_NO_INFO = 0, - ADSB_EMITTER_LIGHT = 1, - ADSB_EMITTER_SMALL = 2, - ADSB_EMITTER_LARGE = 3, - ADSB_EMITTER_HIGH_VORTEX_LARGE = 4, - ADSB_EMITTER_HEAVY = 5, - ADSB_EMITTER_HIGHLY_MANUV = 6, - ADSB_EMITTER_ROTOCRAFT = 7, - // 8 Unassigned - ADSB_EMITTER_GLIDER = 9, - ADSB_EMITTER_LIGHTER_AIR = 10, - ADSB_EMITTER_PARACHUTE = 11, - ADSB_EMITTER_ULTRA_LIGHT = 12, - // 13 Unassigned - ADSB_EMITTER_UAV = 14, - ADSB_EMITTER_SPACE = 15, - // 16 Unassigned - - // Surface types - ADSB_EMITTER_EMERGENCY_SURFACE = 17, - ADSB_EMITTER_SERVICE_SURFACE = 18, - - // Obstacle types - ADSB_EMITTER_POINT_OBSTACLE = 19, - ADSB_EMITTER_CLUSTER_OBSTACLE = 20, - ADSB_EMITTER_LINE_OBSTACLE = 21, - // 22 - 39 Reserved + ADSB_EMITTER_NO_INFO = 0, + ADSB_EMITTER_LIGHT = 1, + ADSB_EMITTER_SMALL = 2, + ADSB_EMITTER_LARGE = 3, + ADSB_EMITTER_HIGH_VORTEX_LARGE = 4, + ADSB_EMITTER_HEAVY = 5, + ADSB_EMITTER_HIGHLY_MANUV = 6, + ADSB_EMITTER_ROTOCRAFT = 7, + // 8 Unassigned + ADSB_EMITTER_GLIDER = 9, + ADSB_EMITTER_LIGHTER_AIR = 10, + ADSB_EMITTER_PARACHUTE = 11, + ADSB_EMITTER_ULTRA_LIGHT = 12, + // 13 Unassigned + ADSB_EMITTER_UAV = 14, + ADSB_EMITTER_SPACE = 15, + // 16 Unassigned + + // Surface types + ADSB_EMITTER_EMERGENCY_SURFACE = 17, + ADSB_EMITTER_SERVICE_SURFACE = 18, + + // Obstacle types + ADSB_EMITTER_POINT_OBSTACLE = 19, + ADSB_EMITTER_CLUSTER_OBSTACLE = 20, + ADSB_EMITTER_LINE_OBSTACLE = 21, + // 22 - 39 Reserved } ADSB_EMITTER; // ADSB Emitter Category typedef enum __attribute__((__packed__)) { - PING_COM_1200_BAUD = 0, - PING_COM_2400_BAUD = 1, - PING_COM_4800_BAUD = 2, - PING_COM_9600_BAUD = 3, - PING_COM_19200_BAUD = 4, - PING_COM_38400_BAUD = 5, - PING_COM_57600_BAUD = 6, - PING_COM_115200_BAUD = 7, - PING_COM_921600_BAUD = 8, + PING_COM_1200_BAUD = 0, + PING_COM_2400_BAUD = 1, + PING_COM_4800_BAUD = 2, + PING_COM_9600_BAUD = 3, + PING_COM_19200_BAUD = 4, + PING_COM_38400_BAUD = 5, + PING_COM_57600_BAUD = 6, + PING_COM_115200_BAUD = 7, + PING_COM_921600_BAUD = 8, } PING_COM_RATE; typedef enum __attribute__((__packed__)) { - CONFIG_VALIDITY_ICAO = 1 << 0, - CONFIG_VALIDITY_SIL = 1 << 1, - CONFIG_VALIDITY_SDA = 1 << 2, - CONFIG_VALIDITY_BARO_ALT_SOURCE = 1 << 3, - CONFIG_VALIDITY_AIRCRAFT_MAX_SPEED = 1 << 4, - CONFIG_VALIDITY_TEST_MODE = 1 << 5, - CONFIG_VALIDITY_ADSB_IN_CAP = 1 << 6, - CONFIG_VALIDITY_AIRCRAFT_LEN_WIDTH = 1 << 7, - CONFIG_VALIDITY_ANT_LAT_OFFSET = 1 << 8, - CONFIG_VALIDITY_ANT_LONG_OFFSET = 1 << 9, - CONFIG_VALIDITY_AIRCRAFT_REG = 1 << 10, - CONFIG_VALIDITY_AIRCRAFT_STALL_SPEED = 1 << 11, - CONFIG_VALIDITY_AIRCRAFT_EMITTER_TYPE = 1 << 12, - CONFIG_VALIDITY_DEF_1090ES_TX_MODE = 1 << 13, - CONFIG_VALIDITY_DEF_MODES_REPLY_MODE = 1 << 14, - CONFIG_VALIDITY_DEF_MODEC_REPLY_MODE = 1 << 15, - CONFIG_VALIDITY_DEF_MODEA_REPLY_MODE = 1 << 16, - CONFIG_VALIDITY_SERIAL_BAUD_RATE = 1 << 17, - CONFIG_VALIDITY_DEF_MODEA_SQUAWK = 1 << 18, - CONFIG_VALIDITY_BARO_100 = 1 << 19, - CONFIG_VALIDITY_IN_PROTOCOL = 1 << 20, - CONFIG_VALIDITY_OUT_PROTOCOL = 1 << 21, + CONFIG_VALIDITY_ICAO = 1 << 0, + CONFIG_VALIDITY_SIL = 1 << 1, + CONFIG_VALIDITY_SDA = 1 << 2, + CONFIG_VALIDITY_BARO_ALT_SOURCE = 1 << 3, + CONFIG_VALIDITY_AIRCRAFT_MAX_SPEED = 1 << 4, + CONFIG_VALIDITY_TEST_MODE = 1 << 5, + CONFIG_VALIDITY_ADSB_IN_CAP = 1 << 6, + CONFIG_VALIDITY_AIRCRAFT_LEN_WIDTH = 1 << 7, + CONFIG_VALIDITY_ANT_LAT_OFFSET = 1 << 8, + CONFIG_VALIDITY_ANT_LONG_OFFSET = 1 << 9, + CONFIG_VALIDITY_AIRCRAFT_REG = 1 << 10, + CONFIG_VALIDITY_AIRCRAFT_STALL_SPEED = 1 << 11, + CONFIG_VALIDITY_AIRCRAFT_EMITTER_TYPE = 1 << 12, + CONFIG_VALIDITY_DEF_1090ES_TX_MODE = 1 << 13, + CONFIG_VALIDITY_DEF_MODES_REPLY_MODE = 1 << 14, + CONFIG_VALIDITY_DEF_MODEC_REPLY_MODE = 1 << 15, + CONFIG_VALIDITY_DEF_MODEA_REPLY_MODE = 1 << 16, + CONFIG_VALIDITY_SERIAL_BAUD_RATE = 1 << 17, + CONFIG_VALIDITY_DEF_MODEA_SQUAWK = 1 << 18, + CONFIG_VALIDITY_BARO_100 = 1 << 19, + CONFIG_VALIDITY_IN_PROTOCOL = 1 << 20, + CONFIG_VALIDITY_OUT_PROTOCOL = 1 << 21, } CONFIG_VALIDITY; typedef union __attribute__((__packed__)) { - struct __attribute__((__packed__)) - { - uint32_t icaoValid : 1; - uint32_t silValid : 1; - uint32_t sdaValid : 1; - uint32_t baroAltSourceValid : 1; - uint32_t aircraftMaxSpeedValid : 1; - uint32_t testModeValid : 1; - uint32_t adsbInCapValid : 1; - uint32_t aircraftLenWidthValid : 1; - uint32_t aircraftLatOffsetValid : 1; - uint32_t aircraftLongOffsetValid : 1; - uint32_t aircraftRegValid : 1; - uint32_t aircraftStallSpeedValid : 1; - uint32_t aircraftEmitterCatValid : 1; - uint32_t default1090ExTxModeValid : 1; - uint32_t defaultModeSReplyModeValid : 1; - uint32_t defaultModeCReplyModeValid : 1; - uint32_t defaultModeAReplyModeValid : 1; - uint32_t serialBaudRateValid : 1; - uint32_t defaultModeASquawkValid : 1; - uint32_t baro100Valid : 1; - uint32_t inProtocolValid : 1; - uint32_t outProtocolValid : 1; - uint32_t reserved : 10; - }; - CONFIG_VALIDITY raw; + struct __attribute__((__packed__)) + { + uint32_t icaoValid : 1; + uint32_t silValid : 1; + uint32_t sdaValid : 1; + uint32_t baroAltSourceValid : 1; + uint32_t aircraftMaxSpeedValid : 1; + uint32_t testModeValid : 1; + uint32_t adsbInCapValid : 1; + uint32_t aircraftLenWidthValid : 1; + uint32_t aircraftLatOffsetValid : 1; + uint32_t aircraftLongOffsetValid : 1; + uint32_t aircraftRegValid : 1; + uint32_t aircraftStallSpeedValid : 1; + uint32_t aircraftEmitterCatValid : 1; + uint32_t default1090ExTxModeValid : 1; + uint32_t defaultModeSReplyModeValid : 1; + uint32_t defaultModeCReplyModeValid : 1; + uint32_t defaultModeAReplyModeValid : 1; + uint32_t serialBaudRateValid : 1; + uint32_t defaultModeASquawkValid : 1; + uint32_t baro100Valid : 1; + uint32_t inProtocolValid : 1; + uint32_t outProtocolValid : 1; + uint32_t reserved : 10; + }; + CONFIG_VALIDITY raw; } CONFIG_VALIDITY_BITMASK; typedef enum __attribute__((__packed__)) { - PING_PROTOCOL_NONE = 0, - PING_PROTOCOL_MAVLINK = 1 << 0, - PING_PROTOCOL_UCP = 1 << 1, - PING_PROTOCOL_APOLLO = 1 << 9, - PING_PROTOCOL_UCP_HD = 1 << 10, + PING_PROTOCOL_NONE = 0, + PING_PROTOCOL_MAVLINK = 1 << 0, + PING_PROTOCOL_UCP = 1 << 1, + PING_PROTOCOL_APOLLO = 1 << 9, + PING_PROTOCOL_UCP_HD = 1 << 10, } PING_PROTOCOL; typedef union { - struct __attribute__((__packed__)) - { - uint16_t mavlink : 1; - uint16_t ucp : 1; - uint16_t reserved1 : 7; - uint16_t apollo : 1; - uint16_t ucphd : 1; - uint16_t reserved2 : 5; - }; - PING_PROTOCOL raw; + struct __attribute__((__packed__)) + { + uint16_t mavlink : 1; + uint16_t ucp : 1; + uint16_t reserved1 : 7; + uint16_t apollo : 1; + uint16_t ucphd : 1; + uint16_t reserved2 : 5; + }; + PING_PROTOCOL raw; } PING_PROTOCOL_MASK; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t version; - uint8_t icaoAddress[3]; - uint8_t maxSpeed : 3; - GDL90_BARO_DATA_SOURCE baroAltSource : 1; - ADSB_SDA SDA : 2; - ADSB_SIL SIL : 2; - ADSB_AIRCRAFT_LENGTH_WIDTH lengthWidth : 4; - ADSB_1090ES_IN_CAPABILITY es1090InCapable : 1; - ADSB_UAT_IN_CAPABILITY uatInCapable : 1; - uint8_t testMode : 2; - ADSB_GPS_LONGITUDINAL_OFFSET longitudinalOffset : 5; - ADSB_GPS_LATERAL_OFFSET lateralOffset : 3; - uint8_t registration[8]; - uint16_t stallSpeed_cmps; - ADSB_EMITTER emitterType; - PING_COM_RATE baudRate : 4; - uint8_t modeAEnabled : 1; - uint8_t modeCEnabled : 1; - uint8_t modeSEnabled : 1; - uint8_t es1090TxEnabled : 1; - uint16_t defaultSquawk; - CONFIG_VALIDITY_BITMASK valdityBitmask; - uint8_t rfu : 7; - uint8_t baro100 : 1; - PING_PROTOCOL_MASK inProtocol; - PING_PROTOCOL_MASK outProtocol; - uint16_t crc; + GDL90_MESSAGE_ID messageId; + uint8_t version; + uint8_t icaoAddress[3]; + uint8_t maxSpeed : 3; + GDL90_BARO_DATA_SOURCE baroAltSource : 1; + ADSB_SDA SDA : 2; + ADSB_SIL SIL : 2; + ADSB_AIRCRAFT_LENGTH_WIDTH lengthWidth : 4; + ADSB_1090ES_IN_CAPABILITY es1090InCapable : 1; + ADSB_UAT_IN_CAPABILITY uatInCapable : 1; + uint8_t testMode : 2; + ADSB_GPS_LONGITUDINAL_OFFSET longitudinalOffset : 5; + ADSB_GPS_LATERAL_OFFSET lateralOffset : 3; + uint8_t registration[8]; + uint16_t stallSpeed_cmps; + ADSB_EMITTER emitterType; + PING_COM_RATE baudRate : 4; + uint8_t modeAEnabled : 1; + uint8_t modeCEnabled : 1; + uint8_t modeSEnabled : 1; + uint8_t es1090TxEnabled : 1; + uint16_t defaultSquawk; + CONFIG_VALIDITY_BITMASK valdityBitmask; + uint8_t rfu : 7; + uint8_t baro100 : 1; + PING_PROTOCOL_MASK inProtocol; + PING_PROTOCOL_MASK outProtocol; + uint16_t crc; } GDL90_TRANSPONDER_CONFIG_MSG_V4_V5; typedef struct __attribute__((__packed__)) { - uint8_t fwMajorVersion; - uint8_t fwMinorVersion; - uint8_t fwBuildVersion; - uint8_t hwId; // TODO Ugh should be 16 bits - uint64_t serialNumber; + uint8_t fwMajorVersion; + uint8_t fwMinorVersion; + uint8_t fwBuildVersion; + uint8_t hwId; // TODO Ugh should be 16 bits + uint64_t serialNumber; } GDL90_DEVICE_ID; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint8_t protocolVersion; - GDL90_DEVICE_ID primary; - GDL90_DEVICE_ID secondary; - uint8_t primaryFWID; - uint32_t primaryCRC; - uint8_t secondaryFWID; - uint32_t secondaryCRC; - uint8_t primaryFwPartNumber[15]; - uint8_t secondaryFwPartNumber[15]; - uint16_t crc; + GDL90_MESSAGE_ID messageId; + uint8_t protocolVersion; + GDL90_DEVICE_ID primary; + GDL90_DEVICE_ID secondary; + uint8_t primaryFWID; + uint32_t primaryCRC; + uint8_t secondaryFWID; + uint32_t secondaryCRC; + uint8_t primaryFwPartNumber[15]; + uint8_t secondaryFwPartNumber[15]; + uint16_t crc; } GDL90_IDENTIFICATION_V3; #define GDL90_IDENT_PROTOCOL_VERSION (3) typedef struct __attribute__((__packed__)) { - struct - { - uint8_t uatInitialized : 1; - - // GDL90 public spec defines next bit as reserved - // uAvionix maps extra failure condition - uint8_t functionFailureGnssDataFrequency : 1; - - uint8_t ratcs : 1; - uint8_t gpsBatteryLow : 1; - uint8_t addressType : 1; - uint8_t ident : 1; - uint8_t maintenanceRequired : 1; - uint8_t gpsPositionValid : 1; - } one; - struct __attribute__((__packed__)) - { - - uint8_t utcOk : 1; - - // GDL90 public spec defines next four bits as reserved - // uAvionix maps extra failure conditions - uint8_t functionFailureGnssUnavailable : 1; - uint8_t functionFailureGnssNo3dFix : 1; - uint8_t functionFailureBroadcastMonitor : 1; - uint8_t functionFailureTransmitSystem : 1; - - uint8_t csaNotAvailable : 1; - uint8_t csaRequested : 1; - uint8_t timestampMsb : 1; - } two; + struct + { + uint8_t uatInitialized : 1; + + // GDL90 public spec defines next bit as reserved + // uAvionix maps extra failure condition + uint8_t functionFailureGnssDataFrequency : 1; + + uint8_t ratcs : 1; + uint8_t gpsBatteryLow : 1; + uint8_t addressType : 1; + uint8_t ident : 1; + uint8_t maintenanceRequired : 1; + uint8_t gpsPositionValid : 1; + } one; + struct __attribute__((__packed__)) + { + + uint8_t utcOk : 1; + + // GDL90 public spec defines next four bits as reserved + // uAvionix maps extra failure conditions + uint8_t functionFailureGnssUnavailable : 1; + uint8_t functionFailureGnssNo3dFix : 1; + uint8_t functionFailureBroadcastMonitor : 1; + uint8_t functionFailureTransmitSystem : 1; + + uint8_t csaNotAvailable : 1; + uint8_t csaRequested : 1; + uint8_t timestampMsb : 1; + } two; } GDL90_HEARTBEAT_STATUS; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - GDL90_HEARTBEAT_STATUS status; - uint16_t timestamp; + GDL90_MESSAGE_ID messageId; + GDL90_HEARTBEAT_STATUS status; + uint16_t timestamp; - // Need to flip before TX - union - { - struct __attribute__((__packed__)) + // Need to flip before TX + union { - uint16_t uatMessages : 10; - uint16_t rfu : 1; - uint16_t uplinkMessages : 5; + struct __attribute__((__packed__)) + { + uint16_t uatMessages : 10; + uint16_t rfu : 1; + uint16_t uplinkMessages : 5; + }; + uint16_t messageCount; }; - uint16_t messageCount; - }; - uint16_t crc; + uint16_t crc; } GDL90_HEARTBEAT; typedef enum __attribute__((__packed__)) { - GDL90_ADDRESS_ADSB_ICAO, - GDL90_ADDRESS_ADSB_SELF_ASSIGNED, - GDL90_ADDRESS_TISB_ICAO, - GDL90_ADDRESS_TISB_TRACK_ID, - GDL90_ADDRESS_SURFACE, - GDL90_ADDRESS_GROUND_BEACON, + GDL90_ADDRESS_ADSB_ICAO, + GDL90_ADDRESS_ADSB_SELF_ASSIGNED, + GDL90_ADDRESS_TISB_ICAO, + GDL90_ADDRESS_TISB_TRACK_ID, + GDL90_ADDRESS_SURFACE, + GDL90_ADDRESS_GROUND_BEACON, } GDL90_ADDRESS_TYPE; typedef enum __attribute__((__packed__)) { - GDL90_NO_ALERT, - GDL90_ALERT, + GDL90_NO_ALERT, + GDL90_ALERT, } GDL90_TRAFFIC_ALERT; typedef enum __attribute__((__packed__)) { - GDL90_MISC_INVALID, - GDL90_MISC_TRUE_TRACK, - GDL90_MISC_HEADING_MAGNETIC, - GDL90_MISC_HEADING_TRUE, + GDL90_MISC_INVALID, + GDL90_MISC_TRUE_TRACK, + GDL90_MISC_HEADING_MAGNETIC, + GDL90_MISC_HEADING_TRUE, } GDL90_MISC_TRACK_TYPE; typedef enum __attribute__((__packed__)) { - GDL90_MISC_REPORT_UPDATED, - GDL90_MISC_REPORT_EXTRAPOLATED, + GDL90_MISC_REPORT_UPDATED, + GDL90_MISC_REPORT_EXTRAPOLATED, } GDL90_MISC_REPORT_TYPE; typedef enum __attribute__((__packed__)) { - GDL90_MISC_ON_GROUND, - GDL90_MISC_AIRBORNE, + GDL90_MISC_ON_GROUND, + GDL90_MISC_AIRBORNE, } GDL90_MISC_AG_STATE; typedef union { - struct __attribute__((__packed__)) - { - GDL90_MISC_TRACK_TYPE track : 2; - GDL90_MISC_REPORT_TYPE reportType : 1; - GDL90_MISC_AG_STATE agState : 1; - }; - uint8_t data; + struct __attribute__((__packed__)) + { + GDL90_MISC_TRACK_TYPE track : 2; + GDL90_MISC_REPORT_TYPE reportType : 1; + GDL90_MISC_AG_STATE agState : 1; + }; + uint8_t data; } GDL90_MISCELLANEOUS; typedef struct __attribute__((__packed__)) { - GDL90_ADDRESS_TYPE addressType: 4; - GDL90_TRAFFIC_ALERT trafficAlert : 4; + GDL90_ADDRESS_TYPE addressType: 4; + GDL90_TRAFFIC_ALERT trafficAlert : 4; - uint8_t address[3]; + uint8_t address[3]; - uint8_t latitude[3]; // 180 deg / 2^23 - uint8_t longitude[3]; // 180 deg / 2^23 + uint8_t latitude[3]; // 180 deg / 2^23 + uint8_t longitude[3]; // 180 deg / 2^23 - // Byte order must be flipped before TX - union - { - struct __attribute__((__packed__)) + // Byte order must be flipped before TX + union { - uint16_t misc : 4; - uint16_t altitude : 12; + struct __attribute__((__packed__)) + { + uint16_t misc : 4; + uint16_t altitude : 12; + }; + uint16_t altitudeMisc; }; - uint16_t altitudeMisc; - }; - uint8_t NACp : 4; - uint8_t NIC : 4; + uint8_t NACp : 4; + uint8_t NIC : 4; - // Byte order must be flipped before TX - union - { - struct __attribute__((__packed__)) + // Byte order must be flipped before TX + union { - uint32_t heading : 8; - uint32_t verticalVelocity : 12; - uint32_t horizontalVelocity : 12; + struct __attribute__((__packed__)) + { + uint32_t heading : 8; + uint32_t verticalVelocity : 12; + uint32_t horizontalVelocity : 12; + }; + uint32_t velocities; }; - uint32_t velocities; - }; - uint8_t emitterCategory; - uint8_t callsign[8]; + uint8_t emitterCategory; + uint8_t callsign[8]; - uint8_t rfu : 4; - uint8_t emergencyCode : 4; + uint8_t rfu : 4; + uint8_t emergencyCode : 4; } GDL90_REPORT; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - GDL90_REPORT report; - uint16_t crc; + GDL90_MESSAGE_ID messageId; + GDL90_REPORT report; + uint16_t crc; } GDL90_OWNSHIP_REPORT; typedef GDL90_OWNSHIP_REPORT GDL90_TRAFFIC_REPORT; typedef enum __attribute__((__packed__)) { - GDL90_NO_WARNING, - GDL90_WARNING, + GDL90_NO_WARNING, + GDL90_WARNING, } GDL90_VERTICAL_WARNING; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - uint16_t geometricAltitude; // 5 ft resolution + GDL90_MESSAGE_ID messageId; + uint16_t geometricAltitude; // 5 ft resolution - // Must be endian swapped before TX - union - { - struct __attribute__((__packed__)) + // Must be endian swapped before TX + union { - uint16_t verticalFOM : 15; - GDL90_VERTICAL_WARNING verticalWarning : 1; + struct __attribute__((__packed__)) + { + uint16_t verticalFOM : 15; + GDL90_VERTICAL_WARNING verticalWarning : 1; + }; + uint16_t veritcalMetrics; }; - uint16_t veritcalMetrics; - }; - uint16_t crc; + uint16_t crc; } GDL90_OWNSHIP_GEO_ALTITUDE; typedef enum __attribute__((__packed__)) { - GDL90_SENSOR_AHRS = 0, - GDL90_SENSOR_BARO = 1, - GDL90_SENSOR_CO = 2, - GDL90_SENSOR_DEVICE = 3 + GDL90_SENSOR_AHRS = 0, + GDL90_SENSOR_BARO = 1, + GDL90_SENSOR_CO = 2, + GDL90_SENSOR_DEVICE = 3 } GDL90_SENSOR_TYPE; typedef struct __attribute__((__packed__)) { - GDL90_MESSAGE_ID messageId; - GDL90_SENSOR_TYPE sensorType; - uint32_t pressure_mbarE2; - int32_t pressureAlt_mm; - int16_t temperature_cE2; - uint16_t crc; + GDL90_MESSAGE_ID messageId; + GDL90_SENSOR_TYPE sensorType; + uint32_t pressure_mbarE2; + int32_t pressureAlt_mm; + int16_t temperature_cE2; + uint16_t crc; } GDL90_SENSOR_BARO_MESSAGE; diff --git a/libraries/AP_ADSB/GDL90_protocol/hostGDL90Support.h b/libraries/AP_ADSB/GDL90_protocol/hostGDL90Support.h index 2020ab437b49a..0d4d07d0aa431 100644 --- a/libraries/AP_ADSB/GDL90_protocol/hostGDL90Support.h +++ b/libraries/AP_ADSB/GDL90_protocol/hostGDL90Support.h @@ -1,22 +1,22 @@ /* - Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved. + Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved. - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with this program. If not, see . + You should have received a copy of the GNU General Public License + along with this program. If not, see . - - Author: GDL90/UCP protocol by uAvionix, 2021. - Implemented by: Tom Pittenger + + Author: GDL90/UCP protocol by uAvionix, 2021. + Implemented by: Tom Pittenger */ #ifndef _GDL90_H_ @@ -24,60 +24,57 @@ #include -#define GDL90_QUEUE_LENGTH (2) +#define GDL90_QUEUE_LENGTH (2) -#define GDL90_FLAG_BYTE (0x7E) -#define GDL90_CONTROL_ESCAPE_BYTE (0x7D) -#define GDL90_STUFF_BYTE (0x20) -#define GDL90_OVERHEAD_LENGTH (3) // Not counting framing bytes +#define GDL90_FLAG_BYTE (0x7E) +#define GDL90_CONTROL_ESCAPE_BYTE (0x7D) +#define GDL90_STUFF_BYTE (0x20) +#define GDL90_OVERHEAD_LENGTH (3) // Not counting framing bytes // Transmit message sizes -#define GDL90_TX_MAX_PAYLOAD_LENGTH (552) -#define GDL90_TX_MAX_PACKET_LENGTH (GDL90_TX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH) -#define GDL90_TX_MAX_FRAME_LENGTH (2 + ((15 * GDL90_TX_MAX_PACKET_LENGTH) / 10)) // IF every other byte was stuffed +#define GDL90_TX_MAX_PAYLOAD_LENGTH (552) +#define GDL90_TX_MAX_PACKET_LENGTH (GDL90_TX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH) +#define GDL90_TX_MAX_FRAME_LENGTH (2 + ((15 * GDL90_TX_MAX_PACKET_LENGTH) / 10)) // IF every other byte was stuffed // Receive message sizes -#define GDL90_RX_MAX_PAYLOAD_LENGTH (128) -#define GDL90_RX_MAX_PACKET_LENGTH (GDL90_RX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH) +#define GDL90_RX_MAX_PAYLOAD_LENGTH (128) +#define GDL90_RX_MAX_PACKET_LENGTH (GDL90_RX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH) typedef union __attribute__((__packed__)) { - struct __attribute__((__packed__)) - { - GDL90_MESSAGE_ID messageId; - uint8_t payload[GDL90_TX_MAX_PAYLOAD_LENGTH]; - uint16_t crc; // Actually CRC location varies. This is a placeholder - }; - uint8_t raw[GDL90_TX_MAX_PACKET_LENGTH]; + struct __attribute__((__packed__)) + { + GDL90_MESSAGE_ID messageId; + uint8_t payload[GDL90_TX_MAX_PAYLOAD_LENGTH]; + uint16_t crc; // Actually CRC location varies. This is a placeholder + }; + uint8_t raw[GDL90_TX_MAX_PACKET_LENGTH]; } GDL90_TX_MESSAGE; typedef union __attribute__((__packed__)) { - struct __attribute__((__packed__)) - { - GDL90_MESSAGE_ID messageId; - uint8_t payload[GDL90_RX_MAX_PAYLOAD_LENGTH]; - uint16_t crc; // Actually CRC location varies. This is a placeholder - }; - uint8_t raw[GDL90_RX_MAX_PACKET_LENGTH]; + struct __attribute__((__packed__)) + { + GDL90_MESSAGE_ID messageId; + uint8_t payload[GDL90_RX_MAX_PAYLOAD_LENGTH]; + uint16_t crc; // Actually CRC location varies. This is a placeholder + }; + uint8_t raw[GDL90_RX_MAX_PACKET_LENGTH]; } GDL90_RX_MESSAGE; typedef enum { - GDL90_RX_IDLE, - GDL90_RX_IN_PACKET, - GDL90_RX_UNSTUFF, - //GDL90_RX_END, + GDL90_RX_IDLE, + GDL90_RX_IN_PACKET, + GDL90_RX_UNSTUFF, } GDL90_RX_STATE; typedef struct { - GDL90_RX_STATE state; - uint16_t length; - //uint32_t overflow; - //uint32_t complete; - uint8_t prev_data; + GDL90_RX_STATE state; + uint16_t length; + uint8_t prev_data; } GDL90_RX_STATUS; #endif From bd067f9615bead09be2a20e69ace821e7bd75400 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Sun, 20 Oct 2024 18:42:39 -0600 Subject: [PATCH 141/314] AP_DDS: Set GPS instance ID in the GPS frame ID Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- libraries/AP_DDS/AP_DDS_Client.cpp | 3 ++- libraries/AP_DDS/AP_DDS_Topic_Table.h | 2 +- libraries/AP_DDS/README.md | 4 ++-- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index fca7d2f614687..36d8d1bf714f6 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -197,7 +197,8 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i update_topic(msg.header.stamp); - strcpy(msg.header.frame_id, WGS_84_FRAME_ID); + static_assert(GPS_MAX_RECEIVERS <= 9, "GPS_MAX_RECEIVERS is greater than 9"); + hal.util->snprintf(msg.header.frame_id, 2, "%u", instance); msg.status.service = 0; // SERVICE_GPS msg.status.status = -1; // STATUS_NO_FIX diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h index 8e3823bc238ea..f578d2e8a486b 100644 --- a/libraries/AP_DDS/AP_DDS_Topic_Table.h +++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h @@ -96,7 +96,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID}, .topic_rw = Topic_rw::DataWriter, - .topic_name = "rt/ap/navsat/navsat0", + .topic_name = "rt/ap/navsat", .type_name = "sensor_msgs::msg::dds_::NavSatFix_", .qos = { .durability = UXR_DURABILITY_VOLATILE, diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md index 02848565979d2..61aed38a6d5a3 100644 --- a/libraries/AP_DDS/README.md +++ b/libraries/AP_DDS/README.md @@ -178,7 +178,7 @@ Published topics: * /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher * /ap/gps_global_origin/filtered [geographic_msgs/msg/GeoPointStamped] 1 publisher * /ap/imu/experimental/data [sensor_msgs/msg/Imu] 1 publisher - * /ap/navsat/navsat0 [sensor_msgs/msg/NavSatFix] 1 publisher + * /ap/navsat [sensor_msgs/msg/NavSatFix] 1 publisher * /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher * /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher * /ap/time [builtin_interfaces/msg/Time] 1 publisher @@ -354,7 +354,7 @@ The table below provides example mappings for topics and services | ROS 2 | DDS | | --- | --- | | ap/clock | rt/ap/clock | -| ap/navsat/navsat0 | rt/ap/navsat/navsat0 | +| ap/navsat | rt/ap/navsat | | ap/arm_motors | rq/ap/arm_motorsRequest, rr/ap/arm_motorsReply | Refer to existing mappings in [`AP_DDS_Topic_Table`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/AP_DDS_Topic_Table.h) From ebfecaddac94f6cdd21b26b0f87e75562e4d0c26 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Sun, 20 Oct 2024 18:42:39 -0600 Subject: [PATCH 142/314] Tools: Set GPS instance ID in the GPS frame ID Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/ros2/README.md | 2 +- .../test/ardupilot_dds_tests/test_navsat_msg_received.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Tools/ros2/README.md b/Tools/ros2/README.md index cc67f661c8d23..4fd2e6e6bf8f5 100644 --- a/Tools/ros2/README.md +++ b/Tools/ros2/README.md @@ -29,7 +29,7 @@ To see all current options, use the `-s` argument: ros2 launch ardupilot_sitl sitl.launch.py -s ``` -#### `ardupilot_dds_test` +#### `ardupilot_dds_tests` A `colcon` package for testing communication between `micro_ros_agent` and the ArduPilot `AP_DDS` client library. diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py index 835b3e95d30e0..b4c3c716e0682 100644 --- a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py +++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py @@ -30,7 +30,7 @@ from sensor_msgs.msg import NavSatFix -TOPIC = "ap/navsat/navsat0" +TOPIC = "ap/navsat" class NavSatFixListener(rclpy.node.Node): From 4c9da021eb0ad295d7141f99ff1344f93090315a Mon Sep 17 00:00:00 2001 From: Henry Warhurst Date: Thu, 17 Oct 2024 22:32:54 +0200 Subject: [PATCH 143/314] Docker: Fix git perms issue during copter build --- Dockerfile | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Dockerfile b/Dockerfile index 22d8d67292ad2..dcd91f85b137d 100644 --- a/Dockerfile +++ b/Dockerfile @@ -39,6 +39,9 @@ RUN SKIP_AP_EXT_ENV=$SKIP_AP_EXT_ENV SKIP_AP_GRAPHIC_ENV=$SKIP_AP_GRAPHIC_ENV SK USER=${USER_NAME} \ Tools/environment_install/install-prereqs-ubuntu.sh -y +# Rectify git perms issue that seems to crop up only on OSX +RUN git config --global --add safe.directory $PWD + # Check that local/bin are in PATH for pip --user installed package RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env From 3764f377d8716e0e9cfa6c1ba5c4bad7a95fe85c Mon Sep 17 00:00:00 2001 From: Stephen Dade Date: Thu, 24 Oct 2024 21:52:24 +1100 Subject: [PATCH 144/314] APM_Control: Correct use of deceleration --- libraries/APM_Control/AR_AttitudeControl.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp index c537a05868774..126250669309a 100644 --- a/libraries/APM_Control/AR_AttitudeControl.cpp +++ b/libraries/APM_Control/AR_AttitudeControl.cpp @@ -1058,15 +1058,14 @@ float AR_AttitudeControl::get_desired_speed_accel_limited(float desired_speed, f float AR_AttitudeControl::get_stopping_distance(float speed) const { // get maximum vehicle deceleration - const float accel_max = get_accel_max(); + const float decel_max = get_decel_max(); - // avoid divide by zero - if ((accel_max <= 0.0f) || is_zero(speed)) { + if ((decel_max <= 0.0f) || is_zero(speed)) { return 0.0f; } // assume linear deceleration - return 0.5f * sq(speed) / accel_max; + return 0.5f * sq(speed) / decel_max; } // relax I terms of throttle and steering controllers From 195d3b78e6ccc2efb315fcf02669830d1bcbadbd Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Thu, 31 Oct 2024 19:59:33 -0500 Subject: [PATCH 145/314] AP_Scripting: ESC_slew_rate: fix lua warning Docs say that logger must be called with `:`. --- libraries/AP_Scripting/examples/ESC_slew_rate.lua | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Scripting/examples/ESC_slew_rate.lua b/libraries/AP_Scripting/examples/ESC_slew_rate.lua index 5b1ba074de0d0..b85991a01721a 100644 --- a/libraries/AP_Scripting/examples/ESC_slew_rate.lua +++ b/libraries/AP_Scripting/examples/ESC_slew_rate.lua @@ -44,7 +44,7 @@ function update() local pwm_mid = 0.5*(pwm_min+pwm_max) local pwm = math.floor(pwm_mid + (pwm_max-pwm_mid) * output) SRV_Channels:set_output_pwm_chan_timeout(chan-1, pwm, 100) - logger.write('ESLW', 'PWM,Freq', 'If', pwm, freq) + logger:write('ESLW', 'PWM,Freq', 'If', pwm, freq) gcs:send_named_float('PWN',pwm) gcs:send_named_float('FREQ',freq) end From 1daa52478b4dcbcb5b77869492007896872f7092 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Thu, 17 Oct 2024 08:02:31 -0500 Subject: [PATCH 146/314] AP_HAL_ChibiOS:Mugin MUPilot --- .../hwdef/MUPilot/MUPilot-pinout1.png | Bin 0 -> 55479 bytes .../hwdef/MUPilot/MUPilot-pinout2.png | Bin 0 -> 48970 bytes .../hwdef/MUPilot/MUPilot-pinout3.png | Bin 0 -> 27059 bytes .../hwdef/MUPilot/MUPilot-pinout4.png | Bin 0 -> 18703 bytes .../AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot.png | Bin 0 -> 58118 bytes .../AP_HAL_ChibiOS/hwdef/MUPilot/README.md | 291 ++++++++++++++++++ .../AP_HAL_ChibiOS/hwdef/MUPilot/hwdef-bl.dat | 7 + .../AP_HAL_ChibiOS/hwdef/MUPilot/hwdef.dat | 57 ++++ 8 files changed, 355 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot-pinout1.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot-pinout2.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot-pinout3.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot-pinout4.png create mode 100644 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b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md @@ -0,0 +1,291 @@ +# MUPilot Flight Controller + +The MUPilot flight controller is sold by [MUGIN UAV](http://https://www.muginuav.com/) + +![MUPilot Board](MUPilot.png "MUPilot") + +## Features + + - STM32F765 Microcontroller + - STM32F103 IOMCU + - Three IMUs: ICM20689, MPU6000 and BMI055 + - Internal vibration isolation for IMUs + - Two MS5611 SPI barometers + - IST8310 magnetometer + - MicroSD card slot + - 6 UARTs plus USB + - 14 PWM outputs with selectable 5V or 3.3V output voltage + - Four I2C and two CAN ports + - External Buzzer + - builtin RGB LED + - external safety Switch + - voltage monitoring for servo rail and Vcc + - two dedicated power input ports for external power bricks + +## Mechanical + + - 91mm x 46mm x 31mm + - 106g + +## Connectors + +![MUPilot Pinout1](MUPilot-pinout1.png "Pinout1") +**CAN1/2** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | VCC | +5V | +| 2 | CAN_H | +3.3V | +| 3 | CAN_L | +3.3V | +| 4 | GND | GND | + +**GPS&SAFETY** + +| Pin | Signal | Volt | +| :--: | :-----------: | :---: | +| 1 | VCC | +5V | +| 2 | UART_TX1 | +3.3V | +| 3 | UART_RX1 | +3.3V | +| 4 | I2C1_SCL | +3.3V | +| 5 | I2C1_SDA | +3.3V | +| 6 | SAFETY_SW | +3.3V | +| 7 | SAFETY_SW_LED | +3.3V | +| 8 | 3V3_OUT | +3.3V | +| 9 | BUZZER | +3.3V | +| 10 | GND | GND | + +**I2C1/2/3/4** + +| Pin | Signal | Volt | +| :--: | :------: | :---: | +| 1 | VCC | +5V | +| 2 | I2Cx_SCL | +3.3V | +| 3 | I2Cx _SDA| +3.3V | +| 4 | GND | GND | + +**TELEM1** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | UART_TX2| +3.3V | +| 3 | UART_RX2| +3.3V | +| 4 | CTS | +3.3V | +| 5 | RTS | +3.3V | +| 6 | GND | GND | + +**TELEM2** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | UART_TX6| +3.3V | +| 3 | UART_RX6| +3.3V | +| 4 | CTS | +3.3V | +| 5 | RTS | +3.3V | +| 6 | GND | GND | + +**UART4(GPS2)** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 |UART_TX3 | +3.3V | +| 3 |UART_RX3 | +3.3V | +| 4 |I2C2_SCL | +3.3V | +| 5 |I2C2_SDA | +3.3V | +| 6 | GND | GND | + +**DEBUG** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | VCC | +5V | +| 2 |UART_TX7| +3.3V | +| 3 |UART_RX7| +3.3V | +| 4 | SWDIO | +3.3V | +| 5 | SWCLK | +3.3V | +| 6 | GND | GND | + +![MUPilot Pinout2](MUPilot-pinout2.png "Pinout2") + +**POWER1** + +| Pin | Signal | Volt | +| :--: | :-------------: | :---: | +| 1 | VCC_IN | +5V | +| 2 | VCC_IN | +5V | +| 3 | CURRENT_ADC | +3.3V | +| 4 | VOLTAGE_ADC | +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +**POWER2** + +| Pin | Signal | Volt | +| :--: | :----------------: | :---: | +| 1 | VCC_IN | +5V | +| 2 | VCC_IN | +5V | +| 3 |CURRENT_ADC/I2C1_SCL| +3.3V | +| 4 |VOLTAGE_ADC/I2C1_SDA| +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +![MUPilot Pinout3](MUPilot-pinout3.png "Pinout3") + +**SBUS OUT** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | - | - | +| 2 |SBUS OUT| +3.3V | +| 3 | GND | GND | + +![MUPilot Pinout4](MUPilot-pinout4.png "Pinout4") + +**ADC** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | ADC_3V3 | +3.3V | +| 3 | ADC_6V6 | +6.6V | +| 4 | GND | GND | + +**SPI5** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | VCC | +5V | +| 2 | SCK | +3.3V | +| 3 | MISO | +3.3V | +| 5 | MOSI | +3.3V | +| 6 | CS1 | +3.3V | +| 7 | CS2 | +3.3V | +| 8 | GND | GND | + +**DSM/SBUS/RSSI** + +| Pin | Signal | Volt | +| :--: | :---------: | :---: | +| 1 | VCC | +5V | +| 2 | DSM/SBUS | +3.3V | +| 3 | RSSI | +3.3V | +| 4 | 3V3_OUT | +3.3V | +| 5 | GND | GND | + +## UART Mapping + + - SERIAL0 -> USB + - SERIAL1 -> UART2 (Telem1) + - SERIAL2 -> UART3 (Telem2) + - SERIAL3 -> UART1 (GPS) + - SERIAL4 -> UART4 (GPS2) + - SERIAL5 -> UART6 (spare) + - SERIAL6 -> UART7 (spare, debug) + - SERIAL7 -> USB2 (SLCAN) + +The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not +have RTS/CTS. + +The UART7 connector is labelled debug, but is available as a general +purpose UART with ArduPilot. + +## RC Input + +RC input is configured on the PPM pin, at one end of the servo rail, +marked RC in the above diagram. This pin supports all unidirectional RC protocols including PPM. The DSM/SBUS pin is also tied to the PPM pin.For CRSF/ELRS/etc. protocols +a full UART will need to be used with its SERIALx_PROTOCOL set to "23". + +## PWM Output + +The MUPilot supports up to 14 PWM outputs. First first 8 outputs (labelled +"M1 to M8") are controlled by a dedicated STM32F103 IO controller. These 8 +outputs support all PWM output formats, but not DShot. + +The remaining 6 outputs (labelled A1 to A6) are the "auxiliary" +outputs. These are directly attached to the STM32F765 and support all +PWM protocols as well as DShot. + +All 14 PWM outputs have GND on the top row, 5V on the middle row and +signal on the bottom row. + +The 8 main PWM outputs are in 3 groups: + + - PWM 1 and 2 in group1 + - PWM 3 and 4 in group2 + - PWM 5, 6, 7 and 8 in group3 + +The 6 auxiliary PWM outputs are in 2 groups: + + - PWM 1, 2, 3 and 4 in group1 + - PWM 5 and 6 in group2 + +Channels within the same group need to use the same output rate. If +any channel in a group uses DShot then all channels in the group need +to use DShot. + +The output levels of the auxiliary outputs can be selected by switch to be either 3.3V or 5V. The output level is 3.3V for the main outputs. + +## Battery Monitoring + +The board has two dedicated power monitor ports on 6 pin +connectors. The correct battery setting parameters are dependent on +the type of power brick which is connected. The first is analog only, the second may be either analog or I2C, depending on baseboard jumpers. +In order to enable monitoring, the BATT_MONITOR or BATT2_MONIOT parameter must be set. By default :ref:`BATT_MONITOR` is set to "4" for the included power module.. + +Default params for the first monitor are set and are: + +- BATT_VOLT_PIN = 2 +- BATT_CURR_PIN = 1 +- BATT_VOLT_MULT = 18.0 +- BATT_AMP_PERVLT = 24.0 (may need adjustment if supplied monitor is not used) + +## Compass + +The MUPilot has a builtin IST8310 compass. Due to potential +interference the board is usually used with an external I2C compass as +part of a GPS/Compass combination. + +## GPIOs + +The 6 auxiliary outputs can be used as GPIOs (relays, buttons, RPM etc). To +use them see https://ardupilot.org/rover/docs/common-gpios.html + +The numbering of the GPIOs for PIN variables in ArduPilot is: + + - MAIN1 101 + - MAIN2 102 + - MAIN3 103 + - MAIN4 104 + - MAIN5 105 + - MAIN6 106 + - MAIN7 107 + - MAIN8 108 + - AUX1 50 + - AUX2 51 + - AUX3 52 + - AUX4 53 + - AUX5 54 + - AUX6 55 + +## Analog inputs + +The MUPilot has 7 analog inputs + + - ADC Pin0 -> Battery Voltage + - ADC Pin1 -> Battery Current Sensor + - ADC Pin2 -> Battery Voltage 2 + - ADC Pin3 -> Battery Current Sensor 2 + - ADC Pin4 -> ADC port pin 2 + - ADC Pin14 -> ADC port pin 3 + - ADC Pin10 -> Board 5V Sense + - ADC Pin11 -> Board 3.3V Sense + - ADC Pin103 -> RSSI voltage monitoring + +## Loading Firmware + +The board comes pre-installed with an ArduPilot compatible bootloader, +allowing the loading of \*.apj firmware files with any ArduPilot +compatible ground station. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef-bl.dat new file mode 100644 index 0000000000000..400e9a0929942 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef-bl.dat @@ -0,0 +1,7 @@ +# hw definition file for processing by chibios_hwdef.py +# for MUPilot bootloader + +include ../fmuv5/hwdef-bl.dat + +undef APJ_BOARD_ID +APJ_BOARD_ID AP_HW_MUPilot diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef.dat new file mode 100644 index 0000000000000..bdcfd8454d54a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef.dat @@ -0,0 +1,57 @@ +# hw definition file for processing by chibios_hwdef.py +# for MUPilot hardware. + +include ../fmuv5/hwdef.dat + +undef APJ_BOARD_ID +APJ_BOARD_ID AP_HW_MUPilot + +# extra LEDs, active low, used using the pixracer LED scheme +PH10 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0) +PH11 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1) +PH12 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2) + +undef AP_NOTIFY_GPIO_LED_RGB_RED_PIN +undef AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN + +define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0 +define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1 +define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2 + +define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 + +define HAL_BATT_MONITOR_DEFAULT 4 + +#heaters +define HAL_HAVE_IMU_HEATER 1 +define HAL_IMU_TEMP_DEFAULT 45 +define HAL_IMUHEAT_P_DEFAULT 50 +define HAL_IMUHEAT_I_DEFAULT 0.07 + +undef PI6 +PI6 MS5611_BOARD_CS CS + +#SPI6 for extra BARO +PG13 SPI6_SCK SPI6 +PG12 SPI6_MISO SPI6 +PB5 SPI6_MOSI SPI6 + +SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ + +undef BARO +BARO MS56XX SPI:ms5611 +BARO MS56XX SPI:ms5611_board + + +undef IMU +undef PF11 + +PF11 ICM42688_CS CS SPEED_VERYLOW + +SPIDEV icm42688 SPI1 DEVID2 ICM42688_CS MODE3 2*MHZ 8*MHZ + +IMU Invensense SPI:icm20689 ROTATION_NONE +IMU Invensense SPI:icm20602 ROTATION_NONE +IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270 +IMU BMI055 SPI:bmi055_a SPI:bmi055_g 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ztUYR@*>O%+m|1R+47fc_;&k>%Fa_grDlA3@T?6A1=0t+k@FDd(tMQFjJicvR12{qX zz(YzfPyOwV6!Pe^2wo2TY5>~kP-y};JhZ(k*aX2;! zw-<1MOK?a21&$xb2fx2c?>N2#{{knB;{#ma5?s^2!0E^F)dOGsIKCfUf}4Uj%bUFX z@RmEPYg)8?uc3S|AOnDukkgkNHlp3eeWe!U(#!WE7eMYK4d0tmZnzzFx9=-$K~7V? z7r6j(2`lXNZ$dtjG{{c&alf;=rWUYM$_<;)a?`$28*=Coxd3vfdA=7fWeuon*jM@# za_AAc0CKg+3FU^(sN0No$e~B%0>~wL%)K-xp@S>C7{2!+*bcG2A&83qN=<0rT7&&jS6aU%S??eyy=GG_#(Ro`A!xIkPM|B*yy$-0I2FS>clrQG8C zmmo)fKa2l=JdIeJx!1IOYaE`J}!UIMuf+$L|BA4 z8^Hyb`{~;X>mn>Zj9HMvqY;awCXeVDO&&uSK96NJd0N8gG}}2mR;BO^VN=mir(swJ zjkeKJrPGrX2}ge%5oS4&!zCm8Io1kCuUqQe?j5GMT?gdU0vdIxtEJ* zPGDoYJj5x0F=3 Date: Thu, 17 Oct 2024 13:21:54 +1100 Subject: [PATCH 148/314] AP_HAL_ChibiOS: exclude chprintf from fastramfunc on H730 we are overflowing the ITCM area for SPRacingH7RF and other boards are not far behind. Step away from the edge by removing this function which should never be in a fast path --- libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h730.ld | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld index 8843b69dde682..fe873acf1ca6c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld @@ -105,8 +105,8 @@ SECTIONS . = ALIGN(4); __ram3_init_text__ = LOADADDR(.fastramfunc); __ram3_init__ = .; - /* ChibiOS won't boot unless these are excluded */ - EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o *board.o) + /* ChibiOS won't boot unless some of these are excluded */ + EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o *board.o *chprintf.o) /* performance critical sections of ChibiOS */ *libch.a:ch*.*(.text*) *libch.a:nvic.*(.text*) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h730.ld b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h730.ld index d46fadcf7ca3a..a0d7451d19c2a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h730.ld +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h730.ld @@ -106,8 +106,8 @@ SECTIONS __ram3_init_text__ = LOADADDR(.fastramfunc); __ram3_init__ = .; /* performance critical sections of ChibiOS */ - /* ChibiOS won't boot unless these are excluded */ - EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o) *libch.a:ch*.*(.text*) + /* ChibiOS won't boot unless some of these are excluded */ + EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o *chprintf.o) *libch.a:ch*.*(.text*) *libch.a:nvic.*(.text*) *libch.a:bouncebuffer.*(.text*) *libch.a:stm32_util.*(.text*) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld index ab1f170f43ff6..ebe47db4a8211 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld @@ -106,8 +106,8 @@ SECTIONS __ram3_init_text__ = LOADADDR(.fastramfunc); __ram3_init__ = .; /* performance critical sections of ChibiOS */ - /* ChibiOS won't boot unless these are excluded */ - EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o) *libch.a:ch*.*(.text*) + /* ChibiOS won't boot unless some of these are excluded */ + EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o *chprintf.o) *libch.a:ch*.*(.text*) *libch.a:nvic.*(.text*) *libch.a:bouncebuffer.*(.text*) *libch.a:stm32_util.*(.text*) From dc62483e0c4782c97217d09f10980abf79969c50 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 17 Oct 2024 13:33:22 +1100 Subject: [PATCH 149/314] AP_Math: move zeroing to header, use memset, reuse in identity this method is in ITCM memory on STM32 - which makes small optimisations worthwhile --- libraries/AP_Math/matrix3.cpp | 8 -------- libraries/AP_Math/matrix3.h | 8 ++++---- 2 files changed, 4 insertions(+), 12 deletions(-) diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp index 0dfd75032b902..ccfcb7bc01d13 100644 --- a/libraries/AP_Math/matrix3.cpp +++ b/libraries/AP_Math/matrix3.cpp @@ -227,14 +227,6 @@ bool Matrix3::invert() return success; } -template -void Matrix3::zero(void) -{ - a.x = a.y = a.z = 0; - b.x = b.y = b.z = 0; - c.x = c.y = c.z = 0; -} - // create rotation matrix for rotation about the vector v by angle theta // See: http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToMatrix/ template diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h index 02e18699a5350..77ed088b8c975 100644 --- a/libraries/AP_Math/matrix3.h +++ b/libraries/AP_Math/matrix3.h @@ -219,14 +219,14 @@ class Matrix3 { bool invert() WARN_IF_UNUSED; // zero the matrix - void zero(void); + void zero(void) { + memset((void*)this, 0, sizeof(*this)); + } // setup the identity matrix void identity(void) { + zero(); a.x = b.y = c.z = 1; - a.y = a.z = 0; - b.x = b.z = 0; - c.x = c.y = 0; } // check if any elements are NAN From 44375f27e171e4d45549f1b0093d451172048d4a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 20 Oct 2024 11:39:10 +1100 Subject: [PATCH 150/314] AP_NavEKF3: add enumeration to document EKF SolutionStatus this isn't used for anything but documenting the solution status field, which can be used in the Wiki and in various log analysis tools --- libraries/AP_NavEKF3/LogStructure.h | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h index 53276e13d3c53..246fc18915d17 100644 --- a/libraries/AP_NavEKF3/LogStructure.h +++ b/libraries/AP_NavEKF3/LogStructure.h @@ -188,6 +188,7 @@ struct PACKED log_XKF3 { // @Field: FS: Filter fault status // @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement, 5:drag measurement) // @Field: SS: Filter solution status +// @FieldBitmaskEnum: SS: NavFilterStatusBit // @Field: GPS: Filter GPS status // @Field: PI: Primary core index struct PACKED log_XKF4 { From de0f3ddebed03065fabe520b899f364d8969e128 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 20 Oct 2024 11:39:10 +1100 Subject: [PATCH 151/314] AP_NavEKF: add enumeration to document EKF SolutionStatus this isn't used for anything but documenting the solution status field, which can be used in the Wiki and in various log analysis tools --- libraries/AP_NavEKF/AP_Nav_Common.h | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/libraries/AP_NavEKF/AP_Nav_Common.h b/libraries/AP_NavEKF/AP_Nav_Common.h index 10037c4e1578d..a24f96e86e143 100644 --- a/libraries/AP_NavEKF/AP_Nav_Common.h +++ b/libraries/AP_NavEKF/AP_Nav_Common.h @@ -19,6 +19,30 @@ #include #include +// enumeration corresponding to buts within nav_filter_status union. +// Only used for documentation purposes. +enum class NavFilterStatusBit { + ATTITUDE = 1, // attitude estimate valid + HORIZ_VEL = 2, // horizontal velocity estimate valid + VERT_VEL = 4, // vertical velocity estimate valid + HORIZ_POS_REL = 8, // relative horizontal position estimate valid + HORIZ_POS_ABS = 16, // absolute horizontal position estimate valid + VERT_POS = 32, // vertical position estimate valid + TERRAIN_ALT = 64, // terrain height estimate valid + CONST_POS_MODE = 128, // in constant position mode + PRED_HORIZ_POS_REL = 256, // expected good relative horizontal position estimate - used before takeoff + PRED_HORIZ_POS_ABS = 512, // expected good absolute horizontal position estimate - used before takeoff + TAKEOFF_DETECTED = 1024, // optical flow takeoff has been detected + TAKEOFF_EXPECTED = 2048, // compensating for baro errors during takeoff + TOUCHDOWN_EXPECTED = 4096, // compensating for baro errors during touchdown + USING_GPS = 8192, // using GPS position + GPS_GLITCHING = 16384, // GPS glitching is affecting navigation accuracy + GPS_QUALITY_GOOD = 32768, // can use GPS for navigation + INITALIZED = 65536, // has ever been healthy + REJECTING_AIRSPEED = 131072, // rejecting airspeed data + DEAD_RECKONING = 262144, // dead reckoning (e.g. no position or velocity source) +}; + union nav_filter_status { struct { bool attitude : 1; // 0 - true if attitude estimate is valid From 756df1cfc094b3da678afec2234726af132871b3 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 20 Oct 2024 10:47:13 +1100 Subject: [PATCH 152/314] autotest: logger_metadata: flake8 cleanliness --- Tools/autotest/logger_metadata/enum_parse.py | 49 +++++++++-------- Tools/autotest/logger_metadata/parse.py | 58 ++++++++++++-------- 2 files changed, 61 insertions(+), 46 deletions(-) diff --git a/Tools/autotest/logger_metadata/enum_parse.py b/Tools/autotest/logger_metadata/enum_parse.py index 99227a211e976..93a713cf3a733 100755 --- a/Tools/autotest/logger_metadata/enum_parse.py +++ b/Tools/autotest/logger_metadata/enum_parse.py @@ -1,5 +1,9 @@ #!/usr/bin/env python +''' +AP_FLAKE8_CLEAN +''' + from __future__ import print_function import argparse @@ -10,6 +14,7 @@ topdir = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../') topdir = os.path.realpath(topdir) + class EnumDocco(object): vehicle_map = { @@ -35,35 +40,35 @@ def match_enum_line(self, line): # attempts to extract name, value and comment from line. # Match: " FRED, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+)\s*,? *(?://[/>]* *(.*) *)?$", line) + m = re.match(r"\s*([A-Z0-9_a-z]+)\s*,? *(?://[/>]* *(.*) *)?$", line) if m is not None: return (m.group(1), None, m.group(2)) # Match: " FRED, /* optional comment */" - m = re.match("\s*([A-Z0-9_a-z]+)\s*,? *(?:/[*] *(.*) *[*]/ *)?$", line) + m = re.match(r"\s*([A-Z0-9_a-z]+)\s*,? *(?:/[*] *(.*) *[*]/ *)?$", line) if m is not None: return (m.group(1), None, m.group(2)) # Match: " FRED = 17, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+)\s*=\s*([-0-9]+)\s*,?(?:\s*//[/<]*\s*(.*) *)?$", + m = re.match(r"\s*([A-Z0-9_a-z]+)\s*=\s*([-0-9]+)\s*,?(?:\s*//[/<]*\s*(.*) *)?$", line) if m is not None: return (m.group(1), m.group(2), m.group(3)) # Match: " FRED = 17, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+) *= *([-0-9]+) *,?(?: */* *(.*) *)? *[*]/ *$", + m = re.match(r"\s*([A-Z0-9_a-z]+) *= *([-0-9]+) *,?(?: */* *(.*) *)? *[*]/ *$", line) if m is not None: return (m.group(1), m.group(2), m.group(3)) # Match: " FRED = 1U<<0, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+) *= *[(]?1U? *[<][<] *(\d+)(?:, *// *(.*) *)?", + m = re.match(r"\s*([A-Z0-9_a-z]+) *= *[(]?1U? *[<][<] *(\d+)(?:, *// *(.*) *)?", line) if m is not None: return (m.group(1), 1 << int(m.group(2)), m.group(3)) # Match: " FRED = 0xabc, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+) *= *(?:0[xX]([0-9A-Fa-f]+))(?:, *// *(.*) *)?", + m = re.match(r"\s*([A-Z0-9_a-z]+) *= *(?:0[xX]([0-9A-Fa-f]+))(?:, *// *(.*) *)?", line) if m is not None: return (m.group(1), int(m.group(2), 16), m.group(3)) @@ -71,19 +76,18 @@ def match_enum_line(self, line): '''start discarded matches - lines we understand but can't do anything with:''' # Match: " FRED = 17, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+) *= *(\w+) *,?(?: *// *(.*) *)?$", + m = re.match(r"\s*([A-Z0-9_a-z]+) *= *(\w+) *,?(?: *// *(.*) *)?$", line) if m is not None: return (None, None, None) # Match: " FRED = FOO(17), // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+) *= *(\w+) *\\( *(\w+) *\\) *,?(?: *// *(.*) *)?$", + m = re.match(r"\s*([A-Z0-9_a-z]+) *= *(\w+) *\\( *(\w+) *\\) *,?(?: *// *(.*) *)?$", line) if m is not None: return (None, None, None) - - # Match: " FRED = 1U<<0, // optional comment" - m = re.match("\s*([A-Z0-9_a-z]+) *= *[(]?3U? *[<][<] *(\d+)(?:, *// *(.*) *)?", + # Match: " FRED = 1U<<0, // optional comment" + m = re.match(r"\s*([A-Z0-9_a-z]+) *= *[(]?3U? *[<][<] *(\d+)(?:, *// *(.*) *)?", line) if m is not None: return (m.group(1), 1 << int(m.group(2)), m.group(3)) @@ -112,21 +116,21 @@ def debug(x): break line = line.rstrip() # print("state=%s line: %s" % (state, line)) - if re.match("\s*//.*", line): + if re.match(r"\s*//.*", line): continue if state == "outside": if re.match("class .*;", line) is not None: # forward-declaration of a class continue - m = re.match("class *([:\w]+)", line) + m = re.match(r"class *([:\w]+)", line) if m is not None: in_class = m.group(1) continue - m = re.match("namespace *(\w+)", line) + m = re.match(r"namespace *(\w+)", line) if m is not None: in_class = m.group(1) continue - m = re.match(".*enum\s*(class)? *([\w]+)\s*(?::.*_t)? *{(.*)};", line) + m = re.match(r".*enum\s*(class)? *([\w]+)\s*(?::.*_t)? *{(.*)};", line) if m is not None: # all one one line! Thanks! enum_name = m.group(2) @@ -142,7 +146,7 @@ def debug(x): enumerations.append(new_enumeration) continue - m = re.match(".*enum\s*(class)? *([\w]+)\s*(?::.*_t)? *{", line) + m = re.match(r".*enum\s*(class)? *([\w]+)\s*(?::.*_t)? *{", line) if m is not None: enum_name = m.group(2) debug("%s: %s" % (source_file, enum_name)) @@ -152,15 +156,15 @@ def debug(x): skip_enumeration = False continue if state == "inside": - if re.match("\s*$", line): + if re.match(r"\s*$", line): continue - if re.match("#if", line): + if re.match(r"#if", line): continue - if re.match("#endif", line): + if re.match(r"#endif", line): continue - if re.match("#else", line): + if re.match(r"#else", line): continue - if re.match(".*}\s*\w*(\s*=\s*[\w:]+)?;", line): + if re.match(r".*}\s*\w*(\s*=\s*[\w:]+)?;", line): # potential end of enumeration if not skip_enumeration: if enum_name is None: @@ -189,7 +193,7 @@ def debug(x): else: value = int(value) last_value = value -# print("entry=%s value=%s comment=%s" % (name, value, comment)) + # print("entry=%s value=%s comment=%s" % (name, value, comment)) entries.append(EnumDocco.EnumEntry(name, value, comment)) return enumerations @@ -253,4 +257,3 @@ def run(self): sys.exit(1) s.run() -# print("Enumerations: %s" % s.enumerations) diff --git a/Tools/autotest/logger_metadata/parse.py b/Tools/autotest/logger_metadata/parse.py index 2f7517d2182f4..20bac7be3c013 100755 --- a/Tools/autotest/logger_metadata/parse.py +++ b/Tools/autotest/logger_metadata/parse.py @@ -1,5 +1,9 @@ #!/usr/bin/env python +''' +AP_FLAKE8_CLEAN +''' + from __future__ import print_function import argparse @@ -33,7 +37,11 @@ # Regular expressions for finding message definitions in structure format re_start_messagedef = re.compile(r"^\s*{?\s*LOG_[A-Z0-9_]+_[MSGTA]+[A-Z0-9_]*\s*,") re_deffield = r'[\s\\]*"?([\w\-#?%]+)"?\s*' -re_full_messagedef = re.compile(r'\s*LOG_\w+\s*,\s*\w+\([^)]+\)[\s\\]*,' + f'{re_deffield},{re_deffield},' + r'[\s\\]*"?([\w,]+)"?[\s\\]*,' + f'{re_deffield},{re_deffield}' , re.MULTILINE) +re_full_messagedef = re.compile(r'\s*LOG_\w+\s*,\s*\w+\([^)]+\)[\s\\]*,' + + f'{re_deffield},{re_deffield},' + + r'[\s\\]*"?([\w,]+)"?[\s\\]*,' + + f'{re_deffield},{re_deffield}', + re.MULTILINE) re_fmt_define = re.compile(r'#define\s+(\w+_FMT)\s+"([\w\-#?%]+)"') re_units_define = re.compile(r'#define\s+(\w+_UNITS)\s+"([\w\-#?%]+)"') re_mults_define = re.compile(r'#define\s+(\w+_MULTS)\s+"([\w\-#?%]+)"') @@ -41,7 +49,9 @@ # Regular expressions for finding message definitions in Write calls re_start_writecall = re.compile(r"\s*[AP:]*logger[\(\)]*.Write[StreamingCrcl]*\(") re_writefield = r'\s*"([\w\-#?%,]+)"\s*' -re_full_writecall = re.compile(r'\s*[AP:]*logger[\(\)]*.Write[StreamingCrcl]*\(' + f'{re_writefield},{re_writefield},{re_writefield},({re_writefield},{re_writefield})?' , re.MULTILINE) +re_full_writecall = re.compile(r'\s*[AP:]*logger[\(\)]*.Write[StreamingCrcl]*\(' + + f'{re_writefield},{re_writefield},{re_writefield},({re_writefield},{re_writefield})?', + re.MULTILINE) # Regular expression for extracting unit and multipliers from structure re_units_mults_struct = re.compile(r"^\s*{\s*'([\w\-#?%!/])',"+r'\s*"?([\w\-#?%./]*)"?\s*}') @@ -64,6 +74,7 @@ 1e-9: "n" # nano- } + class LoggerDocco(object): vehicle_map = { @@ -93,7 +104,7 @@ class Docco(object): def __init__(self, name): self.name = name self.url = None - if isinstance(name,list): + if isinstance(name, list): self.description = [None] * len(name) else: self.description = None @@ -104,15 +115,15 @@ def __init__(self, name): def add_name(self, name): # If self.name/description aren't lists, convert them - if isinstance(self.name,str): + if isinstance(self.name, str): self.name = [self.name] self.description = [self.description] # Replace any existing empty descriptions with empty strings - for i in range(0,len(self.description)): + for i in range(0, len(self.description)): if self.description[i] is None: self.description[i] = "" # Extend the name and description lists - if isinstance(name,list): + if isinstance(name, list): self.name.extend(name) self.description.extend([None] * len(name)) else: @@ -120,8 +131,8 @@ def add_name(self, name): self.description.append(None) def set_description(self, desc): - if isinstance(self.description,list): - for i in range(0,len(self.description)): + if isinstance(self.description, list): + for i in range(0, len(self.description)): if self.description[i] is None: self.description[i] = desc else: @@ -147,7 +158,7 @@ def set_field_bits(self, field, bits): count = 0 entries = [] for bit in bits: - entries.append(EnumDocco.EnumEntry(bit, 1< Date: Sun, 20 Oct 2024 11:21:30 +1100 Subject: [PATCH 153/314] .github: add logger metadata generation to CI --- .github/workflows/test_scripts.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/test_scripts.yml b/.github/workflows/test_scripts.yml index 94559a422abb9..923365dafcd97 100644 --- 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 From 9e4bdf31b8d1e727f01f8e852d5eebbe9c1ce208 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 20 Oct 2024 11:21:30 +1100 Subject: [PATCH 154/314] Tools: add logger metadata generation to CI --- Tools/scripts/build_ci.sh | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh index 4d018d415a828..19d2912158a8f 100755 --- a/Tools/scripts/build_ci.sh +++ b/Tools/scripts/build_ci.sh @@ -56,7 +56,7 @@ function install_mavproxy() { popd mavproxy_installed=1 # now uninstall the version of pymavlink pulled in by MAVProxy deps: - python -m pip uninstall -y pymavlink + python3 -m pip uninstall -y pymavlink fi } @@ -512,7 +512,14 @@ for t in $CI_BUILD_TARGET; do if [ "$t" == "param_parse" ]; then for v in Rover AntennaTracker ArduCopter ArduPlane ArduSub Blimp AP_Periph; do - python Tools/autotest/param_metadata/param_parse.py --vehicle $v + python3 Tools/autotest/param_metadata/param_parse.py --vehicle $v + done + continue + fi + + if [ "$t" == "logger_metadata" ]; then + for v in Rover Tracker Copter Plane Sub Blimp; do + python3 Tools/autotest/logger_metadata/parse.py --vehicle $v done continue fi From 6c643b8d667c733507a01a7c259df5303f806ab2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 20 Oct 2024 11:19:36 +1100 Subject: [PATCH 155/314] autotest: logger_metadata: exempt iofirmware.cpp from checking uses a macro to generate a value, which makes it problematic from a matching sense --- Tools/autotest/logger_metadata/enum_parse.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Tools/autotest/logger_metadata/enum_parse.py b/Tools/autotest/logger_metadata/enum_parse.py index 93a713cf3a733..d9ab17f4b41af 100755 --- a/Tools/autotest/logger_metadata/enum_parse.py +++ b/Tools/autotest/logger_metadata/enum_parse.py @@ -223,6 +223,9 @@ def search_for_files(self, dirs_to_search): continue if filepath.endswith("libraries/AP_HAL/utility/getopt_cpp.h"): continue + # Failed to match ( IOEVENT_PWM = EVENT_MASK(1),) + if filepath.endswith("libraries/AP_IOMCU/iofirmware/iofirmware.cpp"): + continue self.files.append(filepath) if len(_next): self.search_for_files(_next) From 909b48b7709a8d08ab6668e3838d3f59c5053e9d Mon Sep 17 00:00:00 2001 From: muramura Date: Wed, 23 Oct 2024 00:45:20 +0900 Subject: [PATCH 156/314] Plane: Adjust the grouping of functions to match the style --- ArduPlane/quadplane.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index de820ee42091c..e7fc346758491 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -2905,7 +2905,8 @@ QuadPlane::ActiveFwdThr QuadPlane::get_vfwd_method(void) const /* map from pitch tilt to fwd throttle when enabled */ -void QuadPlane::assign_tilt_to_fwd_thr(void) { +void QuadPlane::assign_tilt_to_fwd_thr(void) +{ const auto fwd_thr_active = get_vfwd_method(); if (fwd_thr_active != ActiveFwdThr::NEW) { @@ -4201,7 +4202,7 @@ uint16_t QuadPlane::get_pilot_velocity_z_max_dn() const { if (is_zero(pilot_speed_z_max_dn)) { return abs(pilot_speed_z_max_up*100); - } + } return abs(pilot_speed_z_max_dn*100); } @@ -4499,8 +4500,9 @@ void SLT_Transition::set_last_fw_pitch() last_fw_nav_pitch_cd = plane.nav_pitch_cd; } -void SLT_Transition::force_transition_complete() { - transition_state = TRANSITION_DONE; +void SLT_Transition::force_transition_complete() +{ + transition_state = TRANSITION_DONE; in_forced_transition = false; transition_start_ms = 0; transition_low_airspeed_ms = 0; From 6a59d3adae3da4c9e6339f7157b3b21dc344ba83 Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar do Carmo Lucas" Date: Fri, 25 Oct 2024 15:59:44 +0200 Subject: [PATCH 157/314] AP_Compass: Also mark Z axis as calibrations, just like the XY --- libraries/AP_Compass/AP_Compass.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index f8a6d78cde52f..7738ac7f7447e 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -99,6 +99,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @Units: mGauss // @Increment: 1 // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("OFS", 1, Compass, _state._priv_instance[0].offset, 0), // @Param: DEC @@ -170,6 +171,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @Units: mGauss/A // @Increment: 1 // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("MOT", 7, Compass, _state._priv_instance[0].motor_compensation, 0), #endif @@ -215,6 +217,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @Units: mGauss // @Increment: 1 // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("OFS2", 10, Compass, _state._priv_instance[1].offset, 0), // @Param: MOT2_X @@ -242,6 +245,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @Units: mGauss/A // @Increment: 1 // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("MOT2", 11, Compass, _state._priv_instance[1].motor_compensation, 0), #endif // COMPASS_MAX_INSTANCES @@ -272,6 +276,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @Units: mGauss // @Increment: 1 // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("OFS3", 13, Compass, _state._priv_instance[2].offset, 0), // @Param: MOT3_X @@ -299,6 +304,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @Units: mGauss/A // @Increment: 1 // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("MOT3", 14, Compass, _state._priv_instance[2].motor_compensation, 0), #endif // COMPASS_MAX_INSTANCES @@ -390,6 +396,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @DisplayName: Compass soft-iron diagonal Z component // @Description: DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("DIA", 24, Compass, _state._priv_instance[0].diagonals, 1.0), // @Param: ODI_X @@ -408,6 +415,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @DisplayName: Compass soft-iron off-diagonal Z component // @Description: ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("ODI", 25, Compass, _state._priv_instance[0].offdiagonals, 0), #if COMPASS_MAX_INSTANCES > 1 @@ -427,6 +435,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @DisplayName: Compass2 soft-iron diagonal Z component // @Description: DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("DIA2", 26, Compass, _state._priv_instance[1].diagonals, 1.0), // @Param: ODI2_X @@ -445,6 +454,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @DisplayName: Compass2 soft-iron off-diagonal Z component // @Description: ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("ODI2", 27, Compass, _state._priv_instance[1].offdiagonals, 0), #endif // COMPASS_MAX_INSTANCES @@ -465,6 +475,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @DisplayName: Compass3 soft-iron diagonal Z component // @Description: DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("DIA3", 28, Compass, _state._priv_instance[2].diagonals, 1.0), // @Param: ODI3_X @@ -483,6 +494,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { // @DisplayName: Compass3 soft-iron off-diagonal Z component // @Description: ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] // @User: Advanced + // @Calibration: 1 AP_GROUPINFO("ODI3", 29, Compass, _state._priv_instance[2].offdiagonals, 0), #endif // COMPASS_MAX_INSTANCES #endif // AP_COMPASS_DIAGONALS_ENABLED From 12b761c53499abc4514892fe626ee1af5ca2acd2 Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar do Carmo Lucas" Date: Fri, 25 Oct 2024 16:02:45 +0200 Subject: [PATCH 158/314] AP_Scheduler: Use a range of values here because it is valid to do so. Makes it easier for GUI applications to display this better and valudate the range --- libraries/AP_Scheduler/AP_Scheduler.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp index 57f938a616b84..7085e05541d22 100644 --- a/libraries/AP_Scheduler/AP_Scheduler.cpp +++ b/libraries/AP_Scheduler/AP_Scheduler.cpp @@ -61,8 +61,9 @@ const AP_Param::GroupInfo AP_Scheduler::var_info[] = { // @Param: LOOP_RATE // @DisplayName: Scheduling main loop rate // @Description: This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental. - // @Values: 50:50Hz,100:100Hz,200:200Hz,250:250Hz,300:300Hz,400:400Hz + // @Range: 50 400 // @RebootRequired: True + // @Units: Hz // @User: Advanced AP_GROUPINFO("LOOP_RATE", 1, AP_Scheduler, _loop_rate_hz, SCHEDULER_DEFAULT_LOOP_RATE), From e232ccde7d232588515e93f59a231c6b6d52fed8 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 27 Oct 2024 13:47:05 +0900 Subject: [PATCH 159/314] AP_Bootloader: correct compilation when signing enabled In file included from ../../libraries/AP_CheckFirmware/AP_CheckFirmware.cpp:13: ../../libraries/AP_CheckFirmware/../../Tools/AP_Bootloader/support.h:57:25: error: "CH_CFG_USE_HEAP" is not defined, evaluates to 0 [-Werror=undef] 57 | #if defined(STM32H7) && CH_CFG_USE_HEAP | ^~~~~~~~~~~~~~~ compilation terminated due to -Wfatal-errors. cc1plus: all warnings being treated as errors --- Tools/AP_Bootloader/support.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/AP_Bootloader/support.h b/Tools/AP_Bootloader/support.h index 15b19c0030c5f..e96137bf8dfae 100644 --- a/Tools/AP_Bootloader/support.h +++ b/Tools/AP_Bootloader/support.h @@ -1,5 +1,7 @@ #pragma once +#include + #define LED_ACTIVITY 1 #define LED_BOOTLOADER 2 From 3aa2f51465e582d3840730dac77cf8564fa901c9 Mon Sep 17 00:00:00 2001 From: Frank0587 <92010529+Frank0587@users.noreply.github.com> Date: Tue, 29 Oct 2024 07:22:54 +0100 Subject: [PATCH 160/314] AP_RCTelemetry: Fix Baro and Vario values Add the missing byte swapping for 16bit values --- libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp index fb7564e00085e..77002b39cd610 100644 --- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp +++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp @@ -975,7 +975,7 @@ int8_t AP_CRSF_Telem::get_vertical_speed_packed() // prepare vario data void AP_CRSF_Telem::calc_baro_vario() { - _telem.bcast.baro_vario.altitude_packed = get_altitude_packed(); + _telem.bcast.baro_vario.altitude_packed = htobe16(get_altitude_packed()); _telem.bcast.baro_vario.vertical_speed_packed = get_vertical_speed_packed(); _telem_size = sizeof(BaroVarioFrame); @@ -987,7 +987,7 @@ void AP_CRSF_Telem::calc_baro_vario() // prepare vario data void AP_CRSF_Telem::calc_vario() { - _telem.bcast.vario.v_speed = int16_t(get_vspeed_ms() * 100.0f); + _telem.bcast.vario.v_speed = htobe16(int16_t(get_vspeed_ms() * 100.0f)); _telem_size = sizeof(VarioFrame); _telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_VARIO; From 75af2d8cfbe5894beb8151d705b68267b7aeced1 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Mon, 28 Oct 2024 10:51:16 +0900 Subject: [PATCH 161/314] ArduPlane: use frame instead of bools for setting alt frame * And switch to mavlink_coordinate_frame_to_location_alt_frame Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- ArduPlane/GCS_Mavlink.cpp | 40 ++++++++++++--------------------------- 1 file changed, 12 insertions(+), 28 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index 45a596bc6331a..d2800c367631f 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -1372,43 +1372,27 @@ void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_mess mavlink_set_position_target_global_int_t pos_target; mavlink_msg_set_position_target_global_int_decode(&msg, &pos_target); + + Location::AltFrame frame; + if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)pos_target.coordinate_frame, frame)) { + gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT"); + // Even though other parts of the command may be valid, reject the whole thing. + return; + } + // Unexpectedly, the mask is expecting "ones" for dimensions that should // be IGNORNED rather than INCLUDED. See mavlink documentation of the // SET_POSITION_TARGET_GLOBAL_INT message, type_mask field. const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3) - bool msg_valid = true; AP_Mission::Mission_Command cmd = {0}; if (pos_target.type_mask & alt_mask) { - cmd.content.location.alt = pos_target.alt * 100; - cmd.content.location.relative_alt = false; - cmd.content.location.terrain_alt = false; - switch (pos_target.coordinate_frame) - { - case MAV_FRAME_GLOBAL: - case MAV_FRAME_GLOBAL_INT: - break; //default to MSL altitude - case MAV_FRAME_GLOBAL_RELATIVE_ALT: - case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: - cmd.content.location.relative_alt = true; - break; - case MAV_FRAME_GLOBAL_TERRAIN_ALT: - case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT: - cmd.content.location.relative_alt = true; - cmd.content.location.terrain_alt = true; - break; - default: - gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT"); - msg_valid = false; - break; - } - - if (msg_valid) { - handle_change_alt_request(cmd); - } - } // end if alt_mask + const int32_t alt_cm = pos_target.alt * 100; + cmd.content.location.set_alt_cm(alt_cm, frame); + handle_change_alt_request(cmd); + } } MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlink_command_int_t &packet) From 753f9eedef907b9886d6f286bd1cdce3afcfaffa Mon Sep 17 00:00:00 2001 From: James O'Shannessy <12959316+joshanne@users.noreply.github.com> Date: Thu, 31 Oct 2024 12:13:04 +1100 Subject: [PATCH 162/314] AP_Periph: Fix documentation for INS parameters Parameters are being generated as `INS_` as the group, so `INS_USE` is actually documented as `INS__USE` (not the double underscore). --- Tools/AP_Periph/Parameters.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp index 21826edd675fd..3341a50056840 100644 --- a/Tools/AP_Periph/Parameters.cpp +++ b/Tools/AP_Periph/Parameters.cpp @@ -732,7 +732,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { // @User: Standard GSCALAR(imu_sample_rate, "INS_SAMPLE_RATE", 0), - // @Group: INS_ + // @Group: INS // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp GOBJECT(imu, "INS", AP_InertialSensor), #endif From 2892483ea1dd28d389178d33f8a4246eaba9c544 Mon Sep 17 00:00:00 2001 From: James O'Shannessy <12959316+joshanne@users.noreply.github.com> Date: Thu, 31 Oct 2024 12:18:32 +1100 Subject: [PATCH 163/314] AP_BattMonitor: Fix documentation generating incorrect parameter name Without this, parameter names are generated as eg. 'BATT2__ARM_VOLT' --- libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp index 63d4ebe4d8124..285481d38b7e8 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp @@ -143,7 +143,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = { // @Param: ARM_MAH // @DisplayName: Required arming remaining capacity - // @Description: Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the @PREFIX@_ARM_VOLT parameter. + // @Description: Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the @PREFIX@ARM_VOLT parameter. // @Units: mAh // @Increment: 50 // @User: Advanced From e7bfd400e849bd89afe1082b314f3a2613386b31 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 21 Oct 2024 15:34:43 +0900 Subject: [PATCH 164/314] DroneCAN: update DSDL --- modules/DroneCAN/DSDL | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/DroneCAN/DSDL b/modules/DroneCAN/DSDL index 993be80a62ec9..0856687a5acb4 160000 --- a/modules/DroneCAN/DSDL +++ b/modules/DroneCAN/DSDL @@ -1 +1 @@ -Subproject commit 993be80a62ec957c01fb41115b83663959a49f46 +Subproject commit 0856687a5acb42b55d29bbad8f4fc9e19b4989fc From 349ebde1015bbf61f24b8fe4f55e729b216829e8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 23 Oct 2024 10:44:17 +0900 Subject: [PATCH 165/314] AP_Scripting: added support for FlexDebug message allows lua to retrieve vendor specific data from CAN nodes --- libraries/AP_Scripting/docs/docs.lua | 10 +++++++ .../generator/description/bindings.desc | 3 ++ libraries/AP_Scripting/lua_bindings.cpp | 30 +++++++++++++++++++ libraries/AP_Scripting/lua_bindings.h | 1 + 4 files changed, 44 insertions(+) diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index 059d6ce83a9e8..3a34534316de8 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -414,6 +414,16 @@ function CAN:get_device(buffer_len) end ---@return ScriptingCANBuffer_ud|nil function CAN:get_device2(buffer_len) end + +-- get latest FlexDebug message from a CAN node +---@param bus number -- CAN bus number, 0 for first bus, 1 for 2nd +---@param node number -- CAN node +---@param id number -- FlexDebug message ID +---@param last_us uint32_t_ud|integer|number -- timestamp of last received message, new message will be returned if timestamp is different +---@return uint32_t_ud|nil -- timestamp of message (first frame arrival time) +---@return string|nil -- up to 255 byte buffer +function DroneCAN_get_FlexDebug(bus,node,id,last_us) end + -- Auto generated binding -- desc diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index 67c11a646019d..ae6ba0a48f426 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -698,6 +698,9 @@ ap_object ScriptingCANBuffer method write_frame boolean AP_HAL::CANFrame uint32_ ap_object ScriptingCANBuffer method read_frame boolean AP_HAL::CANFrame'Null ap_object ScriptingCANBuffer method add_filter boolean uint32_t'skip_check uint32_t'skip_check +include AP_DroneCAN/AP_DroneCAN.h +global manual DroneCAN_get_FlexDebug lua_DroneCAN_get_FlexDebug 4 2 depends (HAL_ENABLE_DRONECAN_DRIVERS==1) + include ../Tools/AP_Periph/AP_Periph.h depends defined(HAL_BUILD_AP_PERIPH) singleton AP_Periph_FW depends defined(HAL_BUILD_AP_PERIPH) singleton AP_Periph_FW rename periph diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp index 1c7db4a2df10f..dfb0b0a1689c8 100644 --- a/libraries/AP_Scripting/lua_bindings.cpp +++ b/libraries/AP_Scripting/lua_bindings.cpp @@ -1237,4 +1237,34 @@ int lua_GCS_command_int(lua_State *L) } #endif +#if HAL_ENABLE_DRONECAN_DRIVERS +/* + get FlexDebug from a DroneCAN node + */ +int lua_DroneCAN_get_FlexDebug(lua_State *L) +{ + binding_argcheck(L, 4); + + const uint8_t bus = get_uint8_t(L, 1); + const uint8_t node_id = get_uint8_t(L, 2); + const uint16_t msg_id = get_uint16_t(L, 3); + uint32_t tstamp_us = get_uint32(L, 4, 0, UINT32_MAX); + + const auto *dc = AP_DroneCAN::get_dronecan(bus); + if (dc == nullptr) { + return 0; + } + dronecan_protocol_FlexDebug msg; + + if (!dc->get_FlexDebug(node_id, msg_id, tstamp_us, msg)) { + return 0; + } + + *new_uint32_t(L) = tstamp_us; + lua_pushlstring(L, (const char *)msg.u8.data, msg.u8.len); + + return 2; +} +#endif // HAL_ENABLE_DRONECAN_DRIVERS + #endif // AP_SCRIPTING_ENABLED diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h index b0a7e2c36b77f..d064df4552df6 100644 --- a/libraries/AP_Scripting/lua_bindings.h +++ b/libraries/AP_Scripting/lua_bindings.h @@ -34,3 +34,4 @@ int lua_mavlink_block_command(lua_State *L); int lua_print(lua_State *L); int lua_range_finder_handle_script_msg(lua_State *L); int lua_GCS_command_int(lua_State *L); +int lua_DroneCAN_get_FlexDebug(lua_State *L); From 03de09945222bc7356e60fac4de041489f516476 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 23 Oct 2024 10:44:56 +0900 Subject: [PATCH 166/314] AP_DroneCAN: support FlexDebug message --- libraries/AP_DroneCAN/AP_DroneCAN.cpp | 58 ++++++++++++++++++++++++++- libraries/AP_DroneCAN/AP_DroneCAN.h | 20 +++++++++ 2 files changed, 77 insertions(+), 1 deletion(-) diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp index 49aace0952631..21243e5d08c40 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp +++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp @@ -128,7 +128,7 @@ const AP_Param::GroupInfo AP_DroneCAN::var_info[] = { // @Param: OPTION // @DisplayName: DroneCAN options // @Description: Option flags - // @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats + // @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug // @User: Advanced AP_GROUPINFO("OPTION", 5, AP_DroneCAN, _options, 0), @@ -1503,6 +1503,62 @@ bool AP_DroneCAN::is_esc_data_index_valid(const uint8_t index) { return true; } +#if AP_SCRIPTING_ENABLED +/* + handle FlexDebug message, holding a copy locally for a lua script to access + */ +void AP_DroneCAN::handle_FlexDebug(const CanardRxTransfer& transfer, const dronecan_protocol_FlexDebug &msg) +{ + if (!option_is_set(Options::ENABLE_FLEX_DEBUG)) { + return; + } + + // find an existing element in the list + const uint8_t source_node = transfer.source_node_id; + for (auto *p = flexDebug_list; p != nullptr; p = p->next) { + if (p->node_id == source_node && p->msg.id == msg.id) { + p->msg = msg; + p->timestamp_us = uint32_t(transfer.timestamp_usec); + return; + } + } + + // new message ID, add to the list. Note that this gets called + // only from one thread, so no lock needed + auto *p = NEW_NOTHROW FlexDebug; + if (p == nullptr) { + return; + } + p->node_id = source_node; + p->msg = msg; + p->timestamp_us = uint32_t(transfer.timestamp_usec); + p->next = flexDebug_list; + + // link into the list + flexDebug_list = p; +} + +/* + get the last FlexDebug message from a node + */ +bool AP_DroneCAN::get_FlexDebug(uint8_t node_id, uint16_t msg_id, uint32_t ×tamp_us, dronecan_protocol_FlexDebug &msg) const +{ + for (const auto *p = flexDebug_list; p != nullptr; p = p->next) { + if (p->node_id == node_id && p->msg.id == msg_id) { + if (timestamp_us == p->timestamp_us) { + // stale message + return false; + } + timestamp_us = p->timestamp_us; + msg = p->msg; + return true; + } + } + return false; +} + +#endif // AP_SCRIPTING_ENABLED + /* handle LogMessage debug */ diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h index 7264fad9472fc..2d6e5ae2b7f78 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.h +++ b/libraries/AP_DroneCAN/AP_DroneCAN.h @@ -148,6 +148,7 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend { USE_HIMARK_SERVO = (1U<<6), USE_HOBBYWING_ESC = (1U<<7), ENABLE_STATS = (1U<<8), + ENABLE_FLEX_DEBUG = (1U<<9), }; // check if a option is set @@ -176,6 +177,10 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend { Canard::Publisher relay_hardpoint{canard_iface}; #endif +#if AP_SCRIPTING_ENABLED + bool get_FlexDebug(uint8_t node_id, uint16_t msg_id, uint32_t ×tamp_us, dronecan_protocol_FlexDebug &msg) const; +#endif + private: void loop(void); @@ -363,6 +368,11 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend { Canard::Server node_info_server{canard_iface, node_info_req_cb}; uavcan_protocol_GetNodeInfoResponse node_info_rsp; +#if AP_SCRIPTING_ENABLED + Canard::ObjCallback FlexDebug_cb{this, &AP_DroneCAN::handle_FlexDebug}; + Canard::Subscriber FlexDebug_listener{FlexDebug_cb, _driver_index}; +#endif + #if AP_DRONECAN_HOBBYWING_ESC_SUPPORT /* Hobbywing ESC support. Note that we need additional meta-data as @@ -409,6 +419,16 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend { void handle_param_get_set_response(const CanardRxTransfer& transfer, const uavcan_protocol_param_GetSetResponse& rsp); void handle_param_save_response(const CanardRxTransfer& transfer, const uavcan_protocol_param_ExecuteOpcodeResponse& rsp); void handle_node_info_request(const CanardRxTransfer& transfer, const uavcan_protocol_GetNodeInfoRequest& req); + +#if AP_SCRIPTING_ENABLED + void handle_FlexDebug(const CanardRxTransfer& transfer, const dronecan_protocol_FlexDebug& msg); + struct FlexDebug { + struct FlexDebug *next; + uint32_t timestamp_us; + uint8_t node_id; + dronecan_protocol_FlexDebug msg; + } *flexDebug_list; +#endif }; #endif // #if HAL_ENABLE_DRONECAN_DRIVERS From 7f04c82994d82ad0004f50e47e458c63c291dd86 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 24 Oct 2024 17:03:44 +0900 Subject: [PATCH 167/314] AP_Scripting: added FlexDebug example --- libraries/AP_Scripting/examples/FlexDebug.lua | 50 +++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 libraries/AP_Scripting/examples/FlexDebug.lua diff --git a/libraries/AP_Scripting/examples/FlexDebug.lua b/libraries/AP_Scripting/examples/FlexDebug.lua new file mode 100644 index 0000000000000..5b15906ae1d1d --- /dev/null +++ b/libraries/AP_Scripting/examples/FlexDebug.lua @@ -0,0 +1,50 @@ +--[[ + ArduPilot lua script to log debug messages from AM32 DroneCAN + ESCs on the flight controller + + To install set SCR_ENABLE=1 and put this script in APM/SCRIPTS/ on + the microSD of the flight controller then restart the flight + controller +--]] + +-- assume ESCs are nodes 30, 31, 32 and 33 +local ESC_BASE = 30 + +local AM32_DEBUG = 100 + +local last_tstamp = {} +local ts_zero = uint32_t(0) +local reported_version_error = false + +function log_AM32() + for i = 0, 3 do + local last_ts = last_tstamp[i] or ts_zero + tstamp_us, msg = DroneCAN_get_FlexDebug(0, ESC_BASE+i, AM32_DEBUG, last_ts) + if tstamp_us and msg then + version, commutation_interval, num_commands, num_input, rx_errors, rxframe_error, rx_ecode, auto_advance_level = string.unpack(" Date: Tue, 5 Nov 2024 18:43:34 -0600 Subject: [PATCH 168/314] AP_HAL_SITL: support port SITL to OpenBSD --- libraries/AP_HAL_SITL/Scheduler.cpp | 4 ++-- libraries/AP_HAL_SITL/UARTDriver.cpp | 2 ++ libraries/AP_HAL_SITL/UART_utils.cpp | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp index d9a2a3ba3a84c..ccc40042e8ea9 100644 --- a/libraries/AP_HAL_SITL/Scheduler.cpp +++ b/libraries/AP_HAL_SITL/Scheduler.cpp @@ -7,7 +7,7 @@ #include #include #include -#if defined (__clang__) || (defined (__APPLE__) && defined (__MACH__)) +#if defined (__clang__) || (defined (__APPLE__) && defined (__MACH__)) || defined (__OpenBSD__) #include #else #include @@ -385,7 +385,7 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_ goto failed; } -#if !defined(__APPLE__) +#if !defined(__APPLE__) && !defined(__OpenBSD__) pthread_setname_np(thread, name); #endif diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp index 39738637e0274..e809f4a43bb58 100644 --- a/libraries/AP_HAL_SITL/UARTDriver.cpp +++ b/libraries/AP_HAL_SITL/UARTDriver.cpp @@ -714,6 +714,8 @@ bool UARTDriver::set_unbuffered_writes(bool on) { v &= ~O_NONBLOCK; #if defined(__APPLE__) && defined(__MACH__) fcntl(_fd, F_SETFL | F_NOCACHE, v | O_SYNC); +#elif defined(__OpenBSD__) + fcntl(_fd, F_SETFL, v | O_SYNC); #else fcntl(_fd, F_SETFL, v | O_DIRECT | O_SYNC); #endif diff --git a/libraries/AP_HAL_SITL/UART_utils.cpp b/libraries/AP_HAL_SITL/UART_utils.cpp index a3dfcccc28608..ca4628c57baf1 100644 --- a/libraries/AP_HAL_SITL/UART_utils.cpp +++ b/libraries/AP_HAL_SITL/UART_utils.cpp @@ -19,7 +19,7 @@ #include "UARTDriver.h" -#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(__APPLE__) +#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(__APPLE__) || defined(__OpenBSD__) #define USE_TERMIOS #endif From 9696081a85143d80fb47c8747e6a8bba21b14e9d Mon Sep 17 00:00:00 2001 From: Richard Allen Date: Tue, 5 Nov 2024 18:44:31 -0600 Subject: [PATCH 169/314] AP_Filesystem: support port SITL to OpenBSD --- libraries/AP_Filesystem/AP_Filesystem_posix.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Filesystem/AP_Filesystem_posix.cpp b/libraries/AP_Filesystem/AP_Filesystem_posix.cpp index 8e6e49595e748..2283933a552fa 100644 --- a/libraries/AP_Filesystem/AP_Filesystem_posix.cpp +++ b/libraries/AP_Filesystem/AP_Filesystem_posix.cpp @@ -24,7 +24,7 @@ #include #include -#if defined(__APPLE__) +#if defined(__APPLE__) || defined(__OpenBSD__) #include #elif CONFIG_HAL_BOARD != HAL_BOARD_QURT #include From c0ee3b22163da1b77fcc7362aa6e0e3a8c6a9f8d Mon Sep 17 00:00:00 2001 From: Richard Allen Date: Tue, 5 Nov 2024 18:44:49 -0600 Subject: [PATCH 170/314] AP_HAL: support port SITL to OpenBSD --- libraries/AP_HAL/utility/sparse-endian.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_HAL/utility/sparse-endian.h b/libraries/AP_HAL/utility/sparse-endian.h index f562e1166dca0..2162f034e418a 100644 --- a/libraries/AP_HAL/utility/sparse-endian.h +++ b/libraries/AP_HAL/utility/sparse-endian.h @@ -57,6 +57,12 @@ typedef uint64_t __ap_bitwise be64_t; #undef be64toh #undef le64toh +#if !defined (__BYTE_ORDER) && defined (__OpenBSD__) +#define __BYTE_ORDER __BYTE_ORDER__ +#define __LITTLE_ENDIAN __ORDER_LITTLE_ENDIAN__ +#define __BIG_ENDIAN __ORDER_BIG_ENDIAN__ +#endif + #if __BYTE_ORDER == __LITTLE_ENDIAN #define bswap_16_on_le(x) __bswap_16(x) #define bswap_32_on_le(x) __bswap_32(x) From 0077066ffb01944163a8b8da94fa7f03032ee428 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 28 Oct 2024 12:01:07 +0900 Subject: [PATCH 171/314] AP_Common: Location: add set_alt_m we have get_alt_m already, and there's a bunch of places that *100 --- libraries/AP_Common/Location.h | 4 ++++ libraries/AP_Common/tests/test_location.cpp | 7 +++++++ 2 files changed, 11 insertions(+) diff --git a/libraries/AP_Common/Location.h b/libraries/AP_Common/Location.h index f61756d7d9ece..14cb3b36a2599 100644 --- a/libraries/AP_Common/Location.h +++ b/libraries/AP_Common/Location.h @@ -35,6 +35,10 @@ class Location // set altitude void set_alt_cm(int32_t alt_cm, AltFrame frame); + // set_alt_m - set altitude in metres + void set_alt_m(float alt_m, AltFrame frame) { + set_alt_cm(alt_m*100, frame); + } // get altitude (in cm) in the desired frame // returns false on failure to get altitude in the desired frame which can only happen if the original frame or desired frame is: diff --git a/libraries/AP_Common/tests/test_location.cpp b/libraries/AP_Common/tests/test_location.cpp index c4a7cd90dcf9c..f97bc769c678e 100644 --- a/libraries/AP_Common/tests/test_location.cpp +++ b/libraries/AP_Common/tests/test_location.cpp @@ -280,6 +280,13 @@ TEST(Location, Tests) EXPECT_EQ(0, test_location4.loiter_xtrack); EXPECT_TRUE(test_location4.initialised()); + // test set_alt_m API: + Location loc = test_home; + loc.set_alt_m(1.71, Location::AltFrame::ABSOLUTE); + int32_t alt_in_cm_from_m; + EXPECT_TRUE(loc.get_alt_cm(Location::AltFrame::ABSOLUTE, alt_in_cm_from_m)); + EXPECT_EQ(171, alt_in_cm_from_m); + // can't create a Location using a vector here as there's no origin for the vector to be relative to: // const Location test_location_empty{test_vect, Location::AltFrame::ABOVE_HOME}; // EXPECT_FALSE(test_location_empty.get_vector_from_origin_NEU(test_vec3)); From 96bc2f5e572d07b9e23d115ac30e7458b3f84311 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 28 Oct 2024 12:02:33 +0900 Subject: [PATCH 172/314] GCS_MAVLink: use set_alt_m --- libraries/GCS_MAVLink/GCS_Common.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 743b8b7e61d30..9a1528b9dca4e 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -5058,7 +5058,7 @@ bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Locat out.lat = in.x; out.lng = in.y; - out.set_alt_cm(int32_t(in.z * 100), frame); + out.set_alt_m(in.z, frame); return true; } From cd950d6e87619415873cc390d9af6fdcd7468a43 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 16:09:06 +0900 Subject: [PATCH 173/314] Tracker: version to 4.7.0-dev --- AntennaTracker/version.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h index eae1a8cad548f..03c376adf1c84 100644 --- a/AntennaTracker/version.h +++ b/AntennaTracker/version.h @@ -6,13 +6,13 @@ #include "ap_version.h" -#define THISFIRMWARE "AntennaTracker V4.6.0-dev" +#define THISFIRMWARE "AntennaTracker V4.7.0-dev" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV +#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV #define FW_MAJOR 4 -#define FW_MINOR 6 +#define FW_MINOR 7 #define FW_PATCH 0 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV From 953cc9e475cb56a59f528afcf122ab3df0085967 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 16:09:20 +0900 Subject: [PATCH 174/314] Rover: version to 4.7.0-dev --- Rover/version.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Rover/version.h b/Rover/version.h index b0f269dc5c24e..891bdcc935430 100644 --- a/Rover/version.h +++ b/Rover/version.h @@ -6,13 +6,13 @@ #include "ap_version.h" -#define THISFIRMWARE "ArduRover V4.6.0-dev" +#define THISFIRMWARE "ArduRover V4.7.0-dev" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV +#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV #define FW_MAJOR 4 -#define FW_MINOR 6 +#define FW_MINOR 7 #define FW_PATCH 0 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV From 84662207ee014b77c58965e173cc6e8a55735ae1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 16:09:31 +0900 Subject: [PATCH 175/314] Copter: version to 4.7.0-dev --- ArduCopter/version.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/version.h b/ArduCopter/version.h index 4d81279d0fdcb..a18f4742adda2 100644 --- a/ArduCopter/version.h +++ b/ArduCopter/version.h @@ -6,13 +6,13 @@ #include "ap_version.h" -#define THISFIRMWARE "ArduCopter V4.6.0-dev" +#define THISFIRMWARE "ArduCopter V4.7.0-dev" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV +#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV #define FW_MAJOR 4 -#define FW_MINOR 6 +#define FW_MINOR 7 #define FW_PATCH 0 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV From 9cbf7250c1554e4b7aa947812f86dda946868e6c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 16:09:42 +0900 Subject: [PATCH 176/314] Plane: version to 4.7.0-dev --- ArduPlane/version.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/version.h b/ArduPlane/version.h index 2cc0a0941a160..1994c5d7dba22 100644 --- a/ArduPlane/version.h +++ b/ArduPlane/version.h @@ -6,13 +6,13 @@ #include "ap_version.h" -#define THISFIRMWARE "ArduPlane V4.6.0-dev" +#define THISFIRMWARE "ArduPlane V4.7.0-dev" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV +#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV #define FW_MAJOR 4 -#define FW_MINOR 6 +#define FW_MINOR 7 #define FW_PATCH 0 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV From 711d7c8493293e6e0a6f7f122ce336b6e5ff6a6a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 16:11:59 +0900 Subject: [PATCH 177/314] Blimp: version to 4.7.0-dev --- Blimp/version.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Blimp/version.h b/Blimp/version.h index f60d3c197858d..b52a011aaa6c9 100644 --- a/Blimp/version.h +++ b/Blimp/version.h @@ -6,13 +6,13 @@ #include "ap_version.h" -#define THISFIRMWARE "Blimp V4.5.0-dev" +#define THISFIRMWARE "Blimp V4.7.0-dev" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV +#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_DEV #define FW_MAJOR 4 -#define FW_MINOR 5 +#define FW_MINOR 7 #define FW_PATCH 0 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV From d01ac70c16d0f4a6d26170179309d0a256e01a82 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Mon, 4 Nov 2024 15:36:05 +0000 Subject: [PATCH 178/314] AP_Scripting: Applets: MissionSelector: fix error on file open and checker errors --- libraries/AP_Scripting/applets/MissionSelector.lua | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/libraries/AP_Scripting/applets/MissionSelector.lua b/libraries/AP_Scripting/applets/MissionSelector.lua index 53efa079ffff4..84c633493b46c 100644 --- a/libraries/AP_Scripting/applets/MissionSelector.lua +++ b/libraries/AP_Scripting/applets/MissionSelector.lua @@ -2,9 +2,6 @@ -- Must have Mission Reset switch assigned, it will function normally when armed or disarmed -- but also on the disarm to arm transition, it will load (if file exists) a file in the root named -- missionH.txt, missionM.txt, or missionH.txt corresponding to the the Mission Reset switch position of High/Mid/Low --- luacheck: only 0 ----@diagnostic disable: need-check-nil - local mission_loaded = false local rc_switch = rc:find_channel_for_option(24) --AUX FUNC sw for mission restart @@ -15,12 +12,12 @@ end local function read_mission(file_name) - -- Open file try and read header + -- Open file try and read header local file = io.open(file_name,"r") - local header = file:read('l') - if not header then + if not file then return update, 1000 --could not read, file probably does not exist end + local header = file:read('l') -- check header assert(string.find(header,'QGC WPL 110') == 1, file_name .. ': incorrect format') @@ -64,7 +61,6 @@ local function read_mission(file_name) end index = index + 1 end - file:close() end function update() From 2ba7516b0fb1edbaf2beadd8c48b017245a6afc7 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 5 Nov 2024 08:50:08 +0000 Subject: [PATCH 179/314] AP_Scripting: applets: MissionSelector: add loaded print --- libraries/AP_Scripting/applets/MissionSelector.lua | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Scripting/applets/MissionSelector.lua b/libraries/AP_Scripting/applets/MissionSelector.lua index 84c633493b46c..b5a1c72807bd1 100644 --- a/libraries/AP_Scripting/applets/MissionSelector.lua +++ b/libraries/AP_Scripting/applets/MissionSelector.lua @@ -84,4 +84,6 @@ function update() return update, 1000 end +gcs:send_text(5,"Loaded MissionSelector.lua") + return update, 5000 From e4859599cfd025f7a488f774cf8bd1972e8bdc28 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 9 Oct 2024 11:14:19 +1100 Subject: [PATCH 180/314] Copter: stop using global ap variable as bitmask --- ArduCopter/Copter.cpp | 19 ++++++++++- ArduCopter/Copter.h | 74 ++++++++++++++++++++++--------------------- ArduCopter/system.cpp | 1 - 3 files changed, 56 insertions(+), 38 deletions(-) diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index 47e45969020fc..675b3b07eab03 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -688,12 +688,29 @@ void Copter::three_hz_loop() low_alt_avoidance(); } +// ap_value calculates a 32-bit bitmask representing various pieces of +// state about the Copter. It replaces a global variable which was +// used to track this state. +uint32_t Copter::ap_value() const +{ + uint32_t ret = 0; + + const bool *b = (const bool *)≈ + for (uint8_t i=0; i Date: Wed, 9 Oct 2024 11:26:57 +1100 Subject: [PATCH 181/314] AP_Logger: make logging_started const --- libraries/AP_Logger/AP_Logger.cpp | 2 +- libraries/AP_Logger/AP_Logger.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp index bda620b223f32..60d4e4a1b2dd0 100644 --- a/libraries/AP_Logger/AP_Logger.cpp +++ b/libraries/AP_Logger/AP_Logger.cpp @@ -833,7 +833,7 @@ uint16_t AP_Logger::get_max_num_logs() { } /* we're started if any of the backends are started */ -bool AP_Logger::logging_started(void) { +bool AP_Logger::logging_started(void) const { for (uint8_t i=0; i< _next_backend; i++) { if (backends[i]->logging_started()) { return true; diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h index 3d25ca19d1085..9fe2c07f26a14 100644 --- a/libraries/AP_Logger/AP_Logger.h +++ b/libraries/AP_Logger/AP_Logger.h @@ -301,7 +301,7 @@ class AP_Logger // returns true if logging of a message should be attempted bool should_log(uint32_t mask) const; - bool logging_started(void); + bool logging_started(void) const; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX // currently only AP_Logger_File support this: From f0900bd119562dffe4cafabc1d2903e6951c128f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 12 Sep 2024 14:00:55 +1000 Subject: [PATCH 182/314] AP_Camera: RunCam: get rpty channels directly using convenience functions --- libraries/AP_Camera/AP_RunCam.cpp | 8 ++++---- libraries/AP_Camera/AP_RunCam.h | 1 - 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Camera/AP_RunCam.cpp b/libraries/AP_Camera/AP_RunCam.cpp index 750c4381e2180..fadecee6d0309 100644 --- a/libraries/AP_Camera/AP_RunCam.cpp +++ b/libraries/AP_Camera/AP_RunCam.cpp @@ -451,10 +451,10 @@ void AP_RunCam::handle_in_menu(Event ev) // map rc input to an event AP_RunCam::Event AP_RunCam::map_rc_input_to_event() const { - const RC_Channel::AuxSwitchPos throttle = rc().get_channel_pos(AP::rcmap()->throttle()); - const RC_Channel::AuxSwitchPos yaw = rc().get_channel_pos(AP::rcmap()->yaw()); - const RC_Channel::AuxSwitchPos roll = rc().get_channel_pos(AP::rcmap()->roll()); - const RC_Channel::AuxSwitchPos pitch = rc().get_channel_pos(AP::rcmap()->pitch()); + const RC_Channel::AuxSwitchPos throttle = rc().get_throttle_channel().get_aux_switch_pos(); + const RC_Channel::AuxSwitchPos yaw = rc().get_yaw_channel().get_aux_switch_pos(); + const RC_Channel::AuxSwitchPos roll = rc().get_roll_channel().get_aux_switch_pos(); + const RC_Channel::AuxSwitchPos pitch = rc().get_pitch_channel().get_aux_switch_pos(); Event result = Event::NONE; diff --git a/libraries/AP_Camera/AP_RunCam.h b/libraries/AP_Camera/AP_RunCam.h index 673dba0ff6e73..9eb6299923664 100644 --- a/libraries/AP_Camera/AP_RunCam.h +++ b/libraries/AP_Camera/AP_RunCam.h @@ -27,7 +27,6 @@ #include #include -#include #include #include From 01fc0744dc2579f93c7522f42d61cd993a7a29e8 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 17 Sep 2024 17:52:33 +0100 Subject: [PATCH 183/314] AP_HAL_ChibiOS: TBS LUCID H7 --- .../hwdef/TBS_LUCID_H7/Bottom.png | Bin 0 -> 244152 bytes .../hwdef/TBS_LUCID_H7/README.md | 133 +++++++++++ .../AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/Top.png | Bin 0 -> 246314 bytes .../hwdef/TBS_LUCID_H7/defaults.parm | 4 + .../hwdef/TBS_LUCID_H7/hwdef-bl.dat | 77 ++++++ .../hwdef/TBS_LUCID_H7/hwdef.dat | 219 ++++++++++++++++++ 6 files changed, 433 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/Bottom.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/Top.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/Bottom.png b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/Bottom.png new file mode 100644 index 0000000000000000000000000000000000000000..6113aa6bad93286792681dafe6941248da66f657 GIT binary patch literal 244152 zcmbrlWmF_Vw=IafyEYDuOBe3$&_Ltv&^Q$C?nUG7)->+!?ou@FPUG${d~fE?z4QLe znl(RaWv+~<$dl(p>^Qm4&dBdd(x^y8NDvSZsIoE=st^#+F`qwn1h~&Dc{zfJ5D?@L zvJ#>{JhDzZ-2+IZ(?8zI&U0EkH5sjo)tk)5Q<%27e_dhcXHW7}`M;aL;`n_< zF8uHAUwzm`mI-kGdjxhubK@WX*I55Ku*$J9{P%Eu_%#2s^L8{=%zyti|56fB>VKH> zSOD|?ywm(2qW{@jT>JmWSU)C+|L3jpnf|{RA~I?6Kb~>WEGhJVdZ_Db@9+O|=cfw{ zlZ^gH=l?f{L*o(9O5+uYN4P=zF<_GFA=_g@v8j_xD_F_$(9l z?hVbDkrGik()lCgejhVZoUvCleO-qSb=JGPw$EVGQ-42Y(cK?COh@HkaT+=9nybCY zaguiyTXXDwXw{^a8Qs1$74a}8%8$yQvj#B;7jzggc`2md;Ji`DA;v+~YHIkT;N*l- 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b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/README.md new file mode 100644 index 0000000000000..16b3a731c0f93 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/README.md @@ -0,0 +1,133 @@ +# TBS LUCID H7 Flight Controller + +The TBS LUCID H7 is a flight controller produced by [TBS](https://www.team-blacksheep.com/). + +## Features + + - MCU - STM32H743 32-bit processor running at 480 MHz + - IMU - Dual ICM42688 + - Barometer - DPS310 + - OSD - AT7456E + - microSD card slot + - 7x UARTs + - CAN support + - 13x PWM Outputs (12 Motor Output, 1 LED) + - Battery input voltage: 2S-6S + - BEC 3.3V 0.5A + - BEC 5V 3A + - BEC 9V 3A for video, gpio controlled, pinned out on HD VTX connector + - Selectable 5V or VBAT pad, for analog VTX, gpio controlled on/off + - Dual switchable camera inputs + +## Pinout + +![TBS LUCID H7 Board Top](Top.png "TBS LUCID H7 Top") +![TBS LUCID H7 Board Bottom](Bottom.png "TBS LUCID H7 Bottom") + +## UART Mapping + +The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the +receive pin for UARTn. The Tn pin is the transmit pin for UARTn. + + - SERIAL0 -> USB (MAVLink2) + - SERIAL1 -> UART1 (RX1 is SBUS in HD VTX connector) + - SERIAL2 -> UART2 (GPS, DMA-enabled) + - SERIAL3 -> UART3 (DisplayPort, DMA-enabled) + - SERIAL4 -> UART4 (MAVLink2, Telem1) + - SERIAL6 -> UART6 (RC Input, DMA-enabled) + - SERIAL7 -> UART7 (MAVLink2, Telem2, DMA and flow-control enabled) + - SERIAL8 -> UART8 (ESC Telemetry, RX8 on ESC connector for telem) + +## RC Input + +RC input is configured by default via the USART6 RX input. It supports all serial RC protocols except PPM. + +Note: If the receiver is FPort the receiver must be tied to the USART6 TX pin , RSSI_TYPE set to 3, +and SERIAL6_OPTIONS must be set to 7 (invert TX/RX, half duplex). For full duplex like CRSF/ELRS use both +RX6 and TX6 and set RSSI_TYPE also to 3. + +If SBUS is used on HD VTX connector (DJI TX), then SERIAL1_PROTOCOl should be set to "23" and SERIAL6_PROTOCOL changed to something else. + +## FrSky Telemetry + +FrSky Telemetry is supported using an unused UART, such as the T1 pin (UART1 transmit). +You need to set the following parameters to enable support for FrSky S.PORT: + + - SERIAL1_PROTOCOL 10 + - SERIAL1_OPTIONS 7 + +## OSD Support + +The TBS LUCID H7 supports OSD using OSD_TYPE 1 (MAX7456 driver) and simultaneously DisplayPort using TX3/RX3 on the HD VTX connector. + +## PWM Output + +The TBS LUCID H7 supports up to 13 PWM or DShot outputs. The pads for motor output +M1 to M4 are provided on both the motor connectors and on separate pads, plus +M9-13 on a separate pads for LED strip and other PWM outputs. + +The PWM is in 4 groups: + + - PWM 1-2 in group1 + - PWM 3-4 in group2 + - PWM 5-6 in group3 + - PWM 7-10 in group4 + - PWM 11-12 in group5 + - PWM 13 in group6 + +Channels within the same group need to use the same output rate. If +any channel in a group uses DShot then all channels in the group need +to use DShot. Channels 1-10 support bi-directional dshot. + +## Battery Monitoring + +The board has a built-in voltage sensor and external current sensor input. The current +sensor can read up to 130 Amps. The voltage sensor can handle up to 6S +LiPo batteries. + +The correct battery setting parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 10 + - BATT_CURR_PIN 11 + - BATT_VOLT_MULT 11.0 + - BATT_AMP_PERVLT 40 + +Pads for a second analog battery monitor are provided. To use: + +- Set BATT2_MONIOTOR 4 +- BATT2_VOLT_PIN 18 +- BATT2_CURR_PIN 7 +- BATT2_VOLT_MULT 11.0 +- BATT2_AMP_PERVLT as required + +## Analog RSSI and AIRSPEED inputs + +Analog RSSI uses RSSI_PIN 8 +Analog Airspeed sensor would use ARSPD_PIN 4 + +## Compass + +The TBS LUCID H7 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads. + +## VTX power control + +GPIO 81 controls the VSW pins which can be set to output either VBAT or 5V via a board jumper. Setting this GPIO high removes voltage supply to pins. RELAY2 is configured by default to control this GPIO and is low by default. + +GPIO 83 controls the VTX BEC output to pins marked "9V" and is included on the HD VTX connector. Setting this GPIO low removes voltage supply to this pin/pad. + +By default RELAY4 is configured to control this pin and sets the GPIO high. + +## Camera control + +GPIO 82 controls the camera output to the connectors marked "CAM1" and "CAM2". Setting this GPIO low switches the video output from CAM1 to CAM2. By default RELAY3 is configured to control this pin and sets the GPIO high. + +## Loading Firmware + +Initial firmware load can be done with DFU by plugging in USB with the +bootloader button pressed. Then you should load the "with_bl.hex" +firmware, using your favourite DFU loading tool. + +Once the initial firmware is loaded you can update the firmware using +any ArduPilot ground station software. 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zpmrIhZ;RESinR9rGVpAgJh0M$ic6+C$w@W3eqp0_S5+0vXzskkEPN)s} zEQ|TY+8B>~g}zKJ3-?tJi?Z(C{7N6R=lQz%btV8^A(iKDpEP3Dz*7~{n(Ao!WhFbb z!X_-ctD?+=>*4G6an(?dCuC2kH)IpqZL2yjI1y`T^05>8!{u?mx-_y}~z4RJH;qj-1OMo@1F~zNWyXE9|GS|m=6{Vs2l#*J iA^N}R`Tyw8)x*h2_|%wZHQ>>xC+`3n3bpc9q5lD_+6mzR literal 0 HcmV?d00001 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/defaults.parm new file mode 100644 index 0000000000000..a54227e016329 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/defaults.parm @@ -0,0 +1,4 @@ +# setup for LEDs on chan13 +SERVO13_FUNCTION 120 +# Default VTX power to on +RELAY4_DEFAULT 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef-bl.dat new file mode 100644 index 0000000000000..6bb6be09ea0e7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef-bl.dat @@ -0,0 +1,77 @@ +# hw definition file for processing by chibios_pins.py +# for TBS FCAPv1 H743 + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_TBS_LUCID_H7 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +# the H743 has 128k sectors +FLASH_BOOTLOADER_LOAD_KB 128 + +# order of UARTs (and USB). Allow bootloading on USB and telem1 +SERIAL_ORDER OTG1 UART7 + +# UART7 (telem1) +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +PE3 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +# Add CS pins to ensure they are high in bootloader +PC15 IMU1_CS CS +PB12 MAX7456_CS CS +PE11 IMU2_CS CS +PD4 EXT_CS1 CS +PE2 EXT_CS2 CS + +# Ensure GPIOs are on during bootloader +# Vsw +PD10 VSW OUTPUT LOW +# CamSw +PD11 CAMSW OUTPUT LOW +# 9V_EN +PC13 VPWR OUTPUT LOW + +# support flashing from SD card: +# enable DFU by default +ENABLE_DFU_BOOT 1 + +# FATFS support: +define CH_CFG_USE_MEMCORE 1 +define CH_CFG_USE_HEAP 1 +define CH_CFG_USE_SEMAPHORES 0 +define CH_CFG_USE_MUTEXES 1 +define CH_CFG_USE_DYNAMIC 1 +define CH_CFG_USE_WAITEXIT 1 +define CH_CFG_USE_REGISTRY 1 + +# microSD support +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +define FATFS_HAL_DEVICE SDCD1 +define HAL_OS_FATFS_IO 1 +define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef.dat new file mode 100644 index 0000000000000..614741e8a10db --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_H7/hwdef.dat @@ -0,0 +1,219 @@ +# hw definition file for processing by chibios_pins.py +# for TBS FCAPv1 H743 + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_TBS_LUCID_H7 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 +env OPTIMIZE -Os +MCU_CLOCKRATE_MHZ 480 + +# bootloader takes first sector +FLASH_RESERVE_START_KB 128 + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 for IMU1 (ICM42688) +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 +PC15 IMU1_CS CS + +# SPI2 for MAX7456 OSD +PB12 MAX7456_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI3 - external +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 + +# external CS pins +PD4 EXT_CS1 CS +PE2 EXT_CS2 CS + +# SPI4 for IMU2 (ICM42688) +PE11 IMU2_CS CS +PE12 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE14 SPI4_MOSI SPI4 + +# two I2C bus +I2C_ORDER I2C2 I2C1 + +# I2C1 +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# I2C2 - Internal Baro +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# ADC +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1) +PA7 BATT2_CURRENT_SENS ADC1 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT2_VOLT_PIN 18 +define HAL_BATT2_CURR_PIN 7 +define HAL_BATT_VOLT_SCALE 11.0 +define HAL_BATT_CURR_SCALE 40.0 +define HAL_BATT2_VOLT_SCALE 11.0 + +PC4 PRESSURE_SENS ADC1 SCALE(2) +define HAL_DEFAULT_AIRSPEED_PIN 4 + +PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 8 + +# LED +# green LED1 marked as B/E +# blue LED0 marked as ACT +define AP_NOTIFY_GPIO_LED_2_ENABLED 1 +PE3 LED0 OUTPUT LOW GPIO(90) # blue +PE4 LED1 OUTPUT LOW GPIO(91) # green +define HAL_GPIO_A_LED_PIN 91 +define HAL_GPIO_B_LED_PIN 90 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8 OTG2 + +# USART1 (DJI SBUS in connector) +PA10 USART1_RX USART1 NODMA +PA9 USART1_TX USART1 NODMA +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_None + +# USART2 (GPS1) +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_GPS + +# USART3 (DJI O3 in connector) +PD9 USART3_RX USART3 +PD8 USART3_TX USART3 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MSP_DisplayPort + +# UART4 (Telem1) +PB9 UART4_TX UART4 NODMA +PB8 UART4_RX UART4 NODMA +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2 + +# USART6 (RCIN) +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN + +# UART7 (Telem2) +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 +PE10 UART7_CTS UART7 +PE9 UART7_RTS UART7 +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2 + +# UART8 (ESC Telemetry) +PE0 UART8_RX UART8 NODMA +PE1 UART8_TX UART8 NODMA +define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) + +# Motors +PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR +PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) +PA0 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR +PA1 TIM2_CH2 TIM2 PWM(4) GPIO(53) +PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) +PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR +PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) +PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) BIDIR +PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) +# Disable DMA on PWM11-12 so that the LEDs get a channel +PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA +PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA +# Motors +PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED + +# Beeper +PA15 BUZZER OUTPUT GPIO(32) LOW +define HAL_BUZZER_PIN 32 +define AP_NOTIFY_TONEALARM_ENABLED 1 + +# microSD support +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# GPIOs +# Vsw +PD10 VSW OUTPUT GPIO(81) LOW +# CamSw +PD11 CAMSW OUTPUT GPIO(82) LOW +# 9V_EN +PC13 VPWR OUTPUT GPIO(83) LOW + +define RELAY2_PIN_DEFAULT 81 +define RELAY3_PIN_DEFAULT 82 +define RELAY4_PIN_DEFAULT 83 + +DMA_PRIORITY SPI1* SPI4* +DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4* + +define HAL_STORAGE_SIZE 32768 + +# use last 2 pages for flash storage +# H743 has 16 pages of 128k each +STORAGE_FLASH_PAGE 14 + +# spi devices +SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8 +SPIDEV imu2 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 16*MHZ # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8 +SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 2 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +IMU Invensensev3 SPI:imu1 ROTATION_YAW_270 +IMU Invensensev3 SPI:imu2 ROTATION_YAW_180 +define HAL_DEFAULT_INS_FAST_SAMPLE 3 + +# DPS310 integrated on I2C2 bus +BARO DPS310 I2C:0:0x76 + +define HAL_OS_FATFS_IO 1 + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin From b17f7a557630319fc8a2406988884f2065dfed99 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 17 Sep 2024 17:52:57 +0100 Subject: [PATCH 184/314] bootloaders: TBS LUCID H7 --- Tools/bootloaders/TBS_LUCID_H7_bl.bin | Bin 0 -> 39900 bytes Tools/bootloaders/TBS_LUCID_H7_bl.hex | 2496 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+:109A000043000000089A000809024300020100C058 +:109A100032090400000102020100052400100105C2 +:109A20002401000104240202052406000107058226 +:109A3000030800FF09040100020A000000070501F5 +:109A400002400000070581024000000012000000F3 +:109A5000549A0008120110010200004009124157F7 +:109A600000020102030100000403090425424F41E2 +:109A7000524425005442535F4C554349445F483794 +:109A8000003031323334353637383941424344457A +:109A9000460000000000002000000200020000005C +:109AA0000000003000000400080000000000002456 +:109AB00000000800040000000004000000FC00009A +:109AC00002000000000004300080000008000000D8 +:109AD0000000003800000100010000001F1C1F1ED4 +:109AE0001F1E1F1F1E1F1E1F1F1D1F1E1F1E1F1F8D +:109AF0001E1F1E1F000000006D5F00082562000889 +:109B0000D162000840004000945D0020945D002078 +:109B100001000000A45D0020800000004001000062 +:109B20000800000000010000001000000800000014 +:109B300069646C65000000006D61696E002C04387A +:109B4000040438080C10141C2024252600000000F2 +:109B5000000064040100040000000000000C00107C +:109B6000283034000469FF7F01000000000000007D +:109B7000821400000000000000001A000000000035 +:109B8000FF000000384000201839002000000000CD +:109B9000C091000883040000CB910008500400002D +:109BA000D9910008010000000000000000960000AC +:109BB00000000800960000000008000004000000FB +:109BC000689A00080000000000000000000000008B +:0C9BD00000000000000000000000000089 +:00000001FF From cc6b3cec5daffe1db7c1e07a99a3a02cd9459a41 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 6 Nov 2024 21:32:09 +1100 Subject: [PATCH 185/314] hwdef: use V-UAV in place of VIEWPRO for link text --- libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md index 59063de301946..4eb13fdb06211 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md @@ -1,6 +1,6 @@ # VUAV-V7pro Flight Controller -The VUAV-V7pro flight controller is manufactured and sold by [VIEWPRO](http://www.viewprotech.com/). +The VUAV-V7pro flight controller is manufactured and sold by [V-UAV](http://www.v-uav.com/). ## Features From 2d08d631de825a92c6e6cad5bb177ef992af58b8 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 6 Nov 2024 21:26:40 +1100 Subject: [PATCH 186/314] AP_Boootloader: board_types.txt: correct company name for V-UAV reservations --- Tools/AP_Bootloader/board_types.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 3a4dbddf6c46a..37dfd412d1563 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -401,7 +401,7 @@ AP_HW_DroneBuild_G2 5701 # IDs 7000-7099 reserved for CUAV AP_HW_CUAV-7-NANO 7000 -# IDs 7100-7109 reserved for VIEWPRO +# IDs 7100-7109 reserved for V-UAV AP_HW_VUAV-V7pro 7100 # please fill gaps in the above ranges rather than adding past ID #7109 From afcc722995c61ac83f92d9407ee51ba1087e80bd Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Thu, 31 Oct 2024 16:39:26 -0500 Subject: [PATCH 187/314] AP_Scripting: mount-djirs2: re-enable lua checks and fix issues --- .../AP_Scripting/drivers/mount-djirs2-driver.lua | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua index 5032ac9b90a48..fc8692a01c354 100644 --- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua +++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua @@ -1,5 +1,4 @@ -- mount-djirs2-driver.lua: DJIRS2 mount/gimbal driver --- luacheck: only 0 --[[ How to use @@ -71,8 +70,6 @@ --]] ----@diagnostic disable: cast-local-type - -- global definitions local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval @@ -143,14 +140,14 @@ local parse_length = 0 -- incoming message's packet length local parse_buff = {} -- message buffer holding roll, pitch and yaw angles from gimbal local parse_bytes_recv = 0 -- message buffer length. count of the number of bytes received in the message so far local last_send_seq = 0 -- last sequence number sent -local last_req_attitude_ms = 0 -- system time of last request for attitude -local last_set_attitude_ms = 0 -- system time of last set attitude call +local last_req_attitude_ms = uint32_t(0) -- system time of last request for attitude +local last_set_attitude_ms = uint32_t(0) -- system time of last set attitude call local REPLY_TYPE = {NONE=0, ATTITUDE=1, POSITION_CONTROL=2, SPEED_CONTROL=3} -- enum of expected reply types local expected_reply = REPLY_TYPE.NONE -- currently expected reply type -local expected_reply_ms = 0 -- system time that reply is first expected. used for timeouts +local expected_reply_ms = uint32_t(0) -- system time that reply is first expected. used for timeouts -- parsing status reporting variables -local last_print_ms = 0 -- system time that debug output was last printed +local last_print_ms = uint32_t(0) -- system time that debug output was last printed local bytes_read = 0 -- number of bytes read from gimbal local bytes_written = 0 -- number of bytes written to gimbal local bytes_error = 0 -- number of bytes read that could not be parsed @@ -519,7 +516,6 @@ function send_target_rates(roll_rate_degs, pitch_rate_degs, yaw_rate_degs) roll_rate_degs = roll_rate_degs or 0 pitch_rate_degs = pitch_rate_degs or 0 yaw_rate_degs = yaw_rate_degs or 0 - time_sec = time_sec or 2 -- ensure rates are integers. invert roll direction roll_rate_degs = -math.floor(roll_rate_degs + 0.5) @@ -790,8 +786,8 @@ function update() return update, UPDATE_INTERVAL_MS end - -- send rate target - local roll_degs, pitch_degs, yaw_degs, yaw_is_ef = mount:get_rate_target(MOUNT_INSTANCE) + -- send rate target (ignoring earth-frame flag as the gimbal doesn't use it) + local roll_degs, pitch_degs, yaw_degs, _ = mount:get_rate_target(MOUNT_INSTANCE) if roll_degs and pitch_degs and yaw_degs then send_target_rates(roll_degs, pitch_degs, yaw_degs) return update, UPDATE_INTERVAL_MS From 1f0dff0178d179bb2b9c1c21d79cb582b9ba0189 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Thu, 31 Oct 2024 17:01:09 -0500 Subject: [PATCH 188/314] AP_Scripting: mount-djirs2: filter out ignored packets Allows using a smaller buffer and simplifying the script logic. --- .../drivers/mount-djirs2-driver.lua | 29 ++++++------------- 1 file changed, 9 insertions(+), 20 deletions(-) diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua index fc8692a01c354..c113ec5d58a2a 100644 --- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua +++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua @@ -151,7 +151,6 @@ local last_print_ms = uint32_t(0) -- system time that debug output was las local bytes_read = 0 -- number of bytes read from gimbal local bytes_written = 0 -- number of bytes written to gimbal local bytes_error = 0 -- number of bytes read that could not be parsed -local msg_ignored = 0 -- number of ignored messages (because frame id does not match) local write_fails = 0 -- number of times write failed local execute_fails = 0 -- number of times that gimbal was unable to execute the command local reply_timeouts = 0 -- number of timeouts waiting for replies @@ -344,9 +343,9 @@ function init() do return end end - -- get CAN device - driver = CAN:get_device(25) - if driver then + -- get CAN device and filter to receive only replies from the gimbal + driver = CAN:get_device(8) -- buffer up to two replies + if driver and driver:add_filter(-1, RECEIVE_FRAMEID) then initialised = true gcs:send_text(MAV_SEVERITY.INFO, "DJIR: mount driver started") else @@ -560,18 +559,13 @@ end -- consume incoming CAN packets function read_incoming_packets() local canframe - repeat + while true do canframe = driver:read_frame() - if canframe then - if uint32_t(canframe:id()) == uint32_t(RECEIVE_FRAMEID) then - for i = 0, canframe:dlc()-1 do - parse_byte(canframe:data(i)) - end - else - msg_ignored = msg_ignored + 1 - end + if not canframe then return end + for i = 0, canframe:dlc()-1 do + parse_byte(canframe:data(i)) end - until not canframe + end end -- parse an byte from the gimbal @@ -742,12 +736,7 @@ function update() -- report parsing status if (DJIR_DEBUG:get() > 0) and ((now_ms - last_print_ms) > 5000) then last_print_ms = now_ms - gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: r:%u w:%u fail:%u,%u perr:%u to:%u ign:%u", bytes_read, bytes_written, write_fails, execute_fails, bytes_error, reply_timeouts, msg_ignored)) - end - - -- do not send any messages until CAN traffic has been seen - if msg_ignored == 0 and bytes_read == 0 then - return update, UPDATE_INTERVAL_MS + gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: r:%u w:%u fail:%u,%u perr:%u to:%u", bytes_read, bytes_written, write_fails, execute_fails, bytes_error, reply_timeouts)) end -- handle expected reply timeouts From dd270dac2ef76db2a244e70b779372bcf774167e Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Thu, 31 Oct 2024 17:27:16 -0500 Subject: [PATCH 189/314] AP_Scripting: mount-djirs2: increase bus/mount setup flexibility In particular allows the use of the gimbal using PROTOCOL2 attached to a DroneCAN bus. ArduPilot 4.6 is recommended due to the timeout bug causing message sends to fail regularly on 4.5. Tested also that misconfiguring the CAN bus will result in the driver failing to start, though the error message will be less specific. --- .../drivers/mount-djirs2-driver.lua | 61 ++++++------------- .../drivers/mount-djirs2-driver.md | 6 ++ 2 files changed, 25 insertions(+), 42 deletions(-) diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua index c113ec5d58a2a..eaf28b7c6b95c 100644 --- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua +++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua @@ -11,6 +11,12 @@ Reboot the autopilot Copy this script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot set DJIR_DEBUG to 1 to display parsing and errors stats at 5sec. Set to 2 to display gimbal angles + + Advanced usage + The gimbal can be connected to an existing DroneCAN bus (on ArduPilot 4.6 or later) by setting CAN_Dx_PROTOCOL2=10 on that bus's driver + The gimbal can be used as the Nth mount (instead of the first) by setting MNTn_TYPE = 9 and modifying the script's user definitions + The gimbal can be used with the Scripting2 protocol by modifying the script's user definitions + Multiple gimbals can be used at once by duplicating the script and connecting them to different buses The following sources were used as a reference during the development of this script Constant Robotics DJIR SDK: https://github.com/ConstantRobotics/DJIR_SDK @@ -70,6 +76,9 @@ --]] +-- user definitions +local MOUNT_INSTANCE = 0 -- default to MNT1 +local CAN_INSTANCE = 0 -- default to first scripting CAN protocol -- global definitions local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval @@ -77,7 +86,6 @@ local UPDATE_INTERVAL_MS = 1 -- update interval in millis local REPLY_TIMEOUT_MS = 100 -- timeout waiting for reply after 0.1 sec local REQUEST_ATTITUDE_INTERVAL_MS = 100-- request attitude at 10hz local SET_ATTITUDE_INTERVAL_MS = 100 -- set attitude at 10hz -local MOUNT_INSTANCE = 0 -- always control the first mount/gimbal local SEND_FRAMEID = 0x223 -- send CAN messages with this frame id local RECEIVE_FRAMEID = 0x222 -- receive CAN messages with this frame id local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} @@ -106,15 +114,6 @@ local DJIR_DEBUG = Parameter("DJIR_DEBUG") -- debug level. 0:disabl --]] local DJIR_UPSIDEDOWN = Parameter("DJIR_UPSIDEDOWN") -- 0:rightsideup, 1:upsidedown --- bind parameters to variables -local CAN_P1_DRIVER = Parameter("CAN_P1_DRIVER") -- If using CAN1, should be 1:First driver -local CAN_P1_BITRATE = Parameter("CAN_P1_BITRATE") -- If using CAN1, should be 1000000 -local CAN_D1_PROTOCOL = Parameter("CAN_D1_PROTOCOL") -- If using CAN1, should be 10:Scripting -local CAN_P2_DRIVER = Parameter("CAN_P2_DRIVER") -- If using CAN2, should be 2:Second driver -local CAN_P2_BITRATE = Parameter("CAN_P2_BITRATE") -- If using CAN2, should be 1000000 -local CAN_D2_PROTOCOL = Parameter("CAN_D2_PROTOCOL") -- If using CAN2, should be 10:Scripting -local MNT1_TYPE = Parameter("MNT1_TYPE") -- should be 9:Scripting - -- message definitions local HEADER = 0xAA local RETURN_CODE = {SUCCESS=0x00, PARSE_ERROR=0x01, EXECUTION_FAILED=0x02, UNDEFINED=0xFF} @@ -309,42 +308,20 @@ end -- perform any require initialisation function init() - -- check parameter settings - if CAN_D1_PROTOCOL:get() ~= 10 and CAN_D2_PROTOCOL:get() ~= 10 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_D1_PROTOCOL or CAN_D2_PROTOCOL=10") - do return end - end - if CAN_D1_PROTOCOL:get() == 10 and CAN_D2_PROTOCOL:get() == 10 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_D1_PROTOCOL or CAN_D2_PROTOCOL=0") - do return end - end - if CAN_D1_PROTOCOL:get() == 10 then - if CAN_P1_DRIVER:get() <= 0 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P1_DRIVER=1") - do return end - end - if CAN_P1_BITRATE:get() ~= 1000000 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P1_BITRATE=1000000") - do return end - end - end - if CAN_D2_PROTOCOL:get() == 10 then - if CAN_P2_DRIVER:get() <= 0 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P2_DRIVER=2") - do return end - end - if CAN_P2_BITRATE:get() ~= 1000000 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P2_BITRATE=1000000") - do return end - end - end - if MNT1_TYPE:get() ~= 9 then - gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set MNT1_TYPE=9") + local mnt_type_name = ("MNT%d_TYPE"):format(MOUNT_INSTANCE+1) + local mnt_type = param:get(mnt_type_name) + if mnt_type ~= 9 then + gcs:send_text(MAV_SEVERITY.CRITICAL, ("DJIR: set %s=9"):format(mnt_type_name)) do return end end -- get CAN device and filter to receive only replies from the gimbal - driver = CAN:get_device(8) -- buffer up to two replies + local buffer_size = 8 -- buffer up to two replies + if CAN_INSTANCE == 0 then + driver = CAN:get_device(buffer_size) + elseif CAN_INSTANCE == 1 then + driver = CAN:get_device2(buffer_size) + end if driver and driver:add_filter(-1, RECEIVE_FRAMEID) then initialised = true gcs:send_text(MAV_SEVERITY.INFO, "DJIR: mount driver started") diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.md b/libraries/AP_Scripting/drivers/mount-djirs2-driver.md index 7f4d6e058c36b..fc45b3773bcf2 100644 --- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.md +++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.md @@ -13,6 +13,12 @@ DJI RS2 and RS3-Pro gimbal mount driver lua script - Reboot the autopilot - Copy the mount-djirs2-driver.lua script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot +## Advanced usage +- The gimbal can be connected to an existing DroneCAN bus (on ArduPilot 4.6 or later) by setting CAN_Dx_PROTOCOL2=10 on that bus's driver +- The gimbal can be used as the Nth mount (instead of the first) by setting MNTn_TYPE = 9 and modifying the script's user definitions +- The gimbal can be used with the Scripting2 protocol by modifying the script's user definitions +- Multiple gimbals can be used at once by duplicating the script and connecting them to different buses + ## Issues If the ground station reports "Pre-arm: Mount not healthy", update the From 38484b49ee3438ea69368a88ac845625f646e282 Mon Sep 17 00:00:00 2001 From: muramura Date: Thu, 31 Oct 2024 23:36:51 +0900 Subject: [PATCH 190/314] Copter: correct release notes --- ArduCopter/ReleaseNotes.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 2179e053b3c9b..510ed875e842b 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -305,7 +305,7 @@ Changes from 4.5.0-beta1: - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw ------------------------------------------------------------------ -Copter 4.5.0-beta1 30-Jan-2025 +Copter 4.5.0-beta1 30-Jan-2024 Changes from 4.4.4 1) New autopilots supported - ACNS-F405AIO @@ -989,7 +989,7 @@ Changes from 4.3.6 e) Memory corruption bug in the STM32H757 (very rare) f) RC input on IOMCU bug fix (RC might not be regained if lost) ------------------------------------------------------------------ -Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023 +Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6-beta2 27-Mar-2023 Changes from 4.3.5 1) Bi-directional DShot fix for possible motor stop approx 72min after startup ------------------------------------------------------------------ From b353765db15b9caaeb4d27fd2c9fb67cab43421b Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Wed, 30 Oct 2024 10:18:39 +0100 Subject: [PATCH 191/314] .github: update actions/cache to v4 to remove node version warning The following actions use a deprecated Node.js version and will be forced to run on node20: actions/cache@v3. --- .github/workflows/colcon.yml | 2 +- .github/workflows/cygwin_build.yml | 2 +- .github/workflows/macos_build.yml | 2 +- .github/workflows/test_chibios.yml | 2 +- .github/workflows/test_coverage.yml | 2 +- .github/workflows/test_dds.yml | 2 +- .github/workflows/test_linux_sbc.yml | 2 +- .github/workflows/test_replay.yml | 2 +- .github/workflows/test_sitl_blimp.yml | 2 +- .github/workflows/test_sitl_copter.yml | 4 ++-- .github/workflows/test_sitl_periph.yml | 4 ++-- .github/workflows/test_sitl_plane.yml | 2 +- .github/workflows/test_sitl_rover.yml | 2 +- .github/workflows/test_sitl_sub.yml | 2 +- .github/workflows/test_sitl_tracker.yml | 2 +- .github/workflows/test_size.yml | 2 +- .github/workflows/test_unit_tests.yml | 2 +- 17 files changed, 19 insertions(+), 19 deletions(-) diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml index e35c782c0c87d..4d59e04062b0d 100644 --- 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 index 36a76dd1d6674..1cf7932a1aa45 100644 --- 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}} diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml index 0ad9e37f55bf7..bfa7010904366 100644 --- 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}}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml index ff865d9e11069..22c97610038df 100644 --- a/.github/workflows/test_chibios.yml +++ b/.github/workflows/test_chibios.yml @@ -182,7 +182,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml index c6dba24a392fc..150159b4c3ae8 100644 --- a/.github/workflows/test_coverage.yml +++ b/.github/workflows/test_coverage.yml @@ -48,7 +48,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_dds.yml b/.github/workflows/test_dds.yml index 22fa60653ba5b..9001de83a5ed3 100644 --- a/.github/workflows/test_dds.yml +++ b/.github/workflows/test_dds.yml @@ -161,7 +161,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml index 6e69b7362c8d4..2bec49b8bad9f 100644 --- a/.github/workflows/test_linux_sbc.yml +++ b/.github/workflows/test_linux_sbc.yml @@ -181,7 +181,7 @@ jobs: NOW=$(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 index 99dfa7c97b6c0..7799d0317aec4 100644 --- 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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml index 1d592fedb89c9..7d9e55e51b2c8 100644 --- a/.github/workflows/test_sitl_blimp.yml +++ b/.github/workflows/test_sitl_blimp.yml @@ -182,7 +182,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml index e5712fec1b2f6..07efd7f4d143c 100644 --- a/.github/workflows/test_sitl_copter.yml +++ b/.github/workflows/test_sitl_copter.yml @@ -181,7 +181,7 @@ jobs: NOW=$(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 index 63d65bb5b568c..de470a8e09ec2 100644 --- 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 index 34c112e59b3d3..813560a94109b 100644 --- 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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml index d13185aca1c81..3c29c931be908 100644 --- a/.github/workflows/test_sitl_rover.yml +++ b/.github/workflows/test_sitl_rover.yml @@ -180,7 +180,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml index 958787a29b361..0a8555c114c9c 100644 --- a/.github/workflows/test_sitl_sub.yml +++ b/.github/workflows/test_sitl_sub.yml @@ -184,7 +184,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml index 7708647b924e4..518d648b7f877 100644 --- a/.github/workflows/test_sitl_tracker.yml +++ b/.github/workflows/test_sitl_tracker.yml @@ -183,7 +183,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml index c4be1bc0642f4..30e7f4bba2a4d 100644 --- a/.github/workflows/test_size.yml +++ b/.github/workflows/test_size.yml @@ -97,7 +97,7 @@ jobs: NOW=$(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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml index 3d94ad2db1f9e..bc325afb7d319 100644 --- a/.github/workflows/test_unit_tests.yml +++ b/.github/workflows/test_unit_tests.yml @@ -126,7 +126,7 @@ jobs: NOW=$(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}} From 10b2f175944ff77db93e4a8942bd28cdbee1e9a5 Mon Sep 17 00:00:00 2001 From: muramura Date: Fri, 25 Oct 2024 08:00:05 +0900 Subject: [PATCH 192/314] AP_DDS: Change the comparison of float value zero to IS_XXXX --- libraries/AP_DDS/AP_DDS_Client.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 36d8d1bf714f6..b7fcf460c37b2 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -348,9 +348,9 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_ if (battery.current_amps(current, instance)) { if (percentage == 100) { msg.power_supply_status = 4; //POWER_SUPPLY_STATUS_FULL - } else if (current < 0.0) { + } else if (is_negative(current)) { msg.power_supply_status = 1; //POWER_SUPPLY_STATUS_CHARGING - } else if (current > 0.0) { + } else if (is_positive(current)) { msg.power_supply_status = 2; //POWER_SUPPLY_STATUS_DISCHARGING } else { msg.power_supply_status = 3; //POWER_SUPPLY_STATUS_NOT_CHARGING From a076e23cc3d48fffcf238605d2303f8b2c4ef449 Mon Sep 17 00:00:00 2001 From: "paul.quillen" Date: Tue, 8 Oct 2024 10:15:54 -0500 Subject: [PATCH 193/314] Dockerfile: Added Micro-XRCE-DDS-GEN instal to Dockerfile. --- Dockerfile | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/Dockerfile b/Dockerfile index dcd91f85b137d..dba07249d65e8 100644 --- a/Dockerfile +++ b/Dockerfile @@ -20,6 +20,8 @@ RUN apt-get update && apt-get install --no-install-recommends -y \ lsb-release \ sudo \ tzdata \ + git \ + default-jre \ bash-completion COPY Tools/environment_install/install-prereqs-ubuntu.sh /ardupilot/Tools/environment_install/ @@ -45,6 +47,13 @@ RUN git config --global --add safe.directory $PWD # Check that local/bin are in PATH for pip --user installed package RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env +# Clone & install Micro-XRCE-DDS-Gen dependancy +RUN git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git /home/${USER_NAME}/Micro-XRCE-DDS-Gen \ + && cd /home/${USER_NAME}/Micro-XRCE-DDS-Gen \ + && ./gradlew assemble \ + && export AP_ENV_LOC="/home/${USER_NAME}/.ardupilot_env" \ + && echo "export PATH=\$PATH:$PWD/scripts" >> $AP_ENV_LOC + # Create entrypoint as docker cannot do shell substitution correctly RUN export ARDUPILOT_ENTRYPOINT="/home/${USER_NAME}/ardupilot_entrypoint.sh" \ && echo "#!/bin/bash" > $ARDUPILOT_ENTRYPOINT \ From c709959f4a19dcb807be38f1c9ff22f83cdb82bf Mon Sep 17 00:00:00 2001 From: SakuraRC_Yang <35626190+BloodSakura3774@users.noreply.github.com> Date: Fri, 13 Sep 2024 16:06:36 +0800 Subject: [PATCH 194/314] hwdef: SkySakura H743 fc Support SkySakura H743 fc Support --- Tools/bootloaders/SkySakuraH743_bl.bin | Bin 0 -> 39892 bytes .../hwdef/SkySakuraH743/README.md | 115 +++++++++ .../SkySakuraH743/SkySakuraH743-bottom.png | Bin 0 -> 566329 bytes .../hwdef/SkySakuraH743/SkySakuraH743_top.png | Bin 0 -> 391137 bytes .../hwdef/SkySakuraH743/Wiring diagram.pdf | Bin 0 -> 3709129 bytes .../hwdef/SkySakuraH743/defaults.parm | 2 + .../hwdef/SkySakuraH743/hwdef-bl.dat | 77 ++++++ .../hwdef/SkySakuraH743/hwdef.dat | 229 ++++++++++++++++++ 8 files changed, 423 insertions(+) create mode 100644 Tools/bootloaders/SkySakuraH743_bl.bin create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/SkySakuraH743-bottom.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/SkySakuraH743_top.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/Wiring diagram.pdf create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef.dat diff --git a/Tools/bootloaders/SkySakuraH743_bl.bin b/Tools/bootloaders/SkySakuraH743_bl.bin new file mode 100644 index 0000000000000000000000000000000000000000..05f6dd77050531ebab9408beb48b1d0c294873bb GIT binary patch literal 39892 zcmdqJeOyyV);KUJCJ%7JZs?D2~RUTS`Ml6 z;dvaMBk+6*PcJ;$y#I{%8r1o}(DlE;t{Y&k{TH~+0CNPMPvPl{eIb z0l#7Jdq=+7X1;~cpW#_@dv?WNZXv9;dAf^U^mIS^A}Kj{OMsH8;70bH+z;ueit{HBGza<9lFRp<5jknllY%%ZVB%7b>@2<9=;!Gn-m z{SE4XH%s#D^+-+f%i(drbMH?P+W~U=!)JP@P&EA;&93*wNUs;3majFtTD}rqMEY&r zG1Ug{a2{fn!n?plr7%uJpAY#ETH!8mqcpV#8InCkf;0;r6A~VC|1O}8e7KYO3lfy# zXCl+_Stq4uPC4?RjXd>1hI@fS#>MrGbC!R~@jJZzWez_mo&4 zNPMm7bVwA`Ax);Wi?*VWD)?I&nqg2t%5)0hRlfyjRn*sTi1#+bYCf~XKJR9n>07mVqE zlto>v2CSbrbGR_*2S5s{kS503g{@H`G;}nVK+64?MO{3ai*B8Ds=3$vQH;5ZHoxrq 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b/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/defaults.parm @@ -0,0 +1,2 @@ +SERVO13_FUNCTION 120 +NTF_LED_TYPES 257 \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef-bl.dat new file mode 100644 index 0000000000000..0c6bc0d525d7e --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef-bl.dat @@ -0,0 +1,77 @@ +# hw definition file for processing by chibios_pins.py +# for SakuraH743 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 2714 + +# USB setup +USB_STRING_MANUFACTURER "SkySakura" + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +# the H743 has 128k sectors +FLASH_BOOTLOADER_LOAD_KB 128 + + +# order of UARTs (and USB). Allow bootloading on USB and telem1 +SERIAL_ORDER OTG1 UART7 + +# UART7 (telem1) +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 +PE10 UART7_CTS UART7 +PE9 UART7_RTS UART7 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# make sure Vsw is on during bootloader +PE15 PINIO1 OUTPUT HIGH + +PB5 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +# Add CS pins to ensure they are high in bootloader +PA4 IMU1_CS CS +PE11 IMU2_CS CS +PC5 BARO2_CS CS +PB12 EXT_CS CS + + +# enable DFU by default +ENABLE_DFU_BOOT 1 + +# enable flashing from SD card: +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 +define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1 + +# FATFS support: +define CH_CFG_USE_MEMCORE 1 +define CH_CFG_USE_HEAP 1 +define CH_CFG_USE_SEMAPHORES 0 +define CH_CFG_USE_MUTEXES 1 +define CH_CFG_USE_DYNAMIC 1 +define CH_CFG_USE_WAITEXIT 1 +define CH_CFG_USE_REGISTRY 1 \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef.dat new file mode 100644 index 0000000000000..6d8b8e7cd4b0a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef.dat @@ -0,0 +1,229 @@ +# hw definition file for processing by chibios_pins.py +# for SakuraH743 + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 2714 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 +env OPTIMIZE -Os + +# USB setup +USB_STRING_MANUFACTURER "SkySakura" + +#debug on USART6 -- Uncomment if debugging +#STDOUT_SERIAL SD6 +#STDOUT_BAUDRATE 115200 + + +# bootloader takes first sector +FLASH_RESERVE_START_KB 128 + + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# DRDY pins +PC4 DRDY_IIM42652_SPI1 INPUT +PB2 DRDY_ICM42688_SPI4 INPUT + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# This is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN. +PD4 VBUS INPUT OPENDRAIN + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 +PD10 LED_SAFETY OUTPUT LOW +PD11 SAFETY_IN INPUT PULLDOWN +#disable safety button by default +define BOARD_SAFETY_ENABLE_DEFAULT 0 + +# SPI1 for IMU1 (IIM42652) +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PA4 IMU1_CS CS + +# SPI2 - external (USER) +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 +PB12 EXT_CS CS +#PB12 FLASH_CS CS + +# SPI1 for BARO2 (DPS310) +PC5 BARO2_CS CS + +# SPI4 for IMU2 (ICM42688) +PE11 IMU2_CS CS +PE12 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE14 SPI4_MOSI SPI4 + +# two I2C bus +I2C_ORDER I2C1 I2C2 + +# I2C1 +PB6 I2C1_SCL I2C1 PULLUP +PB7 I2C1_SDA I2C1 PULLUP + +# I2C2 +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# ADC +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC2 BATT_CURRENT_SENS ADC1 SCALE(1) +PC0 BATT2_VOLTAGE_SENS ADC2 SCALE(1) +PC1 BATT2_CURRENT_SENS ADC2 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 13 +define HAL_BATT_CURR_PIN 12 +define HAL_BATT2_VOLT_PIN 10 +define HAL_BATT2_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 34.0 +define HAL_BATT_CURR_SCALE 40.0 +define HAL_BATT2_VOLT_SCALE 10 + +# LED setup +define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 +PB5 LED_RED OUTPUT GPIO(83) +PB4 LED_GREEN OUTPUT GPIO(82) +PB3 LED_BLUE OUTPUT GPIO(81) + +define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 83 +define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 82 +define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 81 + + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART4 USART6 UART8 OTG2 + +# USART1 (TELEM2) +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 + +# USART2 (USER) +PD5 USART2_TX USART2 NODMA +PD6 USART2_RX USART2 NODMA +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None + +# USART3 (GPS1) +PD9 USART3_RX USART3 +PD8 USART3_TX USART3 + +# UART4 (RCIN) +PB9 UART4_TX UART4 +PB8 UART4_RX UART4 +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN + +# USART6 (DisplayPort) +PC7 USART6_RX USART6 +PC6 USART6_TX USART6 +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort + +# UART7 (telem1) +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA +PE10 UART7_CTS UART7 +PE9 UART7_RTS UART7 + +# UART8 (ESC Telemetry) +PE0 UART8_RX UART8 NODMA +PE1 UART8_TX UART8 NODMA +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry + + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(90) + +# Motors +PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50) BIDIR +PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51) +PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR +PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) +PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54) BIDIR +PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55) +PE5 TIM15_CH1 TIM15 PWM(7) GPIO(56) BIDIR +PE6 TIM15_CH2 TIM15 PWM(8) GPIO(57) +PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) NODMA +PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) NODMA +PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) NODMA +PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) NODMA + +#LED +PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED + +# Beeper +PD7 BUZZER OUTPUT GPIO(84) LOW +define HAL_BUZZER_PIN 84 + +# microSD support +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# GPIOs +PE15 VTX_PWR OUTPUT LOW GPIO(85) +define RELAY1_PIN_DEFAULT 85 + + +define HAL_STORAGE_SIZE 32768 + +# use last 2 pages for flash storage +# H743 has 16 pages of 128k each +STORAGE_FLASH_PAGE 14 + +# spi devices +SPIDEV icm42688 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 16*MHZ +SPIDEV iim42652 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ +SPIDEV dps310 SPI1 DEVID2 BARO2_CS MODE3 5*MHZ 5*MHZ + + +DMA_PRIORITY SPI1* SPI4* +DMA_NOSHARE SPI1* SPI4* TIM5* TIM3* TIM2* TIM15* + +# has an integreted mag, but still probe the i2c bus for all possible +# external compass types +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_90 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 +define ALLOW_ARM_NO_COMPASS + +# two IMUs +# H743-V1, ICM42688, IIM42652 +IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180 +IMU Invensensev3 SPI:iim42652 ROTATION_YAW_180 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# DPS310 integrated on SPI1 bus +BARO ICP201XX I2C:0:0x63 +BARO DPS310 SPI:dps310 + +define HAL_OS_FATFS_IO 1 +define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN +define HAL_FRAME_TYPE_DEFAULT 12 + +# enable DFU reboot for installing bootloader +# note that if firmware is build with --secure-bl then DFU is +# disabled +ENABLE_DFU_BOOT 1 \ No newline at end of file From bf3da4396be74c6708a843d93286a63ce8dafc95 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Wed, 6 Nov 2024 01:20:23 -0700 Subject: [PATCH 195/314] AP_Follow: use set_alt_m when possible Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- libraries/AP_Follow/AP_Follow.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp index b4acb2fc0499a..8792efd248898 100644 --- a/libraries/AP_Follow/AP_Follow.cpp +++ b/libraries/AP_Follow/AP_Follow.cpp @@ -389,7 +389,7 @@ bool AP_Follow::handle_follow_target_message(const mavlink_message_t &msg) Location new_loc = _target_location; new_loc.lat = packet.lat; new_loc.lng = packet.lon; - new_loc.set_alt_cm(packet.alt*100, Location::AltFrame::ABSOLUTE); + new_loc.set_alt_m(packet.alt, Location::AltFrame::ABSOLUTE); // FOLLOW_TARGET is always AMSL, change the provided alt to // above home if we are configured for relative alt From 215405023d9a339e4a886b364ba211ef078fec09 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Wed, 6 Nov 2024 01:20:23 -0700 Subject: [PATCH 196/314] ArduPlane: use set_alt_m when possible Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- ArduPlane/mode_LoiterAltQLand.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/mode_LoiterAltQLand.cpp b/ArduPlane/mode_LoiterAltQLand.cpp index 8fbfd59735cd2..72ac41a5557aa 100644 --- a/ArduPlane/mode_LoiterAltQLand.cpp +++ b/ArduPlane/mode_LoiterAltQLand.cpp @@ -43,12 +43,12 @@ bool ModeLoiterAltQLand::handle_guided_request(Location target_loc) // setup altitude #if AP_TERRAIN_AVAILABLE if (plane.terrain_enabled_in_mode(Mode::Number::QLAND)) { - target_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_TERRAIN); + target_loc.set_alt_m(quadplane.qrtl_alt, Location::AltFrame::ABOVE_TERRAIN); } else { - target_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME); + target_loc.set_alt_m(quadplane.qrtl_alt, Location::AltFrame::ABOVE_HOME); } #else - target_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME); + target_loc.set_alt_m(quadplane.qrtl_alt, Location::AltFrame::ABOVE_HOME); #endif plane.set_guided_WP(target_loc); From e4d92ecf9f944af4af4b1286b3ab2b8b249de7ee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Tue, 5 Nov 2024 12:07:28 -0300 Subject: [PATCH 197/314] Tools: ardupilotwaf: Print list of possible groups MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick José Pereira --- Tools/ardupilotwaf/ardupilotwaf.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py index 36a352bfa72a8..1c28dedc5fb2f 100644 --- a/Tools/ardupilotwaf/ardupilotwaf.py +++ b/Tools/ardupilotwaf/ardupilotwaf.py @@ -620,13 +620,14 @@ def _select_programs_from_group(bld): else: groups = ['bin'] + possible_groups = list(_grouped_programs.keys()) + possible_groups.remove('bin') # Remove `bin` so as not to duplicate all items in bin if 'all' in groups: - groups = list(_grouped_programs.keys()) - groups.remove('bin') # Remove `bin` so as not to duplicate all items in bin + groups = possible_groups for group in groups: if group not in _grouped_programs: - bld.fatal('Group %s not found' % group) + bld.fatal(f'Group {group} not found, possible groups: {possible_groups}') target_names = _grouped_programs[group].keys() From 4ce133dd2752997a7e18c547232349dc3c438365 Mon Sep 17 00:00:00 2001 From: tompsontan <1153614092@qq.com> Date: Thu, 31 Oct 2024 12:46:55 +0800 Subject: [PATCH 198/314] hwdef:fixed board AP-H743v2 CAN pin definition. --- libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat index b5e36fcae241f..231afa6a4fd55 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/X-MAV-AP-H743v2/hwdef.dat @@ -30,7 +30,7 @@ SERIAL_ORDER OTG1 USART2 UART4 USART1 USART6 UART8 USART3 UART5 UART7 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 -PD0 VBUS INPUT OPENDRAIN +PE15 VBUS INPUT OPENDRAIN # Serial1 PD6 USART2_RX USART2 @@ -68,6 +68,10 @@ PE7 UART7_RX UART7 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD +# CAN +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + # two I2C bus I2C_ORDER I2C1 I2C4 From ebba4ac287c2f74b577f6e17edd977e69ff8365e Mon Sep 17 00:00:00 2001 From: Mirko Denecke Date: Wed, 30 Oct 2024 09:16:10 +0100 Subject: [PATCH 199/314] AP_Bootloader: Reserve ID range for TM IT-Systemhaus --- Tools/AP_Bootloader/board_types.txt | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 37dfd412d1563..3d28da92778dc 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -357,6 +357,13 @@ AP_HW_UAV-DEV-UM982-G4 5224 AP_HW_UAV-DEV-M20D-G4 5225 AP_HW_UAV-DEV-Sensorboard-G4 5226 +# IDs 5240-5249 reserved for TM IT-Systemhaus +AP_HW_TM-SYS-BeastFC 5240 +AP_HW_TM-SYS-Sensornode 5241 +AP_HW_TM-SYS-OpenHDFPV 5242 +AP_HW_TM-SYS-VisualNAV 5243 +AP_HW_TM-SYS-Airspeed 5244 + # IDs 5250-5269 reserved for Team Black Sheep AP_HW_TBS_LUCID_H7 5250 AP_HW_TBS_LUCID_PRO 5251 From 0fa3086a931a84edaa25a1db7e7a39f5b6cb30ad Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 22 Oct 2024 16:45:42 +0900 Subject: [PATCH 200/314] HAL_QURT: added install script copies so and frontend elf to vehicle --- libraries/AP_HAL_QURT/install.sh | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100755 libraries/AP_HAL_QURT/install.sh diff --git a/libraries/AP_HAL_QURT/install.sh b/libraries/AP_HAL_QURT/install.sh new file mode 100755 index 0000000000000..b9bcc19bd0201 --- /dev/null +++ b/libraries/AP_HAL_QURT/install.sh @@ -0,0 +1,21 @@ +#!/bin/bash +# script to install ArduPilot on a voxl2 board +# this assumes you have already installed the voxl-ardupilot.service file +# and /usr/bin/voxl-ardupilot script + +[ $# -eq 1 ] || { + echo "install.sh IPADDRESS" + exit 1 +} + +DEST="$1" + +set -e + +echo "Installing ArduPilot on $DEST" + +rsync -a build/QURT/bin/arducopter $DEST:/usr/lib/rfsa/adsp/ArduPilot.so +rsync -a build/QURT/ardupilot $DEST:/usr/bin/ + +echo "Restarting ArduPilot" +ssh $DEST systemctl restart voxl-ardupilot From 0d74bb1a7685855f86771b1fd2a035b545bd8fdc Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 6 Oct 2024 12:42:35 +1100 Subject: [PATCH 201/314] SITL: correct MCP9600 simulation - correctly fill data-ready register - adjust for different register configuration the driver shoves in - correct WHOAMI register length - correct 8-bit register reads in variable-length-register i2c simulation --- libraries/SITL/SIM_I2CDevice.cpp | 4 ++-- libraries/SITL/SIM_Temperature_MCP9600.cpp | 25 +++++++++++++++++++--- libraries/SITL/SIM_Temperature_MCP9600.h | 1 + 3 files changed, 25 insertions(+), 5 deletions(-) diff --git a/libraries/SITL/SIM_I2CDevice.cpp b/libraries/SITL/SIM_I2CDevice.cpp index e8d8a20aaeaa0..53bbcf317fcbe 100644 --- a/libraries/SITL/SIM_I2CDevice.cpp +++ b/libraries/SITL/SIM_I2CDevice.cpp @@ -242,7 +242,7 @@ void SITL::I2CRegisters_ConfigurableLength::set_register(uint8_t reg, uint8_t va if (reg_data_len[reg] != 1) { AP_HAL::panic("Invalid set_register len"); } - reg_data[reg] = value; + reg_data[reg] = value << 24; } void SITL::I2CRegisters_ConfigurableLength::set_register(uint8_t reg, int8_t value) @@ -254,7 +254,7 @@ void SITL::I2CRegisters_ConfigurableLength::set_register(uint8_t reg, int8_t val if (reg_data_len[reg] != 1) { AP_HAL::panic("Invalid set_register len"); } - reg_data[reg] = value; + reg_data[reg] = value << 24; } int SITL::I2CRegisters_ConfigurableLength::rdwr(I2C::i2c_rdwr_ioctl_data *&data) diff --git a/libraries/SITL/SIM_Temperature_MCP9600.cpp b/libraries/SITL/SIM_Temperature_MCP9600.cpp index dd3b056a49b9e..c05e7221504fa 100644 --- a/libraries/SITL/SIM_Temperature_MCP9600.cpp +++ b/libraries/SITL/SIM_Temperature_MCP9600.cpp @@ -5,12 +5,19 @@ using namespace SITL; #include #include +enum class MCP9600StatusBits { + TH_UPDATE = (1 << 6) // data ready to read +}; + void MCP9600::init() { set_debug(true); - add_register("WHOAMI", MCP9600DevReg::WHOAMI, 2, I2CRegisters::RegMode::RDONLY); - set_register(MCP9600DevReg::WHOAMI, (uint16_t)0x40); + add_register("WHOAMI", MCP9600DevReg::WHOAMI, 1, I2CRegisters::RegMode::RDONLY); + set_register(MCP9600DevReg::WHOAMI, (uint8_t)0x40); + + add_register("SENSOR_STATUS", MCP9600DevReg::SENSOR_STATUS, 1, I2CRegisters::RegMode::RDWR); + set_register(MCP9600DevReg::SENSOR_STATUS, (uint8_t)0x00); add_register("SENSOR_CONFIG", MCP9600DevReg::SENSOR_CONFIG, 1, I2CRegisters::RegMode::RDWR); set_register(MCP9600DevReg::SENSOR_CONFIG, (uint8_t)0x00); @@ -32,14 +39,26 @@ void MCP9600::update(const class Aircraft &aircraft) // unconfigured; FIXME lack of fidelity return; } - if ((config & 0b111) != 1) { // FIXME: this is just the default config + if ((config & 0b111) != 0b10) { AP_HAL::panic("Unexpected filter configuration"); } if ((config >> 4) != 0) { // this is a K-type thermocouple, the default in the driver AP_HAL::panic("Unexpected thermocouple configuration"); } + + // dont update if we already have data ready to read (CHECKME: fidelity) + uint8_t status = 0; + get_reg_value(MCP9600DevReg::SENSOR_STATUS, config); + + if (status & (uint8_t)MCP9600StatusBits::TH_UPDATE) { + return; + } + static constexpr uint16_t factor = (1/0.0625); set_register(MCP9600DevReg::HOT_JUNC, uint16_t(htobe16(some_temperature + degrees(sinf(now_ms)) * factor))); + + // indicate we have data ready to read + set_register(MCP9600DevReg::SENSOR_STATUS, (uint8_t)MCP9600StatusBits::TH_UPDATE); } int MCP9600::rdwr(I2C::i2c_rdwr_ioctl_data *&data) diff --git a/libraries/SITL/SIM_Temperature_MCP9600.h b/libraries/SITL/SIM_Temperature_MCP9600.h index d8109cbaed558..c0d2f3ae1ae21 100644 --- a/libraries/SITL/SIM_Temperature_MCP9600.h +++ b/libraries/SITL/SIM_Temperature_MCP9600.h @@ -12,6 +12,7 @@ namespace SITL { class MCP9600DevReg : public I2CRegEnum { public: static constexpr uint8_t HOT_JUNC { 0x00 }; + static constexpr uint8_t SENSOR_STATUS { 0x04 }; static constexpr uint8_t SENSOR_CONFIG { 0x05 }; static constexpr uint8_t WHOAMI { 0x20 }; }; From 02b0578a6a975ddccd808326171b0c243c4cddc7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2024 13:34:05 +1100 Subject: [PATCH 202/314] Tools: strip python2 support from size_compare_branches.py --- Tools/scripts/size_compare_branches.py | 23 ++++++----------------- 1 file changed, 6 insertions(+), 17 deletions(-) diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py index 6ff77c1295a46..b57333a8ff622 100755 --- a/Tools/scripts/size_compare_branches.py +++ b/Tools/scripts/size_compare_branches.py @@ -21,25 +21,15 @@ import optparse import os import pathlib +import queue import shutil import string import subprocess -import sys import tempfile import threading import time import board_list -try: - import queue as Queue -except ImportError: - import Queue - -if sys.version_info[0] < 3: - running_python3 = False -else: - running_python3 = True - class SizeCompareBranchesResult(object): '''object to return results from a comparison''' @@ -250,10 +240,9 @@ def run_program(self, prefix, cmd_list, show_output=True, env=None, show_output_ # select not available on Windows... probably... time.sleep(0.1) continue - if running_python3: - x = bytearray(x) - x = filter(lambda x : chr(x) in string.printable, x) - x = "".join([chr(c) for c in x]) + x = bytearray(x) + x = filter(lambda x : chr(x) in string.printable, x) + x = "".join([chr(c) for c in x]) output += x x = x.rstrip() some_output = "%s: %s" % (prefix, x) @@ -437,7 +426,7 @@ def check_result_queue(self): while True: try: result = self.thread_exit_result_queue.get_nowait() - except Queue.Empty: + except queue.Empty: break if result is None: continue @@ -449,7 +438,7 @@ def run_build_tasks_in_parallel(self, tasks): # shared list for the threads: self.parallel_tasks = copy.copy(tasks) # make this an argument instead?! threads = [] - self.thread_exit_result_queue = Queue.Queue() + self.thread_exit_result_queue = queue.Queue() tstart = time.time() self.failure_exceptions = [] From 874d268aa636eb5cadc0bf0de9d9ffa2d289075d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2024 13:47:48 +1100 Subject: [PATCH 203/314] Tools: add bebop to Python all-boards list --- Tools/scripts/board_list.py | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/scripts/board_list.py b/Tools/scripts/board_list.py index 74f947e2be8d0..9fe7a15ac6492 100755 --- a/Tools/scripts/board_list.py +++ b/Tools/scripts/board_list.py @@ -69,6 +69,7 @@ def __init__(self): Board("obal"), Board("pxf"), Board("bbbmini"), + Board("bebop"), Board("blue"), Board("pxfmini"), Board("canzero"), From 801dfa4266038ab6dd7a4879242277cb4b52e2c3 Mon Sep 17 00:00:00 2001 From: Rahul5277425 <155242765+Rahul5277425@users.noreply.github.com> Date: Mon, 4 Nov 2024 12:42:02 +0530 Subject: [PATCH 204/314] AP_Bootloader: reserve board ids and range for Karshak Drones This commit is to reserve the available board ids within the given range --- Tools/AP_Bootloader/board_types.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 3d28da92778dc..a0ab11ed0a3f2 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -335,6 +335,9 @@ AP_HW_MFT-SEMA100 2000 AP_HW_SakuraRC-H743 2714 +# IDs 4000-4009 reserved for Karshak Drones +AP_HW_KRSHKF7_MINI 4000 + # IDs 4200-4220 reserved for HAKRC AP_HW_HAKRC_F405 4200 AP_HW_HAKRC_F405Wing 4201 From 057215b7190181f6557c7caae1848364e8c4ccbb Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 14:49:33 -0700 Subject: [PATCH 205/314] Tools: Add wsproto to ubuntu python deps * Used in pymavlink to add websocket output Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/environment_install/install-prereqs-ubuntu.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh index 16332a6e7ac14..7f5c075a824f9 100755 --- a/Tools/environment_install/install-prereqs-ubuntu.sh +++ b/Tools/environment_install/install-prereqs-ubuntu.sh @@ -164,7 +164,7 @@ fi # Lists of packages to install BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen python3-pexpect" PYTHON_PKGS="future lxml pymavlink pyserial MAVProxy geocoder empy==3.3.4 ptyprocess dronecan" -PYTHON_PKGS="$PYTHON_PKGS flake8 junitparser" +PYTHON_PKGS="$PYTHON_PKGS flake8 junitparser wsproto" # add some Python packages required for commonly-used MAVProxy modules and hex file generation: if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then From 875acec989dd2abad88e0971ee58d8a428cecc62 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 13:22:15 -0700 Subject: [PATCH 206/314] Tools: Fix incorrect astyle option * It should be called add-braces not add-brackets * https://astyle.sourceforge.net/astyle.html * Running newer astyle fails on this option * Enforcing it has no effect on existing astyle-formatted code Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/CodeStyle/astylerc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/CodeStyle/astylerc b/Tools/CodeStyle/astylerc index 20bc80e4ec176..75a467bc1dad1 100644 --- a/Tools/CodeStyle/astylerc +++ b/Tools/CodeStyle/astylerc @@ -1,6 +1,6 @@ style=linux keep-one-line-statements -add-brackets +add-braces indent=spaces=4 indent-col1-comments min-conditional-indent=0 From 963095978b57e976223e58b922e1c415d8bc2090 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 13:10:18 -0700 Subject: [PATCH 207/314] Tools: Remove format.sh * This is now replaced by run_astyle.py * format.sh was not enforced by CI, now there is too much delta on the codebase to enforce this Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/scripts/format.sh | 13 ------------- 1 file changed, 13 deletions(-) delete mode 100755 Tools/scripts/format.sh diff --git a/Tools/scripts/format.sh b/Tools/scripts/format.sh deleted file mode 100755 index 4ad18ba18cdfd..0000000000000 --- a/Tools/scripts/format.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env bash -function format { - DIR=$1 - find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \; - find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec rm -f {}.orig \; -} - -format apo -format ArduRover -format ArduBoat -format libraries/APO -format libraries/AP_Common -format libraries/AP_GPS From 863b6222de8a3a2f8b9ffe44ab64e148a337d64e Mon Sep 17 00:00:00 2001 From: John Cudd Date: Thu, 7 Nov 2024 11:43:56 -0500 Subject: [PATCH 208/314] Tools: Checksum for gcc-arm download on arch prereqs This will check to see if the tar.bz2 file exists and if it does it will run a checksum and skip redownloading the file if its already there. If the checksum fails or the file doesn't exist it will redownload the file. I ran into issues with the download taking so long that my sudo permissions timed out and the install failed to complete. When rerunning the script it would redownload the file even if the file was already there. This change solves this issue. --- .../install-prereqs-arch.sh | 31 +++++++++++++++++-- 1 file changed, 28 insertions(+), 3 deletions(-) diff --git a/Tools/environment_install/install-prereqs-arch.sh b/Tools/environment_install/install-prereqs-arch.sh index 6b304799a75a2..6abdb7f5926b8 100755 --- a/Tools/environment_install/install-prereqs-arch.sh +++ b/Tools/environment_install/install-prereqs-arch.sh @@ -33,6 +33,7 @@ PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse matplotlib pyparsin ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major" ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2" ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL" +ARM_TARBALL_CHECKSUM="21134caa478bbf5352e239fbc6e2da3038f8d2207e089efc96c3b55f1edcd618" # Ardupilot Tools ARDUPILOT_TOOLS="ardupilot/Tools/autotest" @@ -85,9 +86,33 @@ pip3 -q install -U $PYTHON_PKGS if [ ! -d $OPT/$ARM_ROOT ]; then ( cd $OPT; - sudo wget --progress=dot:giga $ARM_TARBALL_URL; - sudo tar xjf ${ARM_TARBALL}; - sudo rm ${ARM_TARBALL}; + + # Check if file exists and verify checksum + download_required=false + if [ -e "$ARM_TARBALL" ]; then + echo "File exists. Verifying checksum..." + + # Calculate the checksum of the existing file + ACTUAL_CHECKSUM=$(sha256sum "$ARM_TARBALL" | awk '{ print $1 }') + + # Compare the actual checksum with the expected one + if [ "$ACTUAL_CHECKSUM" == "$ARM_TARBALL_CHECKSUM" ]; then + echo "Checksum valid. No need to redownload." + else + echo "Checksum invalid. Redownloading the file..." + download_required=true + sudo rm $ARM_TARBALL + fi + else + echo "File does not exist. Downloading..." + download_required=true + fi + + if $download_required; then + sudo wget -O "$ARM_TARBALL" --progress=dot:giga $ARM_TARBALL_URL + fi + + sudo tar xjf ${ARM_TARBALL} ) fi From 81a30e8d107bad2f9b8683e102b2ab6e605bcf6a Mon Sep 17 00:00:00 2001 From: Hubert <1701213518@sz.pku.edu.cn> Date: Sat, 9 Nov 2024 16:43:11 +0800 Subject: [PATCH 209/314] AP_Bootloader: ID reserved for MicoAir743AIOv1 --- Tools/AP_Bootloader/board_types.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index a0ab11ed0a3f2..16eda3f59e8dc 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -291,6 +291,7 @@ AP_HW_PhenixH7_Pro 1172 AP_HW_2RAWH743 1173 AP_HW_X-MAV-AP-H743V2 1174 AP_HW_BETAFPV_F4_2-3S_20A 1175 +AP_HW_MicoAir743AIOv1 1176 AP_HW_FlywooF405HD_AIOv2 1180 AP_HW_FlywooH743Pro 1181 From ce0babc8f15f100a47523ed422532e9dbbf830b4 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 15:29:57 +0000 Subject: [PATCH 210/314] Plane: QuadPlane: Clear pilot corrections on mode change to avoid getting stuck in QLand --- ArduPlane/mode_qland.cpp | 1 - ArduPlane/quadplane.cpp | 5 +++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/ArduPlane/mode_qland.cpp b/ArduPlane/mode_qland.cpp index f3a08aabde762..e59e3c9a50e95 100644 --- a/ArduPlane/mode_qland.cpp +++ b/ArduPlane/mode_qland.cpp @@ -9,7 +9,6 @@ bool ModeQLand::_enter() quadplane.throttle_wait = false; quadplane.setup_target_position(); poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND); - poscontrol.pilot_correction_done = false; quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing); quadplane.landing_detect.lower_limit_start_ms = 0; quadplane.landing_detect.land_start_ms = 0; diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index e7fc346758491..87be3e1160436 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -4596,6 +4596,11 @@ void QuadPlane::mode_enter(void) poscontrol.last_velocity_match_ms = 0; poscontrol.set_state(QuadPlane::QPOS_NONE); + // Clear any pilot corrections + poscontrol.pilot_correction_done = false; + poscontrol.pilot_correction_active = false; + poscontrol.target_vel_cms.zero(); + // clear guided takeoff wait on any mode change, but remember the // state for special behaviour guided_wait_takeoff_on_mode_enter = guided_wait_takeoff; From 47342db4164603dc980b1d36808e3276ddfe8b2d Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 10 Nov 2024 12:12:24 +0000 Subject: [PATCH 211/314] Plane: remove unused `ChannelMixing` enum --- ArduPlane/defines.h | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h index b2939557adfdf..a3da572611c77 100644 --- a/ArduPlane/defines.h +++ b/ArduPlane/defines.h @@ -64,18 +64,6 @@ enum class RtlAutoland { }; -enum ChannelMixing { - MIXING_DISABLED = 0, - MIXING_UPUP = 1, - MIXING_UPDN = 2, - MIXING_DNUP = 3, - MIXING_DNDN = 4, - MIXING_UPUP_SWP = 5, - MIXING_UPDN_SWP = 6, - MIXING_DNUP_SWP = 7, - MIXING_DNDN_SWP = 8, -}; - // PID broadcast bitmask enum tuning_pid_bits { TUNING_BITS_ROLL = (1 << 0), From 8a5556cb4efc395262c8bbe0b51b4c7ef30b92be Mon Sep 17 00:00:00 2001 From: muramura Date: Sat, 5 Oct 2024 11:06:54 +0900 Subject: [PATCH 212/314] Copter: Consolidate processing --- ArduCopter/mode_poshold.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp index c06072c597f90..40a86a8cff42e 100644 --- a/ArduCopter/mode_poshold.cpp +++ b/ArduCopter/mode_poshold.cpp @@ -535,11 +535,7 @@ void ModePosHold::update_brake_angle_from_velocity(float &brake_angle, float vel } // calculate velocity-only based lean angle - if (velocity >= 0) { - lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (velocity + 60.0f)); - } else { - lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (-velocity + 60.0f)); - } + lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (fabsf(velocity) + 60.0f)); // do not let lean_angle be too far from brake_angle brake_angle = constrain_float(lean_angle, brake_angle - brake_rate, brake_angle + brake_rate); From da69e2267392788b709eefa24395595a98301921 Mon Sep 17 00:00:00 2001 From: muramura Date: Sat, 5 Oct 2024 14:43:57 +0900 Subject: [PATCH 213/314] Copter: Use GRAVITY_MSS --- ArduCopter/mode_poshold.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp index 40a86a8cff42e..5474aaa84151f 100644 --- a/ArduCopter/mode_poshold.cpp +++ b/ArduCopter/mode_poshold.cpp @@ -588,7 +588,7 @@ void ModePosHold::update_wind_comp_estimate() } // limit acceleration - const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * 981.0f; + const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * (GRAVITY_MSS*100); const float wind_comp_ef_len = wind_comp_ef.length(); if (!is_zero(accel_lim_cmss) && (wind_comp_ef_len > accel_lim_cmss)) { wind_comp_ef *= accel_lim_cmss / wind_comp_ef_len; From cc1ebe65299ace499f7a6fda9438948a788aa5c3 Mon Sep 17 00:00:00 2001 From: Pradeep CK Date: Mon, 11 Nov 2024 13:37:02 +1100 Subject: [PATCH 214/314] AP_BattMonitor : update metadata for fuellevel param ranges --- .../AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp index ecd2c79b89b25..d5d6c324bf7e8 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp @@ -63,28 +63,28 @@ const AP_Param::GroupInfo AP_BattMonitor_FuelLevel_Analog::var_info[] = { // @Param: FL_FF // @DisplayName: First order term // @Description: First order polynomial fit term - // @Range: 0 10 + // @Range: -10 10 // @User: Advanced AP_GROUPINFO("FL_FF", 45, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_first_order_coeff, 1), // @Param: FL_FS // @DisplayName: Second order term // @Description: Second order polynomial fit term - // @Range: 0 10 + // @Range: -10 10 // @User: Advanced AP_GROUPINFO("FL_FS", 46, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_second_order_coeff, 0), // @Param: FL_FT // @DisplayName: Third order term // @Description: Third order polynomial fit term - // @Range: 0 10 + // @Range: -10 10 // @User: Advanced AP_GROUPINFO("FL_FT", 47, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_third_order_coeff, 0), // @Param: FL_OFF // @DisplayName: Offset term // @Description: Offset polynomial fit term - // @Range: 0 10 + // @Range: -10 10 // @User: Advanced AP_GROUPINFO("FL_OFF", 48, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_offset, 0), From 34b306e10731fd84fd01a218913c9bb38e8611f7 Mon Sep 17 00:00:00 2001 From: kfruson Date: Thu, 7 Nov 2024 14:49:02 -0700 Subject: [PATCH 215/314] AP_Volz_Protocol: bugfix with scaling integer --- libraries/AP_Volz_Protocol/AP_Volz_Protocol.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h index 02b18fc4ea421..f14df3023090d 100644 --- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h +++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h @@ -140,8 +140,8 @@ class AP_Volz_Protocol { float secondary_current; float primary_voltage; float secondary_voltage; - uint16_t motor_temp_deg; - uint16_t pcb_temp_deg; + int16_t motor_temp_deg; + int16_t pcb_temp_deg; } data[NUM_SERVO_CHANNELS]; uint32_t last_log_ms; } telem; From f7aabed164b7be868396c8aa145af88389c1ea28 Mon Sep 17 00:00:00 2001 From: kfruson <6444332+DjMixMasterDragon@users.noreply.github.com> Date: Mon, 11 Nov 2024 13:19:11 -0700 Subject: [PATCH 216/314] AP_Volz_Protocol: update logging format with integer change --- libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp index 43f1c17feb705..4dac4792b3bc3 100644 --- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp +++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp @@ -405,7 +405,7 @@ void AP_Volz_Protocol::update() "TimeUS,I,Dang,ang,pc,sc,pv,sv,mt,pt", "s#ddAAvvOO", "F000000000", - "QBffffffHH", + "QBffffffhh", AP_HAL::micros64(), i + 1, // convert to 1 indexed to match actuator IDs and SERVOx numbering telem.data[i].desired_angle, From 9dfcb487cfb9c7a466a4035f432b5e0139c83b74 Mon Sep 17 00:00:00 2001 From: Hwurzburg Date: Mon, 28 Dec 2020 16:07:46 -0600 Subject: [PATCH 217/314] AP_Mount: add RC failsafe action --- libraries/AP_Mount/AP_Mount_Backend.h | 1 + libraries/AP_Mount/AP_Mount_Params.cpp | 2 +- libraries/AP_Mount/AP_Mount_Servo.cpp | 8 ++++++++ 3 files changed, 10 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h index 16082d58f450b..a25bd4870a4e2 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.h +++ b/libraries/AP_Mount/AP_Mount_Backend.h @@ -249,6 +249,7 @@ class AP_Mount_Backend // options parameter bitmask handling enum class Options : uint8_t { RCTARGETING_LOCK_FROM_PREVMODE = (1U << 0), // RC_TARGETING mode's lock/follow state maintained from previous mode + NEUTRAL_ON_RC_FS = (1U << 1), // move mount to netral position on RC failsafe }; bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; } diff --git a/libraries/AP_Mount/AP_Mount_Params.cpp b/libraries/AP_Mount/AP_Mount_Params.cpp index e2c727f4b41c4..d077c603ec976 100644 --- a/libraries/AP_Mount/AP_Mount_Params.cpp +++ b/libraries/AP_Mount/AP_Mount_Params.cpp @@ -168,7 +168,7 @@ const AP_Param::GroupInfo AP_Mount_Params::var_info[] = { // @Param: _OPTIONS // @DisplayName: Mount options // @Description: Mount options bitmask - // @Bitmask: 0:RC lock state from previous mode + // @Bitmask: 0:RC lock state from previous mode, 1:Return to neutral angles on RC failsafe // @User: Standard AP_GROUPINFO("_OPTIONS", 16, AP_Mount_Params, options, 0), diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp index 1fba00e92a1be..7c97656c1232f 100644 --- a/libraries/AP_Mount/AP_Mount_Servo.cpp +++ b/libraries/AP_Mount/AP_Mount_Servo.cpp @@ -56,6 +56,13 @@ void AP_Mount_Servo::update() // RC radio manual angle control, but with stabilization from the AHRS case MAV_MOUNT_MODE_RC_TARGETING: { + // update targets using pilot's rc inputs or go to neutral or retracted targets if no rc + if (rc().in_rc_failsafe()) { + if (option_set(Options::NEUTRAL_ON_RC_FS)) { + mnt_target.angle_rad.set(_angle_bf_output_rad, false); + mnt_target.target_type = MountTargetType::ANGLE; + } + } else { // update targets using pilot's RC inputs MountTarget rc_target; get_rc_target(mnt_target.target_type, rc_target); @@ -67,6 +74,7 @@ void AP_Mount_Servo::update() mnt_target.rate_rads = rc_target; break; } + } break; } From 500ec85e52002f36472dea2bc1c2cf77d2e59dda Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 4 Apr 2021 20:15:20 +1000 Subject: [PATCH 218/314] autotest: add test for mount retract on rc failsafe --- Tools/autotest/helicopter.py | 43 ++++++++++++++++++++++++++++ Tools/autotest/vehicle_test_suite.py | 7 +++-- 2 files changed, 48 insertions(+), 2 deletions(-) diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py index 9f3f57cc4ddaf..c02608dbb2e3e 100644 --- a/Tools/autotest/helicopter.py +++ b/Tools/autotest/helicopter.py @@ -708,6 +708,48 @@ def NastyMission(self): self.change_mode('LOITER') self.fly_mission_points(self.scurve_nasty_up_mission()) + def MountFailsafeAction(self): + """Fly Mount Failsafe action""" + self.context_push() + + self.progress("Setting up servo mount") + roll_servo = 12 + pitch_servo = 11 + yaw_servo = 10 + open_servo = 9 + roll_limit = 50 + self.set_parameters({ + "MNT1_TYPE": 1, + "SERVO%u_MIN" % roll_servo: 1000, + "SERVO%u_MAX" % roll_servo: 2000, + "SERVO%u_FUNCTION" % yaw_servo: 6, # yaw + "SERVO%u_FUNCTION" % pitch_servo: 7, # roll + "SERVO%u_FUNCTION" % roll_servo: 8, # pitch + "SERVO%u_FUNCTION" % open_servo: 9, # mount open + "MNT1_OPTIONS": 2, # retract + "MNT1_DEFLT_MODE": 3, # RC targettting + "MNT1_ROLL_MIN": -roll_limit, + "MNT1_ROLL_MAX": roll_limit, + }) + + self.reboot_sitl() + + retract_roll = 25.0 + self.set_parameter("MNT1_NEUTRAL_X", retract_roll) + self.progress("Killing RC") + self.set_parameter("SIM_RC_FAIL", 2) + self.delay_sim_time(10) + want_servo_channel_value = int(1500 + 500*retract_roll/roll_limit) + self.wait_servo_channel_value(roll_servo, want_servo_channel_value, epsilon=1) + + self.progress("Resurrecting RC") + self.set_parameter("SIM_RC_FAIL", 0) + self.wait_servo_channel_value(roll_servo, 1500) + + self.context_pop() + + self.reboot_sitl() + def set_rc_default(self): super(AutoTestHelicopter, self).set_rc_default() self.progress("Lowering rotor speed") @@ -1122,6 +1164,7 @@ def tests(self): self.NastyMission, self.PIDNotches, self.AutoTune, + self.MountFailsafeAction, ]) return ret diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 3cab908b5951c..5885c21267fc9 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -7939,7 +7939,7 @@ def get_servo_channel_value(self, channel, timeout=2): (str(m), channel_field)) return m_value - def wait_servo_channel_value(self, channel, value, timeout=2, comparator=operator.eq): + def wait_servo_channel_value(self, channel, value, epsilon=0, timeout=2, comparator=operator.eq): """wait for channel value comparison (default condition is equality)""" channel_field = "servo%u_raw" % channel opstring = ("%s" % comparator)[-3:-1] @@ -7957,8 +7957,11 @@ def wait_servo_channel_value(self, channel, value, timeout=2, comparator=operato if m_value is None: raise ValueError("message (%s) has no field %s" % (str(m), channel_field)) - self.progress("want SERVO_OUTPUT_RAW.%s=%u %s %u" % + self.progress("SERVO_OUTPUT_RAW.%s got=%u %s want=%u" % (channel_field, m_value, opstring, value)) + if comparator == operator.eq: + if abs(m_value - value) <= epsilon: + return m_value if comparator(m_value, value): return m_value From dcc04d685f2b8fa91fba329eb65306af316583c2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 14:47:30 +1100 Subject: [PATCH 219/314] AP_Mount: factor out update_mnt_target_from_rc_target from servo, use it elsewhere this gives all backends the neutral-on-RC-failsafe behaviour --- libraries/AP_Mount/AP_Mount_Alexmos.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_Backend.cpp | 23 +++++++++++++++++++ libraries/AP_Mount/AP_Mount_Backend.h | 3 +++ libraries/AP_Mount/AP_Mount_Gremsy.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_SToRM32.cpp | 15 ++---------- .../AP_Mount/AP_Mount_SToRM32_serial.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_Scripting.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_Servo.cpp | 23 ++----------------- libraries/AP_Mount/AP_Mount_Siyi.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_SoloGimbal.cpp | 14 ++--------- libraries/AP_Mount/AP_Mount_Topotek.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_Viewpro.cpp | 15 ++---------- libraries/AP_Mount/AP_Mount_Xacti.cpp | 15 ++---------- 13 files changed, 48 insertions(+), 150 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp index 693d197860897..7db333f6b7849 100644 --- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp +++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp @@ -100,20 +100,9 @@ void AP_Mount_Alexmos::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp index 9d064633b1916..94f9e7e31b5c9 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.cpp +++ b/libraries/AP_Mount/AP_Mount_Backend.cpp @@ -66,6 +66,29 @@ bool AP_Mount_Backend::set_mode(MAV_MOUNT_MODE mode) return true; } +// called when mount mode is RC-targetting, updates the mnt_target object from RC inputs: +void AP_Mount_Backend::update_mnt_target_from_rc_target() +{ + if (rc().in_rc_failsafe()) { + if (option_set(Options::NEUTRAL_ON_RC_FS)) { + mnt_target.angle_rad.set(_params.neutral_angles.get() * DEG_TO_RAD, false); + mnt_target.target_type = MountTargetType::ANGLE; + return; + } + } + + MountTarget rc_target; + get_rc_target(mnt_target.target_type, rc_target); + switch (mnt_target.target_type) { + case MountTargetType::ANGLE: + mnt_target.angle_rad = rc_target; + break; + case MountTargetType::RATE: + mnt_target.rate_rads = rc_target; + break; + } +} + // set angle target in degrees // roll and pitch are in earth-frame // yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h index a25bd4870a4e2..67b673d656ebe 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.h +++ b/libraries/AP_Mount/AP_Mount_Backend.h @@ -253,6 +253,9 @@ class AP_Mount_Backend }; bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; } + // called when mount mode is RC-targetting, updates the mnt_target object from RC inputs: + void update_mnt_target_from_rc_target(); + // returns true if user has configured a valid roll angle range // allows user to disable roll even on 3-axis gimbal bool roll_range_valid() const { return (_params.roll_angle_min < _params.roll_angle_max); } diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp index 259de8e90cc4d..631acc87784e4 100644 --- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp +++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp @@ -48,20 +48,9 @@ void AP_Mount_Gremsy::update() } // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp index 59e4da66bcbeb..bd638fa42ab74 100644 --- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp +++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp @@ -52,21 +52,10 @@ void AP_Mount_SToRM32::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); resend_now = true; break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp index 82387a0e93ec1..9b003de0fe4b0 100644 --- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp +++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp @@ -49,21 +49,10 @@ void AP_Mount_SToRM32_serial::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); resend_now = true; break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Scripting.cpp b/libraries/AP_Mount/AP_Mount_Scripting.cpp index c2b93304e67ee..e70c03003616e 100644 --- a/libraries/AP_Mount/AP_Mount_Scripting.cpp +++ b/libraries/AP_Mount/AP_Mount_Scripting.cpp @@ -45,21 +45,10 @@ void AP_Mount_Scripting::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); target_loc_valid = false; break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp index 7c97656c1232f..743708fa9dd8b 100644 --- a/libraries/AP_Mount/AP_Mount_Servo.cpp +++ b/libraries/AP_Mount/AP_Mount_Servo.cpp @@ -55,28 +55,9 @@ void AP_Mount_Servo::update() } // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's rc inputs or go to neutral or retracted targets if no rc - if (rc().in_rc_failsafe()) { - if (option_set(Options::NEUTRAL_ON_RC_FS)) { - mnt_target.angle_rad.set(_angle_bf_output_rad, false); - mnt_target.target_type = MountTargetType::ANGLE; - } - } else { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp index d0e82cd503ee1..1c91af6a43fc9 100644 --- a/libraries/AP_Mount/AP_Mount_Siyi.cpp +++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp @@ -121,20 +121,9 @@ void AP_Mount_Siyi::update() break; } - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp index 02c8c3f2475c1..251c859693b2d 100644 --- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp +++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp @@ -65,20 +65,10 @@ void AP_Mount_SoloGimbal::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { + case MAV_MOUNT_MODE_RC_TARGETING: _gimbal.set_lockedToBody(false); - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Topotek.cpp b/libraries/AP_Mount/AP_Mount_Topotek.cpp index 09682a8429b64..bfe93ec83a8ed 100755 --- a/libraries/AP_Mount/AP_Mount_Topotek.cpp +++ b/libraries/AP_Mount/AP_Mount_Topotek.cpp @@ -156,20 +156,9 @@ void AP_Mount_Topotek::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp index f9b06f3b80ad3..1de89fbc6722b 100644 --- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp +++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp @@ -94,20 +94,9 @@ void AP_Mount_Viewpro::update() break; // RC radio manual angle control, but with stabilization from the AHRS - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp index 6353ce41d00d3..c5727f6c023d8 100644 --- a/libraries/AP_Mount/AP_Mount_Xacti.cpp +++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp @@ -135,20 +135,9 @@ void AP_Mount_Xacti::update() break; } - case MAV_MOUNT_MODE_RC_TARGETING: { - // update targets using pilot's RC inputs - MountTarget rc_target; - get_rc_target(mnt_target.target_type, rc_target); - switch (mnt_target.target_type) { - case MountTargetType::ANGLE: - mnt_target.angle_rad = rc_target; - break; - case MountTargetType::RATE: - mnt_target.rate_rads = rc_target; - break; - } + case MAV_MOUNT_MODE_RC_TARGETING: + update_mnt_target_from_rc_target(); break; - } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: From b7e3c8c71d50fe975a3f144e8c5053c1cc05ee61 Mon Sep 17 00:00:00 2001 From: Simon Hancock Date: Sun, 18 Feb 2024 18:14:17 +0000 Subject: [PATCH 220/314] AP_HAL: Add @LoggerEnum tags around BOARD/SUBTYPE #defines --- libraries/AP_HAL/AP_HAL_Boards.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 1c3aa1b1648e7..26a47e2c8cd99 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -6,6 +6,7 @@ */ #pragma once +// @LoggerEnum: HAL_BOARD #define HAL_BOARD_SITL 3 // #define HAL_BOARD_SMACCM 4 // unused // #define HAL_BOARD_PX4 5 // unused @@ -16,7 +17,9 @@ #define HAL_BOARD_ESP32 12 #define HAL_BOARD_QURT 13 #define HAL_BOARD_EMPTY 99 +// @LoggerEnumEnd +// @LoggerEnum: HAL_BOARD_SUBTYPE /* Default board subtype is -1 */ #define HAL_BOARD_SUBTYPE_NONE -1 @@ -70,6 +73,7 @@ #define HAL_BOARD_SUBTYPE_ESP32_NICK 6006 #define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT 6007 #define HAL_BOARD_SUBTYPE_ESP32_S3EMPTY 6008 +// @LoggerEnumEnd /* InertialSensor driver types */ #define HAL_INS_NONE 0 From df9c36fee303074a0a9688834c18a90eb4725044 Mon Sep 17 00:00:00 2001 From: Simon Hancock Date: Sun, 18 Feb 2024 18:15:26 +0000 Subject: [PATCH 221/314] AP_Vehicle: Add @LoggerEnum tags around APM_BUILD #defines --- libraries/AP_Vehicle/AP_Vehicle_Type.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Vehicle/AP_Vehicle_Type.h b/libraries/AP_Vehicle/AP_Vehicle_Type.h index 0bc298658f8c8..3636f2364983c 100644 --- a/libraries/AP_Vehicle/AP_Vehicle_Type.h +++ b/libraries/AP_Vehicle/AP_Vehicle_Type.h @@ -19,6 +19,7 @@ Also note that code needs to support other APM_BUILD_DIRECTORY values for example sketches */ +// @LoggerEnum: APM_BUILD #define APM_BUILD_Rover 1 #define APM_BUILD_ArduCopter 2 #define APM_BUILD_ArduPlane 3 @@ -32,6 +33,7 @@ #define APM_BUILD_AP_Bootloader 11 #define APM_BUILD_Blimp 12 #define APM_BUILD_Heli 13 +// @LoggerEnumEnd #ifdef APM_BUILD_DIRECTORY /* From 43272dd9ee449440ac0303d89dde571d6bad6734 Mon Sep 17 00:00:00 2001 From: Simon Hancock Date: Sun, 18 Feb 2024 18:18:20 +0000 Subject: [PATCH 222/314] autotest: Handle @LoggerEnum tags for #define sets --- Tools/autotest/logger_metadata/enum_parse.py | 28 ++++++++++++++++++-- 1 file changed, 26 insertions(+), 2 deletions(-) diff --git a/Tools/autotest/logger_metadata/enum_parse.py b/Tools/autotest/logger_metadata/enum_parse.py index d9ab17f4b41af..3f37a9837f443 100755 --- a/Tools/autotest/logger_metadata/enum_parse.py +++ b/Tools/autotest/logger_metadata/enum_parse.py @@ -92,6 +92,11 @@ def match_enum_line(self, line): if m is not None: return (m.group(1), 1 << int(m.group(2)), m.group(3)) + # Match: "#define FRED 1 // optional comment" + m = re.match(r"#define\s*([A-Z0-9_a-z]+)\s+(-?\d+) *(// *(.*) *)?$", line) + if m is not None: + return (m.group(1), m.group(2), m.group(4)) + if m is None: raise ValueError("Failed to match (%s)" % line) @@ -116,7 +121,13 @@ def debug(x): break line = line.rstrip() # print("state=%s line: %s" % (state, line)) - if re.match(r"\s*//.*", line): + # Skip single-line comments - unless they contain LoggerEnum tags + if re.match(r"\s*//.*", line) and "LoggerEnum" not in line: + continue + # Skip multi-line comments + if re.match(r"\s*/\*.*", line): + while "*/" not in line: + line = f.readline() continue if state == "outside": if re.match("class .*;", line) is not None: @@ -154,6 +165,19 @@ def debug(x): last_value = None state = state_inside skip_enumeration = False + continue + + # // @LoggerEnum: NAME - can be used around for #define sets + m = re.match(r".*@LoggerEnum: *([\w]+)", line) + if m is not None: + enum_name = m.group(1) + debug("%s: %s" % (source_file, enum_name)) + entries = [] + last_value = None + state = state_inside + skip_enumeration = False + continue + continue if state == "inside": if re.match(r"\s*$", line): @@ -164,7 +188,7 @@ def debug(x): continue if re.match(r"#else", line): continue - if re.match(r".*}\s*\w*(\s*=\s*[\w:]+)?;", line): + if re.match(r".*}\s*\w*(\s*=\s*[\w:]+)?;", line) or "@LoggerEnumEnd" in line: # potential end of enumeration if not skip_enumeration: if enum_name is None: From 67412c99978336a205cabbc201e1f9fc0caaa0ba Mon Sep 17 00:00:00 2001 From: Simon Hancock Date: Sun, 18 Feb 2024 18:16:27 +0000 Subject: [PATCH 223/314] AP_Logger: Add enums to VER message --- libraries/AP_Logger/LogStructure.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index ae5197297c373..432ce26376bb5 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -1134,7 +1134,9 @@ struct PACKED log_VER { // @Description: Ardupilot version // @Field: TimeUS: Time since system startup // @Field: BT: Board type +// @FieldValueEnum: BT: HAL_BOARD // @Field: BST: Board subtype +// @FieldValueEnum: BST: HAL_BOARD_SUBTYPE // @Field: Maj: Major version number // @Field: Min: Minor version number // @Field: Pat: Patch number @@ -1143,6 +1145,7 @@ struct PACKED log_VER { // @Field: FWS: Firmware version string // @Field: APJ: Board ID // @Field: BU: Build vehicle type +// @FieldValueEnum: BU: APM_BUILD // @Field: FV: Filter version // @LoggerMessage: MOTB From 1f54cf39d57d6ad48eb8fc9cb93dbcf122fbe21d Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 13 Mar 2024 08:32:42 +0000 Subject: [PATCH 224/314] AP_HAL_ChibiOS: FoxeerH743v2 --- libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat index 97e2b86c68c14..8f0f642cdebb7 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat @@ -159,7 +159,9 @@ BARO DPS310 I2C:0:0x76 # IMU setup SPIDEV imu1 SPI2 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ +SPIDEV imu2 SPI2 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ IMU Invensense SPI:imu1 ROTATION_YAW_270 +IMU Invensensev3 SPI:imu2 ROTATION_YAW_180 DMA_NOSHARE TIM3_UP TIM4_UP TIM8_UP SPI2* DMA_PRIORITY TIM3_UP TIM4_UP TIM8_UP SPI2* From 7d426f4741c7f77b03c26b98899e5d3d89503e8f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 8 Aug 2024 12:13:25 +1000 Subject: [PATCH 225/314] AP_Mission: do not use float functions on integers pitch is int8_t, yaw is int16_t --- libraries/AP_Mission/AP_Mission_Commands.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp index bc0374232050d..ab69c468245a6 100644 --- a/libraries/AP_Mission/AP_Mission_Commands.cpp +++ b/libraries/AP_Mission/AP_Mission_Commands.cpp @@ -330,8 +330,8 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss } // handle angle target - const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90); - const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360); + const bool pitch_angle_valid = abs(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90; + const bool yaw_angle_valid = abs(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360; if (pitch_angle_valid && yaw_angle_valid) { mount->set_angle_target(gimbal_instance, 0, cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg, cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg, cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK); return true; From d76132ec632e6691d4118fb76a0be68eab75f71d Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 19 Sep 2024 15:26:53 +0100 Subject: [PATCH 226/314] AP_InertialSensor: ensure fifo reads use transfer() to optimize buffer allocation and copying --- .../AP_InertialSensor_Invensensev3.cpp | 25 +++++++++++++++++-- 1 file changed, 23 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp index 024d1f56a23b7..fc0bc9ecad79b 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp @@ -555,9 +555,30 @@ void AP_InertialSensor_Invensensev3::read_fifo() while (n_samples > 0) { uint8_t n = MIN(n_samples, INV3_FIFO_BUFFER_LEN); - if (!block_read(reg_data, (uint8_t*)fifo_buffer, n * fifo_sample_size)) { - goto check_registers; + + if (!dev->set_chip_select(true)) { + if (!block_read(reg_data, (uint8_t*)fifo_buffer, n * fifo_sample_size)) { + goto check_registers; + } + } else { + // we don't use read_registers() here to ensure that the fifo buffer that we have allocated + // gets passed all the way down to the SPI DMA handling. This involves one transfer to send + // the register read and then another using the same buffer and length which is handled specially + // for the read + uint8_t reg = reg_data | BIT_READ_FLAG; + if (!dev->transfer(®, 1, nullptr, 0)) { + dev->set_chip_select(false); + goto check_registers; + } + // transfer will also be sending data, make sure that data is zero + memset((uint8_t*)fifo_buffer, 0, n * fifo_sample_size); + if (!dev->transfer((uint8_t*)fifo_buffer, n * fifo_sample_size, (uint8_t*)fifo_buffer, n * fifo_sample_size)) { + dev->set_chip_select(false); + goto check_registers; + } + dev->set_chip_select(false); } + #if HAL_INS_HIGHRES_SAMPLE if (highres_sampling) { if (!accumulate_highres_samples((FIFODataHighRes*)fifo_buffer, n)) { From c0ce5e5ed0edb46c962e5393196d79346e9225b3 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 23 Sep 2024 11:37:11 +0100 Subject: [PATCH 227/314] AP_InertialSensor: optimize Invensense v3 FIF read --- .../AP_InertialSensor_Invensensev3.cpp | 45 ++++++++----------- 1 file changed, 18 insertions(+), 27 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp index fc0bc9ecad79b..daf54ed64e7ec 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp @@ -185,12 +185,12 @@ AP_InertialSensor_Invensensev3::~AP_InertialSensor_Invensensev3() #if HAL_INS_HIGHRES_SAMPLE if (highres_sampling) { if (fifo_buffer != nullptr) { - hal.util->free_type(fifo_buffer, INV3_FIFO_BUFFER_LEN * INV3_HIGHRES_SAMPLE_SIZE, AP_HAL::Util::MEM_DMA_SAFE); + hal.util->free_type(fifo_buffer, INV3_FIFO_BUFFER_LEN * INV3_HIGHRES_SAMPLE_SIZE + 1, AP_HAL::Util::MEM_DMA_SAFE); } } else #endif if (fifo_buffer != nullptr) { - hal.util->free_type(fifo_buffer, INV3_FIFO_BUFFER_LEN * INV3_SAMPLE_SIZE, AP_HAL::Util::MEM_DMA_SAFE); + hal.util->free_type(fifo_buffer, INV3_FIFO_BUFFER_LEN * INV3_SAMPLE_SIZE + 1, AP_HAL::Util::MEM_DMA_SAFE); } } @@ -358,10 +358,10 @@ void AP_InertialSensor_Invensensev3::start() // allocate fifo buffer #if HAL_INS_HIGHRES_SAMPLE if (highres_sampling) { - fifo_buffer = hal.util->malloc_type(INV3_FIFO_BUFFER_LEN * INV3_HIGHRES_SAMPLE_SIZE, AP_HAL::Util::MEM_DMA_SAFE); + fifo_buffer = hal.util->malloc_type(INV3_FIFO_BUFFER_LEN * INV3_HIGHRES_SAMPLE_SIZE + 1, AP_HAL::Util::MEM_DMA_SAFE); } else #endif - fifo_buffer = hal.util->malloc_type(INV3_FIFO_BUFFER_LEN * INV3_SAMPLE_SIZE, AP_HAL::Util::MEM_DMA_SAFE); + fifo_buffer = hal.util->malloc_type(INV3_FIFO_BUFFER_LEN * INV3_SAMPLE_SIZE + 1, AP_HAL::Util::MEM_DMA_SAFE); if (fifo_buffer == nullptr) { AP_HAL::panic("Invensensev3: Unable to allocate FIFO buffer"); @@ -519,6 +519,8 @@ void AP_InertialSensor_Invensensev3::read_fifo() uint8_t reg_counth; uint8_t reg_data; + uint8_t* samples = nullptr; + uint8_t* tfr_buffer = (uint8_t*)fifo_buffer; switch (inv3_type) { case Invensensev3_Type::ICM45686: @@ -556,38 +558,27 @@ void AP_InertialSensor_Invensensev3::read_fifo() while (n_samples > 0) { uint8_t n = MIN(n_samples, INV3_FIFO_BUFFER_LEN); - if (!dev->set_chip_select(true)) { - if (!block_read(reg_data, (uint8_t*)fifo_buffer, n * fifo_sample_size)) { - goto check_registers; - } - } else { - // we don't use read_registers() here to ensure that the fifo buffer that we have allocated - // gets passed all the way down to the SPI DMA handling. This involves one transfer to send - // the register read and then another using the same buffer and length which is handled specially - // for the read - uint8_t reg = reg_data | BIT_READ_FLAG; - if (!dev->transfer(®, 1, nullptr, 0)) { - dev->set_chip_select(false); - goto check_registers; - } - // transfer will also be sending data, make sure that data is zero - memset((uint8_t*)fifo_buffer, 0, n * fifo_sample_size); - if (!dev->transfer((uint8_t*)fifo_buffer, n * fifo_sample_size, (uint8_t*)fifo_buffer, n * fifo_sample_size)) { - dev->set_chip_select(false); - goto check_registers; - } - dev->set_chip_select(false); + // we don't use read_registers() here to ensure that the fifo buffer that we have allocated + // gets passed all the way down to the SPI DMA handling. This involves one transfer to send + // the register read and then another using the same buffer and length which is handled specially + // for the read + tfr_buffer[0] = reg_data | BIT_READ_FLAG; + // transfer will also be sending data, make sure that data is zero + memset(tfr_buffer + 1, 0, n * fifo_sample_size); + if (!dev->transfer(tfr_buffer, n * fifo_sample_size + 1, tfr_buffer, n * fifo_sample_size + 1)) { + goto check_registers; } + samples = tfr_buffer + 1; #if HAL_INS_HIGHRES_SAMPLE if (highres_sampling) { - if (!accumulate_highres_samples((FIFODataHighRes*)fifo_buffer, n)) { + if (!accumulate_highres_samples((FIFODataHighRes*)samples, n)) { need_reset = true; break; } } else #endif - if (!accumulate_samples((FIFOData*)fifo_buffer, n)) { + if (!accumulate_samples((FIFOData*)samples, n)) { need_reset = true; break; } From 405401218d9ce423501ca8d4e1a869cd6775635b Mon Sep 17 00:00:00 2001 From: "paul.quillen" Date: Thu, 3 Oct 2024 14:57:57 -0500 Subject: [PATCH 228/314] AP_DDS: Add set/get parameters service. --- .../test_parameter_service.py | 197 +++++++++++++++++ libraries/AP_DDS/AP_DDS_Client.cpp | 203 +++++++++++++++++- libraries/AP_DDS/AP_DDS_Client.h | 16 ++ libraries/AP_DDS/AP_DDS_Service_Table.h | 28 ++- libraries/AP_DDS/AP_DDS_config.h | 8 + .../Idl/rcl_interfaces/msg/Parameter.idl | 23 ++ .../Idl/rcl_interfaces/msg/ParameterType.idl | 28 +++ .../Idl/rcl_interfaces/msg/ParameterValue.idl | 58 +++++ .../msg/SetParametersResult.idl | 20 ++ .../Idl/rcl_interfaces/srv/GetParameters.idl | 29 +++ .../Idl/rcl_interfaces/srv/SetParameters.idl | 21 ++ 11 files changed, 629 insertions(+), 2 deletions(-) create mode 100644 Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py create mode 100644 libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl create mode 100644 libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl create mode 100644 libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl create mode 100644 libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl create mode 100644 libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl create mode 100644 libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py new file mode 100644 index 0000000000000..8e6e95601c971 --- /dev/null +++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py @@ -0,0 +1,197 @@ +# Copyright 2023 ArduPilot.org. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +""" +Bring up ArduPilot SITL and check that the get/set_parameters services are up and running. + +Checks whether a parameter is changed using service call. + +colcon test --packages-select ardupilot_dds_tests \ +--event-handlers=console_cohesion+ --pytest-args -k test_parameter_service + +""" + +import launch_pytest +import pytest +import rclpy +import rclpy.node +import threading +import time + +from launch import LaunchDescription + +from launch_pytest.tools import process as process_tools + +from rclpy.qos import QoSProfile +from rclpy.qos import QoSReliabilityPolicy +from rclpy.qos import QoSHistoryPolicy + +from rcl_interfaces.srv import GetParameters +from rcl_interfaces.srv import SetParameters +from rcl_interfaces.msg import Parameter + +# Enums for parameter type +PARAMETER_NOT_SET = 0 +PARAMETER_INTEGER = 2 +PARAMETER_DOUBLE = 3 + + +class ParameterClient(rclpy.node.Node): + """Send GetParameters and SetParameters Requests.""" + + def __init__(self): + """Initialize the node.""" + super().__init__('parameter_client') + self.get_param_event_object = threading.Event() + self.set_param_event_object = threading.Event() + self.set_correct_object = threading.Event() + + def start_client(self): + """Start the parameter client.""" + qos_profile = QoSProfile( + reliability=QoSReliabilityPolicy.BEST_EFFORT, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + ) + + # Define clients for getting and setting parameter + self.get_cli = self.create_client(GetParameters, 'ap/get_parameters') + while not self.get_cli.wait_for_service(timeout_sec=1.0): + self.get_logger().info('GetParameters service not available, waiting again...') + + self.set_cli = self.create_client(SetParameters, 'ap/set_parameters') + while not self.set_cli.wait_for_service(timeout_sec=1.0): + self.get_logger().info('SetParameters service not availabel, waiting again...') + + # Add a spin thread + self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) + self.ros_spin_thread.start() + + def send_get_param_req(self, param_name): + self.get_req = GetParameters.Request() + self.get_req.names.append(param_name) + + self.get_future = self.get_cli.call_async(self.get_req) + while not self.get_future.done(): + self.get_logger().info("Waiting for GetParameters service response...") + time.sleep(0.1) + + resp = self.get_future.result() + value = resp.values[0] + + if value.type != PARAMETER_NOT_SET: + self.get_param_event_object.set() + + def send_set_param_req(self, param_name, param_value, param_type): + self.set_req = SetParameters.Request() + param_update = Parameter() + param_update.name = param_name + param_update.value.type = param_type + if param_type == PARAMETER_INTEGER: + param_update.value.integer_value = int(param_value) + else: + param_update.value.double_value = float(param_value) + + self.set_req.parameters.append(param_update) + + self.desired_value = param_value + get_response = self.get_future.result() + initial_value = get_response.values[0] + + if initial_value.type == PARAMETER_INTEGER: + self.param_value = initial_value.integer_value + elif initial_value.type == PARAMETER_DOUBLE: + self.param_value = initial_value.double_value + else: + self.param_value = 'nan' + + self.set_future = self.set_cli.call_async(self.set_req) + + while not self.set_future.done(): + self.get_logger().info("Waiting for SetParameters service response...") + time.sleep(0.1) + + if self.set_future.done(): + response = self.set_future.result() + if response.results[0].successful: + self.set_param_event_object.set() + + def check_param_change(self): + param_name = self.set_req.parameters[0].name + + self.send_get_param_req(param_name) + + get_response = self.get_future.result() + new_value = get_response.values[0] + + if new_value.type == PARAMETER_INTEGER: + updated_value = new_value.integer_value + elif new_value.type == PARAMETER_DOUBLE: + updated_value = new_value.double_value + else: + updated_value = 'nan' + + if updated_value == self.desired_value: + self.set_correct_object.set() + + +@launch_pytest.fixture +def launch_sitl_copter_dds_udp(sitl_copter_dds_udp): + """Fixture to create the launch description.""" + sitl_ld, sitl_actions = sitl_copter_dds_udp + + ld = LaunchDescription( + [ + sitl_ld, + launch_pytest.actions.ReadyToTest(), + ] + ) + actions = sitl_actions + yield ld, actions + + +@pytest.mark.launch(fixture=launch_sitl_copter_dds_udp) +def test_dds_udp_parameter_services(launch_context, launch_sitl_copter_dds_udp): + """Test Get/Set parameter services broadcast by AP_DDS.""" + _, actions = launch_sitl_copter_dds_udp + micro_ros_agent = actions["micro_ros_agent"].action + mavproxy = actions["mavproxy"].action + sitl = actions["sitl"].action + + # Wait for process to start. + process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) + process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) + process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) + + rclpy.init() + try: + node = ParameterClient() + node.start_client() + parameter_name = "LOIT_SPEED" + param_change_value = 1250 + param_type = PARAMETER_DOUBLE + node.send_get_param_req(parameter_name) + get_param_received_flag = node.get_param_event_object.wait(timeout=10.0) + assert get_param_received_flag, f"Did not get '{parameter_name}' param." + node.send_set_param_req(parameter_name, param_change_value, param_type) + set_param_received_flag = node.set_param_event_object.wait(timeout=10.0) + assert set_param_received_flag, f"Could not set '{parameter_name}' to '{param_change_value}'" + node.check_param_change() + set_param_changed_flag = node.set_correct_object.wait(timeout=10.0) + assert set_param_changed_flag, f"Did not confirm '{parameter_name}' value change" + + finally: + rclpy.shutdown() + yield diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index b7fcf460c37b2..f5aaa5883929d 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -81,6 +81,17 @@ geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {}; ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topic {}; #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED +// Define the parameter server data members, which are static class scope. +// If these are created on the stack, then the AP_DDS_Client::on_request +// frame size is exceeded. +#if AP_DDS_PARAMETER_SERVER_ENABLED +rcl_interfaces_srv_SetParameters_Request AP_DDS_Client::set_parameter_request {}; +rcl_interfaces_srv_SetParameters_Response AP_DDS_Client::set_parameter_response {}; +rcl_interfaces_srv_GetParameters_Request AP_DDS_Client::get_parameters_request {}; +rcl_interfaces_srv_GetParameters_Response AP_DDS_Client::get_parameters_response {}; +rcl_interfaces_msg_Parameter AP_DDS_Client::param {}; +#endif + const AP_Param::GroupInfo AP_DDS_Client::var_info[] { // @Param: _ENABLE @@ -801,6 +812,196 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u break; } #endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED +#if AP_DDS_PARAMETER_SERVER_ENABLED + case services[to_underlying(ServiceIndex::SET_PARAMETERS)].rep_id: { + const bool deserialize_success = rcl_interfaces_srv_SetParameters_Request_deserialize_topic(ub, &set_parameter_request); + if (deserialize_success == false) { + GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Set Parameters Request : Failed to deserialize request.", msg_prefix); + break; + } + + if (set_parameter_request.parameters_size > 8U) { + break; + } + + // Set parameters and responses for each one requested + set_parameter_response.results_size = set_parameter_request.parameters_size; + for (size_t i = 0; i < set_parameter_request.parameters_size; i++) { + param = set_parameter_request.parameters[i]; + + enum ap_var_type var_type; + + // set parameter + AP_Param *vp; + char param_key[AP_MAX_NAME_SIZE + 1]; + strncpy(param_key, (char *)param.name, AP_MAX_NAME_SIZE); + param_key[AP_MAX_NAME_SIZE] = 0; + + // Currently only integer and double value types can be set. + // The following parameter value types are not handled: + // bool, string, byte_array, bool_array, integer_array, double_array and string_array + bool param_isnan = true; + bool param_isinf = true; + float param_value; + switch (param.value.type) { + case PARAMETER_INTEGER: { + param_isnan = isnan(param.value.integer_value); + param_isinf = isinf(param.value.integer_value); + param_value = float(param.value.integer_value); + break; + } + case PARAMETER_DOUBLE: { + param_isnan = isnan(param.value.double_value); + param_isinf = isinf(param.value.double_value); + param_value = float(param.value.double_value); + break; + } + default: { + break; + } + } + + // find existing param to get the old value + uint16_t parameter_flags = 0; + vp = AP_Param::find(param_key, &var_type, ¶meter_flags); + if (vp == nullptr || param_isnan || param_isinf) { + set_parameter_response.results[i].successful = false; + strncpy(set_parameter_response.results[i].reason, "Parameter not found", sizeof(set_parameter_response.results[i].reason)); + continue; + } + + // Add existing parameter checks used in GCS_Param.cpp + if (parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) { + // The user can set BRD_OPTIONS to enable set of internal + // parameters, for developer testing or unusual use cases + if (AP_BoardConfig::allow_set_internal_parameters()) { + parameter_flags &= ~AP_PARAM_FLAG_INTERNAL_USE_ONLY; + } + } + + if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) { + set_parameter_response.results[i].successful = false; + strncpy(set_parameter_response.results[i].reason, "Parameter is read only",sizeof(set_parameter_response.results[i].reason)); + continue; + } + + // Set and save the value if it changed + bool force_save = vp->set_and_save_by_name_ifchanged(param_key, param_value); + + if (force_save && (parameter_flags & AP_PARAM_FLAG_ENABLE)) { + AP_Param::invalidate_count(); + } + + set_parameter_response.results[i].successful = true; + strncpy(set_parameter_response.results[i].reason, "Parameter accepted", sizeof(set_parameter_response.results[i].reason)); + } + + const uxrObjectId replier_id = { + .id = services[to_underlying(ServiceIndex::SET_PARAMETERS)].rep_id, + .type = UXR_REPLIER_ID + }; + + uint32_t reply_size = rcl_interfaces_srv_SetParameters_Response_size_of_topic(&set_parameter_response, 0U); + uint8_t reply_buffer[reply_size] {}; + ucdrBuffer reply_ub; + + ucdr_init_buffer(&reply_ub, reply_buffer, reply_size); + const bool serialize_success = rcl_interfaces_srv_SetParameters_Response_serialize_topic(&reply_ub, &set_parameter_response); + if (serialize_success == false) { + break; + } + + uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub)); + bool successful_params = true; + for (size_t i = 0; i < set_parameter_response.results_size; i++) { + // Check that all the parameters were set successfully + successful_params &= set_parameter_response.results[i].successful; + } + GCS_SEND_TEXT(successful_params ? MAV_SEVERITY_INFO : MAV_SEVERITY_WARNING, "%s Set Parameters Request : %s", msg_prefix, successful_params ? "SUCCESSFUL" : "ONE OR MORE PARAMS FAILED" ); + break; + } + case services[to_underlying(ServiceIndex::GET_PARAMETERS)].rep_id: { + const bool deserialize_success = rcl_interfaces_srv_GetParameters_Request_deserialize_topic(ub, &get_parameters_request); + if (deserialize_success == false) { + GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Get Parameters Request : Failed to deserialize request.", msg_prefix); + break; + } + + if (get_parameters_request.names_size > 8U) { + break; + } + + bool successful_read = true; + get_parameters_response.values_size = get_parameters_request.names_size; + for (size_t i = 0; i < get_parameters_request.names_size; i++) { + enum ap_var_type var_type; + + AP_Param *vp; + char param_key[AP_MAX_NAME_SIZE + 1]; + strncpy(param_key, (char *)get_parameters_request.names[i], AP_MAX_NAME_SIZE); + param_key[AP_MAX_NAME_SIZE] = 0; + + vp = AP_Param::find(param_key, &var_type); + if (vp == nullptr) { + get_parameters_response.values[i].type = PARAMETER_NOT_SET; + successful_read &= false; + continue; + } + + switch (var_type) { + case AP_PARAM_INT8: { + get_parameters_response.values[i].type = PARAMETER_INTEGER; + get_parameters_response.values[i].integer_value = ((AP_Int8 *)vp)->get(); + successful_read &= true; + break; + } + case AP_PARAM_INT16: { + get_parameters_response.values[i].type = PARAMETER_INTEGER; + get_parameters_response.values[i].integer_value = ((AP_Int16 *)vp)->get(); + successful_read &= true; + break; + } + case AP_PARAM_INT32: { + get_parameters_response.values[i].type = PARAMETER_INTEGER; + get_parameters_response.values[i].integer_value = ((AP_Int32 *)vp)->get(); + successful_read &= true; + break; + } + case AP_PARAM_FLOAT: { + get_parameters_response.values[i].type = PARAMETER_DOUBLE; + get_parameters_response.values[i].double_value = vp->cast_to_float(var_type); + successful_read &= true; + break; + } + default: { + get_parameters_response.values[i].type = PARAMETER_NOT_SET; + successful_read &= false; + break; + } + } + } + + const uxrObjectId replier_id = { + .id = services[to_underlying(ServiceIndex::GET_PARAMETERS)].rep_id, + .type = UXR_REPLIER_ID + }; + + uint32_t reply_size = rcl_interfaces_srv_GetParameters_Response_size_of_topic(&get_parameters_response, 0U); + uint8_t reply_buffer[reply_size] {}; + ucdrBuffer reply_ub; + + ucdr_init_buffer(&reply_ub, reply_buffer, reply_size); + const bool serialize_success = rcl_interfaces_srv_GetParameters_Response_serialize_topic(&reply_ub, &get_parameters_response); + if (serialize_success == false) { + break; + } + + uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub)); + + GCS_SEND_TEXT(successful_read ? MAV_SEVERITY_INFO : MAV_SEVERITY_WARNING, "%s Get Parameters Request : %s", msg_prefix, successful_read ? "SUCCESSFUL" : "ONE OR MORE PARAM NOT FOUND"); + break; + } +#endif // AP_DDS_PARAMETER_SERVER_ENABLED } } @@ -947,7 +1148,7 @@ bool AP_DDS_Client::create() .id = 0x01, .type = UXR_PARTICIPANT_ID }; - const char* participant_name = "ardupilot_dds"; + const char* participant_name = AP_DDS_PARTICIPANT_NAME; const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, static_cast(domain_id), participant_name, UXR_REPLACE); diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h index 92bdbf2a4bd30..ded3451f99228 100644 --- a/libraries/AP_DDS/AP_DDS_Client.h +++ b/libraries/AP_DDS/AP_DDS_Client.h @@ -46,6 +46,14 @@ #if AP_DDS_CLOCK_PUB_ENABLED #include "rosgraph_msgs/msg/Clock.h" #endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_PARAMETER_SERVER_ENABLED +#include "rcl_interfaces/srv/SetParameters.h" +#include "rcl_interfaces/msg/Parameter.h" +#include "rcl_interfaces/msg/SetParametersResult.h" +#include "rcl_interfaces/msg/ParameterValue.h" +#include "rcl_interfaces/msg/ParameterType.h" +#include "rcl_interfaces/srv/GetParameters.h" +#endif //AP_DDS_PARAMETER_SERVER_ENABLED #include #include @@ -201,6 +209,14 @@ class AP_DDS_Client #endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED HAL_Semaphore csem; +#if AP_DDS_PARAMETER_SERVER_ENABLED + static rcl_interfaces_srv_SetParameters_Request set_parameter_request; + static rcl_interfaces_srv_SetParameters_Response set_parameter_response; + static rcl_interfaces_srv_GetParameters_Request get_parameters_request; + static rcl_interfaces_srv_GetParameters_Response get_parameters_response; + static rcl_interfaces_msg_Parameter param; +#endif + // connection parametrics bool status_ok{false}; bool connected{false}; diff --git a/libraries/AP_DDS/AP_DDS_Service_Table.h b/libraries/AP_DDS/AP_DDS_Service_Table.h index 0e86496dd5777..667149d6aa756 100644 --- a/libraries/AP_DDS/AP_DDS_Service_Table.h +++ b/libraries/AP_DDS/AP_DDS_Service_Table.h @@ -6,8 +6,12 @@ enum class ServiceIndex: uint8_t { ARMING_MOTORS, #endif // #if AP_DDS_ARM_SERVER_ENABLED #if AP_DDS_MODE_SWITCH_SERVER_ENABLED - MODE_SWITCH + MODE_SWITCH, #endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED +#if AP_DDS_PARAMETER_SERVER_ENABLED + SET_PARAMETERS, + GET_PARAMETERS +#endif // AP_DDS_PARAMETER_SERVER_ENABLED }; static inline constexpr uint8_t to_underlying(const ServiceIndex index) @@ -47,4 +51,26 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = { .reply_topic_name = "rr/ap/mode_switchReply", }, #endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED +#if AP_DDS_PARAMETER_SERVER_ENABLED + { + .req_id = to_underlying(ServiceIndex::SET_PARAMETERS), + .rep_id = to_underlying(ServiceIndex::SET_PARAMETERS), + .service_rr = Service_rr::Replier, + .service_name = "rs/ap/set_parametersService", + .request_type = "rcl_interfaces::srv::dds_::SetParameters_Request_", + .reply_type = "rcl_interfaces::srv::dds_::SetParameters_Response_", + .request_topic_name = "rq/ap/set_parametersRequest", + .reply_topic_name = "rr/ap/set_parametersReply", + }, + { + .req_id = to_underlying(ServiceIndex::GET_PARAMETERS), + .rep_id = to_underlying(ServiceIndex::GET_PARAMETERS), + .service_rr = Service_rr::Replier, + .service_name = "rs/ap/get_parameterService", + .request_type = "rcl_interfaces::srv::dds_::GetParameters_Request_", + .reply_type = "rcl_interfaces::srv::dds_::GetParameters_Response_", + .request_topic_name = "rq/ap/get_parametersRequest", + .reply_topic_name = "rr/ap/get_parametersReply", + }, +#endif // AP_DDS_PARAMETER_SERVER_ENABLED }; diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h index b8f31e368c8a4..9bc3a5512656d 100644 --- a/libraries/AP_DDS/AP_DDS_config.h +++ b/libraries/AP_DDS/AP_DDS_config.h @@ -126,6 +126,10 @@ #define AP_DDS_MODE_SWITCH_SERVER_ENABLED 1 #endif +#ifndef AP_DDS_PARAMETER_SERVER_ENABLED +#define AP_DDS_PARAMETER_SERVER_ENABLED 1 +#endif + // Whether to include Twist support #define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED @@ -139,3 +143,7 @@ #define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1" #endif #endif + +#ifndef AP_DDS_PARTICIPANT_NAME +#define AP_DDS_PARTICIPANT_NAME "ap" +#endif diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl new file mode 100644 index 0000000000000..992213a287458 --- /dev/null +++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl @@ -0,0 +1,23 @@ +// generated from rosidl_adapter/resource/msg.idl.em +// with input from rcl_interfaces/msg/Parameter.msg +// generated code does not contain a copyright notice + +#include "rcl_interfaces/msg/ParameterValue.idl" + +module rcl_interfaces { + module msg { + @verbatim (language="comment", text= + "This is the message to communicate a parameter. It is an open struct with an enum in" "\n" + "the descriptor to select which value is active.") + struct Parameter { + @verbatim (language="comment", text= + "The full name of the parameter.") + string name; + + @verbatim (language="comment", text= + "The parameter's value which can be one of several types, see" "\n" + "`ParameterValue.msg` and `ParameterType.msg`.") + rcl_interfaces::msg::ParameterValue value; + }; + }; +}; diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl new file mode 100644 index 0000000000000..e6a6bfcca7da7 --- /dev/null +++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl @@ -0,0 +1,28 @@ +// generated from rosidl_adapter/resource/msg.idl.em +// with input from rcl_interfaces/msg/ParameterType.msg +// generated code does not contain a copyright notice + + +module rcl_interfaces { + module msg { + module ParameterType_Constants { + @verbatim (language="comment", text= + "Default value, which implies this is not a valid parameter.") + const uint8 PARAMETER_NOT_SET = 0; + const uint8 PARAMETER_BOOL = 1; + const uint8 PARAMETER_INTEGER = 2; + const uint8 PARAMETER_DOUBLE = 3; + const uint8 PARAMETER_STRING = 4; + const uint8 PARAMETER_BYTE_ARRAY = 5; + const uint8 PARAMETER_BOOL_ARRAY = 6; + const uint8 PARAMETER_INTEGER_ARRAY = 7; + const uint8 PARAMETER_DOUBLE_ARRAY = 8; + const uint8 PARAMETER_STRING_ARRAY = 9; + }; + @verbatim (language="comment", text= + "These types correspond to the value that is set in the ParameterValue message.") + struct ParameterType { + uint8 structure_needs_at_least_one_member; + }; + }; +}; diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl new file mode 100644 index 0000000000000..3adbc5233cac2 --- /dev/null +++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl @@ -0,0 +1,58 @@ +// generated from rosidl_adapter/resource/msg.idl.em +// with input from rcl_interfaces/msg/ParameterValue.msg +// generated code does not contain a copyright notice + + +module rcl_interfaces { + module msg { + @verbatim (language="comment", text= + "Used to determine which of the next *_value fields are set." "\n" + "ParameterType.PARAMETER_NOT_SET indicates that the parameter was not set" "\n" + "(if gotten) or is uninitialized." "\n" + "Values are enumerated in `ParameterType.msg`.") + struct ParameterValue { + @verbatim (language="comment", text= + "The type of this parameter, which corresponds to the appropriate field below.") + uint8 type; + + @verbatim (language="comment", text= + "\"Variant\" style storage of the parameter value. Only the value corresponding" "\n" + "the type field will have valid information." "\n" + "Boolean value, can be either true or false.") + boolean bool_value; + + @verbatim (language="comment", text= + "Integer value ranging from -9,223,372,036,854,775,808 to" "\n" + "9,223,372,036,854,775,807.") + int64 integer_value; + + @verbatim (language="comment", text= + "A double precision floating point value following IEEE 754.") + double double_value; + + @verbatim (language="comment", text= + "A textual value with no practical length limit.") + string string_value; + + @verbatim (language="comment", text= + "An array of bytes, used for non-textual information.") + sequence byte_array_value; + + @verbatim (language="comment", text= + "An array of boolean values.") + sequence bool_array_value; + + @verbatim (language="comment", text= + "An array of 64-bit integer values.") + sequence integer_array_value; + + @verbatim (language="comment", text= + "An array of 64-bit floating point values.") + sequence double_array_value; + + @verbatim (language="comment", text= + "An array of string values.") + sequence string_array_value; + }; + }; +}; diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl new file mode 100644 index 0000000000000..d1c68fe1200f1 --- /dev/null +++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl @@ -0,0 +1,20 @@ +// generated from rosidl_adapter/resource/msg.idl.em +// with input from rcl_interfaces/msg/SetParametersResult.msg +// generated code does not contain a copyright notice + + +module rcl_interfaces { + module msg { + @verbatim (language="comment", text= + "A true value of the same index indicates that the parameter was set" "\n" + "successfully. A false value indicates the change was rejected.") + struct SetParametersResult { + boolean successful; + + @verbatim (language="comment", text= + "Reason why the setting was either successful or a failure. This should only be" "\n" + "used for logging and user interfaces.") + string reason; + }; + }; +}; diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl b/libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl new file mode 100644 index 0000000000000..d6579f51b2c12 --- /dev/null +++ b/libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl @@ -0,0 +1,29 @@ +// generated from rosidl_adapter/resource/srv.idl.em +// with input from rcl_interfaces/srv/GetParameters.srv +// generated code does not contain a copyright notice + +#include "rcl_interfaces/msg/ParameterValue.idl" + +module rcl_interfaces { + module srv { + @verbatim (language="comment", text= + "TODO(wjwwood): Decide on the rules for grouping, nodes, and parameter \"names\"" "\n" + "in general, then link to that." "\n" + "" "\n" + "For more information about parameters and naming rules, see:" "\n" + "https://design.ros2.org/articles/ros_parameters.html" "\n" + "https://github.com/ros2/design/pull/241") + struct GetParameters_Request { + @verbatim (language="comment", text= + "A list of parameter names to get.") + sequence names; + }; + @verbatim (language="comment", text= + "List of values which is the same length and order as the provided names. If a" "\n" + "parameter was not yet set, the value will have PARAMETER_NOT_SET as the" "\n" + "type.") + struct GetParameters_Response { + sequence values; + }; + }; +}; diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl b/libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl new file mode 100644 index 0000000000000..ade6df7994030 --- /dev/null +++ b/libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl @@ -0,0 +1,21 @@ +// generated from rosidl_adapter/resource/srv.idl.em +// with input from rcl_interfaces/srv/SetParameters.srv +// generated code does not contain a copyright notice + +#include "rcl_interfaces/msg/Parameter.idl" +#include "rcl_interfaces/msg/SetParametersResult.idl" + +module rcl_interfaces { + module srv { + @verbatim (language="comment", text= + "A list of parameters to set.") + struct SetParameters_Request { + sequence parameters; + }; + @verbatim (language="comment", text= + "Indicates whether setting each parameter succeeded or not and why.") + struct SetParameters_Response { + sequence results; + }; + }; +}; From 601d9ef430e1d904e3d7e4405d426ad107d77931 Mon Sep 17 00:00:00 2001 From: Tiziano Fiorenzani Date: Tue, 29 Oct 2024 15:06:50 +0000 Subject: [PATCH 229/314] AP_DDS: Vehicle status interface --- Tools/ros2/ardupilot_msgs/CMakeLists.txt | 1 + Tools/ros2/ardupilot_msgs/msg/Status.msg | 27 +++++++ libraries/AP_DDS/AP_DDS_Client.cpp | 80 ++++++++++++++++++- libraries/AP_DDS/AP_DDS_Client.h | 15 ++++ libraries/AP_DDS/AP_DDS_Topic_Table.h | 21 +++++ libraries/AP_DDS/AP_DDS_config.h | 8 ++ .../AP_DDS/Idl/ardupilot_msgs/msg/Status.idl | 56 +++++++++++++ 7 files changed, 207 insertions(+), 1 deletion(-) create mode 100644 Tools/ros2/ardupilot_msgs/msg/Status.msg create mode 100644 libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl diff --git a/Tools/ros2/ardupilot_msgs/CMakeLists.txt b/Tools/ros2/ardupilot_msgs/CMakeLists.txt index d066a2d32b2e4..f8af788e8b81e 100644 --- a/Tools/ros2/ardupilot_msgs/CMakeLists.txt +++ b/Tools/ros2/ardupilot_msgs/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "msg/GlobalPosition.msg" + "msg/Status.msg" "srv/ArmMotors.srv" "srv/ModeSwitch.srv" DEPENDENCIES geometry_msgs std_msgs diff --git a/Tools/ros2/ardupilot_msgs/msg/Status.msg b/Tools/ros2/ardupilot_msgs/msg/Status.msg new file mode 100644 index 0000000000000..38ff02804d12c --- /dev/null +++ b/Tools/ros2/ardupilot_msgs/msg/Status.msg @@ -0,0 +1,27 @@ +std_msgs/Header header + +uint8 APM_ROVER = 1 +uint8 APM_ARDUCOPTER = 2 +uint8 APM_ARDUPLANE = 3 +uint8 APM_ANTENNATRACKER = 4 +uint8 APM_UNKNOWN = 5 +uint8 APM_REPLAY = 6 +uint8 APM_ARDUSUB = 7 +uint8 APM_IOFIRMWARE = 8 +uint8 APM_AP_PERIPH = 9 +uint8 APM_AP_DAL_STANDALONE = 10 +uint8 APM_AP_BOOTLOADER = 11 +uint8 APM_BLIMP = 12 +uint8 APM_HELI = 13 +uint8 vehicle_type # From AP_Vehicle_Type.h + +bool armed # true if vehicle is armed. +uint8 mode # Vehicle mode, enum depending on vehicle type. +bool flying # True if flying/driving/diving/tracking. +bool external_control # True is external control is enabled. + +uint8 FS_RADIO = 21 +uint8 FS_BATTERY = 22 +uint8 FS_GCS = 23 +uint8 FS_EKF = 24 +uint8[] failsafe # Array containing all active failsafe. diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index f5aaa5883929d..ef4e14a35132f 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -17,6 +17,7 @@ #include # endif // AP_DDS_ARM_SERVER_ENABLED #include +#include #include #if AP_DDS_ARM_SERVER_ENABLED @@ -66,6 +67,9 @@ static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS; static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = AP_DDS_DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS; #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED static constexpr uint16_t DELAY_PING_MS = 500; +#ifdef AP_DDS_STATUS_PUB_ENABLED +static constexpr uint16_t DELAY_STATUS_TOPIC_MS = AP_DDS_DELAY_STATUS_TOPIC_MS; +#endif // AP_DDS_STATUS_PUB_ENABLED // Define the subscriber data members, which are static class scope. // If these are created on the stack in the subscriber, @@ -615,6 +619,56 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPointStamped& msg) } #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED +bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg) +{ + // Fill the new message. + const auto &vehicle = AP::vehicle(); + const auto &battery = AP::battery(); + msg.vehicle_type = static_cast(AP::fwversion().vehicle_type); + msg.armed = hal.util->get_soft_armed(); + msg.mode = vehicle->get_mode(); + msg.flying = vehicle->get_likely_flying(); + msg.external_control = true; // Always true for now. To be filled after PR#28429. + uint8_t fs_iter = 0; + msg.failsafe_size = 0; + if (AP_Notify::flags.failsafe_radio) { + msg.failsafe[fs_iter++] = FS_RADIO; + } + if (battery.has_failsafed()) { + msg.failsafe[fs_iter++] = FS_BATTERY; + } + if (AP_Notify::flags.failsafe_gcs) { + msg.failsafe[fs_iter++] = FS_GCS; + } + if (AP_Notify::flags.failsafe_ekf) { + msg.failsafe[fs_iter++] = FS_EKF; + } + msg.failsafe_size = fs_iter; + + // Compare with the previous one. + bool is_message_changed {false}; + is_message_changed |= (last_status_msg_.flying != msg.flying); + is_message_changed |= (last_status_msg_.armed != msg.armed); + is_message_changed |= (last_status_msg_.mode != msg.mode); + is_message_changed |= (last_status_msg_.vehicle_type != msg.vehicle_type); + is_message_changed |= (last_status_msg_.failsafe_size != msg.failsafe_size); + is_message_changed |= (last_status_msg_.external_control != msg.external_control); + + if ( is_message_changed ) { + last_status_msg_.flying = msg.flying; + last_status_msg_.armed = msg.armed; + last_status_msg_.mode = msg.mode; + last_status_msg_.vehicle_type = msg.vehicle_type; + last_status_msg_.failsafe_size = msg.failsafe_size; + last_status_msg_.external_control = msg.external_control; + update_topic(msg.header.stamp); + return true; + } else { + return false; + } +} +#endif // AP_DDS_STATUS_PUB_ENABLED /* start the DDS thread */ @@ -1458,6 +1512,23 @@ void AP_DDS_Client::write_gps_global_origin_topic() } #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED +void AP_DDS_Client::write_status_topic() +{ + WITH_SEMAPHORE(csem); + if (connected) { + ucdrBuffer ub {}; + const uint32_t topic_size = ardupilot_msgs_msg_Status_size_of_topic(&status_topic, 0); + uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::STATUS_PUB)].dw_id, &ub, topic_size); + const bool success = ardupilot_msgs_msg_Status_serialize_topic(&ub, &status_topic); + if (!success) { + // TODO sometimes serialization fails on bootup. Determine why. + // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n"); + } + } +} +#endif // AP_DDS_STATUS_PUB_ENABLED + void AP_DDS_Client::update() { WITH_SEMAPHORE(csem); @@ -1537,10 +1608,17 @@ void AP_DDS_Client::update() write_gps_global_origin_topic(); } #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED + if (cur_time_ms - last_status_check_time_ms > DELAY_STATUS_TOPIC_MS) { + if (update_topic(status_topic)) { + write_status_topic(); + } + last_status_check_time_ms = cur_time_ms; + } status_ok = uxr_run_session_time(&session, 1); } - +#endif // AP_DDS_STATUS_PUB_ENABLED #if CONFIG_HAL_BOARD != HAL_BOARD_SITL extern "C" { int clock_gettime(clockid_t clockid, struct timespec *ts); diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h index ded3451f99228..8453577ec1edd 100644 --- a/libraries/AP_DDS/AP_DDS_Client.h +++ b/libraries/AP_DDS/AP_DDS_Client.h @@ -25,6 +25,9 @@ #if AP_DDS_IMU_PUB_ENABLED #include "sensor_msgs/msg/Imu.h" #endif // AP_DDS_IMU_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED +#include "ardupilot_msgs/msg/Status.h" +#endif // AP_DDS_STATUS_PUB_ENABLED #if AP_DDS_JOY_SUB_ENABLED #include "sensor_msgs/msg/Joy.h" #endif // AP_DDS_JOY_SUB_ENABLED @@ -183,6 +186,17 @@ class AP_DDS_Client static void update_topic(rosgraph_msgs_msg_Clock& msg); #endif // AP_DDS_CLOCK_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED + ardupilot_msgs_msg_Status status_topic; + bool update_topic(ardupilot_msgs_msg_Status& msg); + // The last ms timestamp AP_DDS wrote/checked a status message + uint64_t last_status_check_time_ms; + // last status values; + ardupilot_msgs_msg_Status last_status_msg_; + //! @brief Serialize the current status and publish to the IO stream(s) + void write_status_topic(); +#endif // AP_DDS_STATUS_PUB_ENABLED + #if AP_DDS_STATIC_TF_PUB_ENABLED // outgoing transforms tf2_msgs_msg_TFMessage tx_static_transforms_topic; @@ -271,6 +285,7 @@ class AP_DDS_Client // client key we present static constexpr uint32_t key = 0xAAAABBBB; + public: ~AP_DDS_Client(); diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h index f578d2e8a486b..b9bde199dc050 100644 --- a/libraries/AP_DDS/AP_DDS_Topic_Table.h +++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h @@ -48,6 +48,9 @@ enum class TopicIndex: uint8_t { #if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED GPS_GLOBAL_ORIGIN_PUB, #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED + STATUS_PUB, +#endif // AP_DDS_STATUS_PUB_ENABLED #if AP_DDS_JOY_SUB_ENABLED JOY_SUB, #endif // AP_DDS_JOY_SUB_ENABLED @@ -268,6 +271,24 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = { }, }, #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED +#if AP_DDS_STATUS_PUB_ENABLED + { + .topic_id = to_underlying(TopicIndex::STATUS_PUB), + .pub_id = to_underlying(TopicIndex::STATUS_PUB), + .sub_id = to_underlying(TopicIndex::STATUS_PUB), + .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATUS_PUB), .type=UXR_DATAWRITER_ID}, + .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATUS_PUB), .type=UXR_DATAREADER_ID}, + .topic_rw = Topic_rw::DataWriter, + .topic_name = "rt/ap/status", + .type_name = "ardupilot_msgs::msg::dds_::Status_", + .qos = { + .durability = UXR_DURABILITY_TRANSIENT_LOCAL, + .reliability = UXR_RELIABILITY_RELIABLE, + .history = UXR_HISTORY_KEEP_LAST, + .depth = 1, + }, + }, +#endif // AP_DDS_STATUS_PUB_ENABLED #if AP_DDS_JOY_SUB_ENABLED { .topic_id = to_underlying(TopicIndex::JOY_SUB), diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h index 9bc3a5512656d..5785ca23b1212 100644 --- a/libraries/AP_DDS/AP_DDS_config.h +++ b/libraries/AP_DDS/AP_DDS_config.h @@ -94,6 +94,10 @@ #define AP_DDS_DELAY_BATTERY_STATE_TOPIC_MS 1000 #endif +#ifndef AP_DDS_DELAY_STATUS_TOPIC_MS +#define AP_DDS_DELAY_STATUS_TOPIC_MS 100 +#endif + #ifndef AP_DDS_CLOCK_PUB_ENABLED #define AP_DDS_CLOCK_PUB_ENABLED 1 #endif @@ -102,6 +106,10 @@ #define AP_DDS_DELAY_CLOCK_TOPIC_MS 10 #endif +#ifndef AP_DDS_STATUS_PUB_ENABLED +#define AP_DDS_STATUS_PUB_ENABLED 1 +#endif + #ifndef AP_DDS_JOY_SUB_ENABLED #define AP_DDS_JOY_SUB_ENABLED 1 #endif diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl new file mode 100644 index 0000000000000..a06a0da8cb2e6 --- /dev/null +++ b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl @@ -0,0 +1,56 @@ +// generated from rosidl_adapter/resource/msg.idl.em +// with input from ardupilot_msgs/msg/Status.msg +// generated code does not contain a copyright notice + +#include "std_msgs/msg/Header.idl" + +module ardupilot_msgs { + module msg { + module Status_Constants { + const uint8 APM_ROVER = 1; + const uint8 APM_ARDUCOPTER = 2; + const uint8 APM_ARDUPLANE = 3; + const uint8 APM_ANTENNATRACKER = 4; + const uint8 APM_UNKNOWN = 5; + const uint8 APM_REPLAY = 6; + const uint8 APM_ARDUSUB = 7; + const uint8 APM_IOFIRMWARE = 8; + const uint8 APM_AP_PERIPH = 9; + const uint8 APM_AP_DAL_STANDALONE = 10; + const uint8 APM_AP_BOOTLOADER = 11; + const uint8 APM_BLIMP = 12; + const uint8 APM_HELI = 13; + const uint8 FS_RADIO = 21; + const uint8 FS_BATTERY = 22; + const uint8 FS_GCS = 23; + const uint8 FS_EKF = 24; + }; + struct Status { + std_msgs::msg::Header header; + + @verbatim (language="comment", text= + "From AP_Vehicle_Type.h") + uint8 vehicle_type; + + @verbatim (language="comment", text= + "true if vehicle is armed.") + boolean armed; + + @verbatim (language="comment", text= + "Vehicle mode, enum depending on vehicle type.") + uint8 mode; + + @verbatim (language="comment", text= + "True if flying/driving/diving/tracking.") + boolean flying; + + @verbatim (language="comment", text= + "True is external control is enabled.") + boolean external_control; + + @verbatim (language="comment", text= + "Array containing all active failsafe.") + sequence failsafe; + }; + }; +}; From 1e17278bda4b1026b4614d14f12f334700c8ea3b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 17 Oct 2024 22:51:58 +1100 Subject: [PATCH 230/314] AP_NavEKF3: add an option_is_enabled method --- libraries/AP_NavEKF3/AP_NavEKF3.h | 5 ++++- libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h index 415d7424a4777..6bfba2ee17eb8 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3.h @@ -453,9 +453,12 @@ class NavEKF3 { AP_Int32 _options; // bit mask of processing options // enum for processing options - enum class Options { + enum class Option { JammingExpected = (1<<0), }; + bool option_is_enabled(Option option) const { + return (_options & (uint32_t)option) != 0; + } // Possible values for _flowUse #define FLOW_USE_NONE 0 diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index 9e1eab32eb29d..a7146dd06e71b 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -638,7 +638,7 @@ void NavEKF3_core::readGpsData() useGpsVertVel = false; } - if ((frontend->_options & (int32_t)NavEKF3::Options::JammingExpected) && + if (frontend->option_is_enabled(NavEKF3::Option::JammingExpected) && (lastTimeGpsReceived_ms - secondLastGpsTime_ms) > frontend->gpsNoFixTimeout_ms) { const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000); const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);; From 281ea91ee556402cbba5d890daa4a44c4c069da2 Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Mon, 28 Oct 2024 19:56:24 -0700 Subject: [PATCH 231/314] ArduCopter: Update clang pragma to check for the version of clang that introduces the warning AP_Arming: Update clang pragma to check for the version of clang that introduces the warning --- ArduCopter/AP_Arming.cpp | 2 +- libraries/AP_Arming/AP_Arming.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index e33abf569df02..6ef06d421641a 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -1,7 +1,7 @@ #include "Copter.h" #pragma GCC diagnostic push -#if defined(__clang__) +#if defined(__clang_major__) && __clang_major__ >= 14 #pragma GCC diagnostic ignored "-Wbitwise-instead-of-logical" #endif diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 8ff983a692ded..ffa148d6b5af1 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -175,7 +175,7 @@ extern AP_IOMCU iomcu; #endif #pragma GCC diagnostic push -#if defined (__clang__) +#if defined(__clang_major__) && __clang_major__ >= 14 #pragma GCC diagnostic ignored "-Wbitwise-instead-of-logical" #endif From 7dbb22d3b726c8ce44b647518e852d42b4c6c0f8 Mon Sep 17 00:00:00 2001 From: Tim Tuxworth Date: Tue, 5 Nov 2024 13:51:29 +0800 Subject: [PATCH 232/314] MAVLink: use the new MAVLink GUIDED HEADING_TYPE_DEFAULT --- modules/mavlink | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/mavlink b/modules/mavlink index 83e75ffdb2709..08da786b2d94c 160000 --- a/modules/mavlink +++ b/modules/mavlink @@ -1 +1 @@ -Subproject commit 83e75ffdb2709f4821b9746477639e2ae6df103f +Subproject commit 08da786b2d94ce0955a82f92ab2166c347259623 From 292f7bd78519cc89cc0f36fb1f1417443938d708 Mon Sep 17 00:00:00 2001 From: Tim Tuxworth Date: Tue, 5 Nov 2024 13:58:36 +0800 Subject: [PATCH 233/314] ArduPlane: use the new MAVLink GUIDED HEADING_TYPE_DEFAULT --- ArduPlane/GCS_Mavlink.cpp | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index d2800c367631f..9256fdfe01cb3 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -863,6 +863,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) || (plane.control_mode == &plane.mode_guided)) { plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND); +#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED + plane.guided_state.target_heading_type = GUIDED_HEADING_NONE; +#endif // add home alt if needed if (requested_position.relative_alt) { @@ -973,14 +976,20 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl float new_target_heading = radians(wrap_180(packet.param2)); - // course over ground - if ( int(packet.param1) == HEADING_TYPE_COURSE_OVER_GROUND) { // compare as nearest int + switch(HEADING_TYPE(packet.param1)) { + case HEADING_TYPE_COURSE_OVER_GROUND: + // course over ground plane.guided_state.target_heading_type = GUIDED_HEADING_COG; plane.prev_WP_loc = plane.current_loc; - // normal vehicle heading - } else if (int(packet.param1) == HEADING_TYPE_HEADING) { // compare as nearest int + break; + case HEADING_TYPE_HEADING: + // normal vehicle heading plane.guided_state.target_heading_type = GUIDED_HEADING_HEADING; - } else { + break; + case HEADING_TYPE_DEFAULT: + plane.guided_state.target_heading_type = GUIDED_HEADING_NONE; + return MAV_RESULT_ACCEPTED; + default: // MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters). return MAV_RESULT_DENIED; } From 2c401ccec5aa24b0ca79933b834072764215302e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 6 Nov 2024 19:09:47 +1100 Subject: [PATCH 234/314] Copter: rename ADVANCED_FAILSAFE to AP_COPTER_ADVANCED_FAILSAFE_ENABLED to make integration with custom build server work --- ArduCopter/APM_Config.h | 2 +- ArduCopter/Copter.cpp | 2 +- ArduCopter/Copter.h | 6 +++--- ArduCopter/GCS_Mavlink.cpp | 2 +- ArduCopter/Parameters.cpp | 4 ++-- ArduCopter/Parameters.h | 4 ++-- ArduCopter/afs_copter.cpp | 4 ++-- ArduCopter/afs_copter.h | 6 ++++-- ArduCopter/config.h | 4 ++-- ArduCopter/events.cpp | 2 +- ArduCopter/failsafe.cpp | 2 +- ArduCopter/mode.h | 12 ++++++------ ArduCopter/motors.cpp | 2 +- 13 files changed, 27 insertions(+), 25 deletions(-) diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 5b86ade1f5069..7f1ecabb7f14c 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -27,7 +27,7 @@ // features below are disabled by default on all boards //#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link -//#define ADVANCED_FAILSAFE 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events +//#define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events // other settings //#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000) diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index 675b3b07eab03..417468160cdfc 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -232,7 +232,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = { #if HAL_ADSB_ENABLED SCHED_TASK(avoidance_adsb_update, 10, 100, 138), #endif -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED SCHED_TASK(afs_fs_check, 10, 100, 141), #endif #if AP_TERRAIN_AVAILABLE diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index 60c0818e6339d..48b6141c9a84d 100644 --- a/ArduCopter/Copter.h +++ b/ArduCopter/Copter.h @@ -137,7 +137,7 @@ #include #endif -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED # include "afs_copter.h" #endif #if TOY_MODE_ENABLED @@ -183,7 +183,7 @@ class Copter : public AP_Vehicle { friend class ParametersG2; friend class AP_Avoidance_Copter; -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED friend class AP_AdvancedFailsafe_Copter; #endif friend class AP_Arming_Copter; @@ -804,7 +804,7 @@ class Copter : public AP_Vehicle { // failsafe.cpp void failsafe_enable(); void failsafe_disable(); -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED void afs_fs_check(void); #endif diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 1e4e6da5984a1..6c2d169db8af6 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -1519,7 +1519,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg) } MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) { -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) { return MAV_RESULT_ACCEPTED; } diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 8f5425482143a..ef7f785bea07a 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -771,7 +771,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = { // @User: Advanced AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1), -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // @Group: AFS_ // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe), @@ -1251,7 +1251,7 @@ ParametersG2::ParametersG2(void) #if HAL_PROXIMITY_ENABLED , proximity() #endif -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED ,afs() #endif #if MODE_SMARTRTL_ENABLED diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 0eee4058331d7..7ba292bc5fed5 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -530,8 +530,8 @@ class ParametersG2 { // whether to enforce acceptance of packets only from sysid_my_gcs AP_Int8 sysid_enforce; - -#if ADVANCED_FAILSAFE + +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // advanced failsafe library AP_AdvancedFailsafe_Copter afs; #endif diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp index a0b83b36cad3a..0d639e1276b12 100644 --- a/ArduCopter/afs_copter.cpp +++ b/ArduCopter/afs_copter.cpp @@ -4,7 +4,7 @@ #include "Copter.h" -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED /* setup radio_out values for all channels to termination values @@ -63,4 +63,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void) { copter.set_mode(Mode::Number::AUTO,ModeReason::GCS_FAILSAFE); } -#endif // ADVANCED_FAILSAFE +#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED diff --git a/ArduCopter/afs_copter.h b/ArduCopter/afs_copter.h index 29e2dfa7a347c..4d133f6276a3d 100644 --- a/ArduCopter/afs_copter.h +++ b/ArduCopter/afs_copter.h @@ -18,7 +18,9 @@ advanced failsafe support for copter */ -#if ADVANCED_FAILSAFE +#include "config.h" + +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED #include /* @@ -44,5 +46,5 @@ class AP_AdvancedFailsafe_Copter : public AP_AdvancedFailsafe void set_mode_auto(void) override; }; -#endif // ADVANCED_FAILSAFE +#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 3faf4609c6672..0da560ea09099 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -574,8 +574,8 @@ // Developer Items // -#ifndef ADVANCED_FAILSAFE -# define ADVANCED_FAILSAFE 0 +#ifndef AP_COPTER_ADVANCED_FAILSAFE_ENABLED +# define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 0 #endif #ifndef CH_MODE_DEFAULT diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp index d49ce3d01aaf0..3002e773c02e5 100644 --- a/ArduCopter/events.cpp +++ b/ArduCopter/events.cpp @@ -492,7 +492,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){ set_mode_SmartRTL_or_land_with_pause(reason); break; case FailsafeAction::TERMINATE: { -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED g2.afs.gcs_terminate(true, "Failsafe"); #else arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE); diff --git a/ArduCopter/failsafe.cpp b/ArduCopter/failsafe.cpp index 57864b01be009..f143505977923 100644 --- a/ArduCopter/failsafe.cpp +++ b/ArduCopter/failsafe.cpp @@ -72,7 +72,7 @@ void Copter::failsafe_check() } -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED /* check for AFS failsafe check */ diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index faf22b0180f45..5579b51fb786e 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -4,7 +4,7 @@ #include #include // TODO why is this needed if Copter.h includes this -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED #include "afs_copter.h" #endif @@ -134,7 +134,7 @@ class Mode { virtual bool allows_flip() const { return false; } virtual bool crash_check_enabled() const { return true; } -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // Return the type of this mode for use by advanced failsafe virtual AP_AdvancedFailsafe_Copter::control_mode afs_mode() const { return AP_AdvancedFailsafe_Copter::control_mode::AFS_STABILIZED; } #endif @@ -517,7 +517,7 @@ class ModeAuto : public Mode { bool allows_inverted() const override { return true; }; #endif -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // Return the type of this mode for use by advanced failsafe AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } #endif @@ -1068,7 +1068,7 @@ class ModeGuided : public Mode { bool requires_terrain_failsafe() const override { return true; } -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // Return the type of this mode for use by advanced failsafe AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } #endif @@ -1243,7 +1243,7 @@ class ModeLand : public Mode { bool is_landing() const override { return true; }; -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // Return the type of this mode for use by advanced failsafe AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } #endif @@ -1425,7 +1425,7 @@ class ModeRTL : public Mode { bool requires_terrain_failsafe() const override { return true; } -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // Return the type of this mode for use by advanced failsafe AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } #endif diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp index 45eccc3e84f99..e382cb5941f65 100644 --- a/ArduCopter/motors.cpp +++ b/ArduCopter/motors.cpp @@ -135,7 +135,7 @@ void Copter::auto_disarm_check() // motors_output - send output to motors library which will adjust and send to ESCs and servos void Copter::motors_output() { -#if ADVANCED_FAILSAFE +#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // this is to allow the failsafe module to deliberately crash // the vehicle. Only used in extreme circumstances to meet the // OBC rules From ca424a165dcb0d14be01ba918e0682619de96fad Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 6 Nov 2024 19:10:19 +1100 Subject: [PATCH 235/314] Tools: add entry for Copter advanced failsafe to custom build server --- Tools/autotest/test_build_options.py | 1 + Tools/scripts/build_options.py | 1 + Tools/scripts/extract_features.py | 1 + 3 files changed, 3 insertions(+) diff --git a/Tools/autotest/test_build_options.py b/Tools/autotest/test_build_options.py index 12f5b8c3946c9..a11b8c63b169a 100755 --- a/Tools/autotest/test_build_options.py +++ b/Tools/autotest/test_build_options.py @@ -287,6 +287,7 @@ def define_is_whitelisted_for_feature_in_code(self, target, define): feature_define_whitelist.add('AP_WINCH_DAIWA_ENABLED') feature_define_whitelist.add('AP_WINCH_PWM_ENABLED') feature_define_whitelist.add(r'AP_MOTORS_FRAME_.*_ENABLED') + feature_define_whitelist.add('AP_COPTER_ADVANCED_FAILSAFE_ENABLED') if target.lower() != "plane": # only on Plane: diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py index 3f5dd534ff8f1..54be58a3bd074 100644 --- a/Tools/scripts/build_options.py +++ b/Tools/scripts/build_options.py @@ -156,6 +156,7 @@ def config_option(self): Feature('Copter', 'MODE_FLOWHOLD', 'MODE_FLOWHOLD_ENABLED', 'Enable Mode Flowhold', 0, "OPTICALFLOW"), Feature('Copter', 'MODE_FLIP', 'MODE_FLIP_ENABLED', 'Enable Mode Flip', 0, None), Feature('Copter', 'MODE_BRAKE', 'MODE_BRAKE_ENABLED', 'Enable Mode Brake', 0, None), + Feature('Copter', 'COPTER_ADVANCED_FAILSAFE', 'AP_COPTER_ADVANCED_FAILSAFE_ENABLED', 'Enable Advanced Failsafe', 0, "ADVANCED_FAILSAFE"), # NOQA: 501 Feature('Rover', 'ROVER_ADVANCED_FAILSAFE', 'AP_ROVER_ADVANCED_FAILSAFE_ENABLED', 'Enable Advanced Failsafe', 0, "ADVANCED_FAILSAFE"), # NOQA: 501 diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py index eec1399c02a3b..36a375522aa05 100755 --- a/Tools/scripts/extract_features.py +++ b/Tools/scripts/extract_features.py @@ -278,6 +278,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"): ('AP_RSSI_ENABLED', r'AP_RSSI::init'), ('AP_ROVER_ADVANCED_FAILSAFE_ENABLED', r'Rover::afs_fs_check'), + ('AP_COPTER_ADVANCED_FAILSAFE_ENABLED', r'Copter::afs_fs_check'), ('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED', r'GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands'), ('AP_SERIALMANAGER_REGISTER_ENABLED', r'AP_SerialManager::register_port'), From d7b207fd7794adcaec5180dfa27baa6fff60899a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2024 13:23:18 +1100 Subject: [PATCH 236/314] AP_HAL_ChibiOS: tidy defaulting of OpticalFlow sensor type --- libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat index 5140f1130b1a9..64d400165f889 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat @@ -130,6 +130,7 @@ define HAL_BARO_20789_I2C_ADDR_ICM 0x68 define HAL_I2C_CLEAR_BUS define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 +define OPTICAL_FLOW_TYPE_DEFAULT Type::PIXART # the web UI uses an abin file for firmware uploads env BUILD_ABIN True From 8b008a2a19e8e6d683a5c55fce9c2d3725212c80 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2024 13:23:18 +1100 Subject: [PATCH 237/314] AP_OpticalFlow: tidy defaulting of OpticalFlow sensor type --- libraries/AP_OpticalFlow/AP_OpticalFlow.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp index 3492718ea4c40..1f0188917da43 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp @@ -19,9 +19,7 @@ extern const AP_HAL::HAL& hal; #ifndef OPTICAL_FLOW_TYPE_DEFAULT - #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 || defined(HAL_HAVE_PIXARTFLOW_SPI) - #define OPTICAL_FLOW_TYPE_DEFAULT Type::PIXART - #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP + #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #define OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP #else #define OPTICAL_FLOW_TYPE_DEFAULT Type::NONE From 0c5741364e7ff3da40c87024675002f961668976 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2024 13:25:50 +1100 Subject: [PATCH 238/314] AP_HAL: tidy defaulting of Bebop OpticalFlow sensor type --- libraries/AP_HAL/board/linux.h | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index b92ea9c40663b..a7e6c3fc1740f 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -57,6 +57,7 @@ #define HAL_LINUX_HEAT_TARGET_TEMP 50 #define BEBOP_CAMV_PWM 9 #define BEBOP_CAMV_PWM_FREQ 43333333 + #define OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" #define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 From 25a6d579ebba573d62fb53022025b168b7ddb701 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2024 13:25:50 +1100 Subject: [PATCH 239/314] AP_OpticalFlow: tidy defaulting of Bebop OpticalFlow sensor type --- libraries/AP_OpticalFlow/AP_OpticalFlow.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp index 1f0188917da43..2b86e63f73d4f 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp @@ -19,11 +19,7 @@ extern const AP_HAL::HAL& hal; #ifndef OPTICAL_FLOW_TYPE_DEFAULT - #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP - #define OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP - #else #define OPTICAL_FLOW_TYPE_DEFAULT Type::NONE - #endif #endif const AP_Param::GroupInfo AP_OpticalFlow::var_info[] = { From 1e7cd71ad604c8e124ee65d8d532b234745e74a3 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 16:01:30 -0700 Subject: [PATCH 240/314] Tools: Add astyle dependency Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/environment_install/install-prereqs-ubuntu.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh index 7f5c075a824f9..d7b7d8c31440d 100755 --- a/Tools/environment_install/install-prereqs-ubuntu.sh +++ b/Tools/environment_install/install-prereqs-ubuntu.sh @@ -162,7 +162,7 @@ else fi # Lists of packages to install -BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen python3-pexpect" +BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen python3-pexpect astyle" PYTHON_PKGS="future lxml pymavlink pyserial MAVProxy geocoder empy==3.3.4 ptyprocess dronecan" PYTHON_PKGS="$PYTHON_PKGS flake8 junitparser wsproto" From 99e314f49affdfcb96c87b1b2bf19dcc275e16c9 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 10:29:06 +1100 Subject: [PATCH 241/314] AP_Mount: tidy header includes our pattern is to include the config file and then use the relevant define, with nothing in between --- libraries/AP_Mount/AP_Mount.cpp | 6 ++++-- libraries/AP_Mount/AP_Mount_Alexmos.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Alexmos.h | 5 ++++- libraries/AP_Mount/AP_Mount_Backend.cpp | 6 +++++- libraries/AP_Mount/AP_Mount_Backend_Serial.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Gremsy.cpp | 4 +++- libraries/AP_Mount/AP_Mount_Gremsy.h | 4 +++- libraries/AP_Mount/AP_Mount_SToRM32.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_SToRM32.h | 4 +++- libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_SToRM32_serial.h | 4 +++- libraries/AP_Mount/AP_Mount_Scripting.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Scripting.h | 6 ++++-- libraries/AP_Mount/AP_Mount_Servo.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Servo.h | 4 +++- libraries/AP_Mount/AP_Mount_Siyi.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Siyi.h | 6 ++++-- libraries/AP_Mount/AP_Mount_Topotek.cpp | 4 +++- libraries/AP_Mount/AP_Mount_Viewpro.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Viewpro.h | 4 +++- libraries/AP_Mount/AP_Mount_Xacti.cpp | 5 ++++- libraries/AP_Mount/AP_Mount_Xacti.h | 4 +++- libraries/AP_Mount/AP_Mount_config.h | 2 ++ libraries/AP_Mount/SoloGimbal.cpp | 6 ++++-- libraries/AP_Mount/SoloGimbalEKF.cpp | 5 ++++- libraries/AP_Mount/SoloGimbal_Parameters.cpp | 5 ++++- 26 files changed, 95 insertions(+), 29 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp index fe7f29f7eac3c..8dc31bbfa33de 100644 --- a/libraries/AP_Mount/AP_Mount.cpp +++ b/libraries/AP_Mount/AP_Mount.cpp @@ -1,9 +1,11 @@ +#include "AP_Mount_config.h" + +#if HAL_MOUNT_ENABLED + #include #include #include "AP_Mount.h" -#if HAL_MOUNT_ENABLED - #include "AP_Mount_Backend.h" #include "AP_Mount_Servo.h" #include "AP_Mount_SoloGimbal.h" diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp index 7db333f6b7849..79a8a5eaf0586 100644 --- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp +++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Alexmos.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_ALEXMOS_ENABLED + +#include "AP_Mount_Alexmos.h" + #include //definition of the commands id for the Alexmos Serial Protocol diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.h b/libraries/AP_Mount/AP_Mount_Alexmos.h index a8765e17436f2..10225afa7255d 100644 --- a/libraries/AP_Mount/AP_Mount_Alexmos.h +++ b/libraries/AP_Mount/AP_Mount_Alexmos.h @@ -3,9 +3,12 @@ */ #pragma once -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_ALEXMOS_ENABLED + +#include "AP_Mount_Backend.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp index 94f9e7e31b5c9..531d01c30a6e3 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.cpp +++ b/libraries/AP_Mount/AP_Mount_Backend.cpp @@ -1,5 +1,9 @@ -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" + #if HAL_MOUNT_ENABLED + +#include "AP_Mount_Backend.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Backend_Serial.cpp b/libraries/AP_Mount/AP_Mount_Backend_Serial.cpp index ec27051057565..35fe60265b6a7 100644 --- a/libraries/AP_Mount/AP_Mount_Backend_Serial.cpp +++ b/libraries/AP_Mount/AP_Mount_Backend_Serial.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Backend_Serial.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_ENABLED + +#include "AP_Mount_Backend_Serial.h" + #include // Default init function for every mount diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp index 631acc87784e4..9e88a32417a7e 100644 --- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp +++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp @@ -1,7 +1,9 @@ -#include "AP_Mount_Gremsy.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_GREMSY_ENABLED +#include "AP_Mount_Gremsy.h" + #include #include diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.h b/libraries/AP_Mount/AP_Mount_Gremsy.h index 79bd42af77670..581eda36908ab 100644 --- a/libraries/AP_Mount/AP_Mount_Gremsy.h +++ b/libraries/AP_Mount/AP_Mount_Gremsy.h @@ -3,10 +3,12 @@ */ #pragma once -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_GREMSY_ENABLED +#include "AP_Mount_Backend.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp index bd638fa42ab74..71875ad1592dc 100644 --- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp +++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_SToRM32.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_STORM32MAVLINK_ENABLED + +#include "AP_Mount_SToRM32.h" + #include #include diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.h b/libraries/AP_Mount/AP_Mount_SToRM32.h index 33aef375c410f..6ff1a1ad1abaf 100644 --- a/libraries/AP_Mount/AP_Mount_SToRM32.h +++ b/libraries/AP_Mount/AP_Mount_SToRM32.h @@ -3,10 +3,12 @@ */ #pragma once -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_STORM32MAVLINK_ENABLED +#include "AP_Mount_Backend.h" + #include #include diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp index 9b003de0fe4b0..ace890366352d 100644 --- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp +++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_SToRM32_serial.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_STORM32SERIAL_ENABLED + +#include "AP_Mount_SToRM32_serial.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h index 895143e80bb72..07b3d3d165de8 100644 --- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h +++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h @@ -3,10 +3,12 @@ */ #pragma once -#include "AP_Mount_Backend_Serial.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_STORM32SERIAL_ENABLED +#include "AP_Mount_Backend_Serial.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Scripting.cpp b/libraries/AP_Mount/AP_Mount_Scripting.cpp index e70c03003616e..165d0d1a58a07 100644 --- a/libraries/AP_Mount/AP_Mount_Scripting.cpp +++ b/libraries/AP_Mount/AP_Mount_Scripting.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Scripting.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_SCRIPTING_ENABLED + +#include "AP_Mount_Scripting.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Scripting.h b/libraries/AP_Mount/AP_Mount_Scripting.h index ecf1f7cbd89c7..52537f171dd1f 100644 --- a/libraries/AP_Mount/AP_Mount_Scripting.h +++ b/libraries/AP_Mount/AP_Mount_Scripting.h @@ -4,10 +4,12 @@ #pragma once -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_SCRIPTING_ENABLED +#include "AP_Mount_Backend.h" + #include #include #include @@ -50,4 +52,4 @@ class AP_Mount_Scripting : public AP_Mount_Backend bool target_loc_valid; // true if target_loc holds a valid target location }; -#endif // HAL_MOUNT_SIYISERIAL_ENABLED +#endif // HAL_MOUNT_SCRIPTING_ENABLED diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp index 743708fa9dd8b..f2446c2af7a5f 100644 --- a/libraries/AP_Mount/AP_Mount_Servo.cpp +++ b/libraries/AP_Mount/AP_Mount_Servo.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Servo.h" +#include "AP_Mount_config.h" + #if HAL_MOUNT_SERVO_ENABLED +#include "AP_Mount_Servo.h" + #include #include diff --git a/libraries/AP_Mount/AP_Mount_Servo.h b/libraries/AP_Mount/AP_Mount_Servo.h index 8ead11561fd08..a1da63210bc5c 100644 --- a/libraries/AP_Mount/AP_Mount_Servo.h +++ b/libraries/AP_Mount/AP_Mount_Servo.h @@ -3,10 +3,12 @@ */ #pragma once -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_SERVO_ENABLED +#include "AP_Mount_Backend.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp index 1c91af6a43fc9..e16a29586de5f 100644 --- a/libraries/AP_Mount/AP_Mount_Siyi.cpp +++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Siyi.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_SIYI_ENABLED + +#include "AP_Mount_Siyi.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h index 20285b0b5bd6c..7f7f280b224aa 100644 --- a/libraries/AP_Mount/AP_Mount_Siyi.h +++ b/libraries/AP_Mount/AP_Mount_Siyi.h @@ -19,10 +19,12 @@ #pragma once -#include "AP_Mount_Backend_Serial.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_SIYI_ENABLED +#include "AP_Mount_Backend_Serial.h" + #include #include #include @@ -381,4 +383,4 @@ class AP_Mount_Siyi : public AP_Mount_Backend_Serial uint8_t sent_time_count; }; -#endif // HAL_MOUNT_SIYISERIAL_ENABLED +#endif // HAL_MOUNT_SIYI_ENABLED diff --git a/libraries/AP_Mount/AP_Mount_Topotek.cpp b/libraries/AP_Mount/AP_Mount_Topotek.cpp index bfe93ec83a8ed..dc1fae7007b9f 100755 --- a/libraries/AP_Mount/AP_Mount_Topotek.cpp +++ b/libraries/AP_Mount/AP_Mount_Topotek.cpp @@ -1,7 +1,9 @@ -#include "AP_Mount_Topotek.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_TOPOTEK_ENABLED +#include "AP_Mount_Topotek.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp index 1de89fbc6722b..aa443483e82b2 100644 --- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp +++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Viewpro.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_VIEWPRO_ENABLED + +#include "AP_Mount_Viewpro.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.h b/libraries/AP_Mount/AP_Mount_Viewpro.h index 1e045c8fd1ae2..1100586cd1ce1 100644 --- a/libraries/AP_Mount/AP_Mount_Viewpro.h +++ b/libraries/AP_Mount/AP_Mount_Viewpro.h @@ -16,10 +16,12 @@ #pragma once -#include "AP_Mount_Backend_Serial.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_VIEWPRO_ENABLED +#include "AP_Mount_Backend_Serial.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp index c5727f6c023d8..86296d814be01 100644 --- a/libraries/AP_Mount/AP_Mount_Xacti.cpp +++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp @@ -1,6 +1,9 @@ -#include "AP_Mount_Xacti.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_XACTI_ENABLED + +#include "AP_Mount_Xacti.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_Xacti.h b/libraries/AP_Mount/AP_Mount_Xacti.h index 31a6684023561..0057f4ae371ad 100644 --- a/libraries/AP_Mount/AP_Mount_Xacti.h +++ b/libraries/AP_Mount/AP_Mount_Xacti.h @@ -8,10 +8,12 @@ #pragma once -#include "AP_Mount_Backend.h" +#include "AP_Mount_config.h" #if HAL_MOUNT_XACTI_ENABLED +#include "AP_Mount_Backend.h" + #include #include #include diff --git a/libraries/AP_Mount/AP_Mount_config.h b/libraries/AP_Mount/AP_Mount_config.h index c7b063b20e2ec..c6e0791c2a6b0 100644 --- a/libraries/AP_Mount/AP_Mount_config.h +++ b/libraries/AP_Mount/AP_Mount_config.h @@ -2,6 +2,8 @@ #include #include +#include +#include #ifndef HAL_MOUNT_ENABLED #define HAL_MOUNT_ENABLED 1 diff --git a/libraries/AP_Mount/SoloGimbal.cpp b/libraries/AP_Mount/SoloGimbal.cpp index eba243eabac4a..6e270de10251a 100644 --- a/libraries/AP_Mount/SoloGimbal.cpp +++ b/libraries/AP_Mount/SoloGimbal.cpp @@ -1,9 +1,11 @@ +#include "AP_Mount_config.h" + +#if HAL_SOLO_GIMBAL_ENABLED + #include #include #include "SoloGimbal.h" -#if HAL_SOLO_GIMBAL_ENABLED - #include #include #include diff --git a/libraries/AP_Mount/SoloGimbalEKF.cpp b/libraries/AP_Mount/SoloGimbalEKF.cpp index b599b4c2516b8..b514706f159a9 100644 --- a/libraries/AP_Mount/SoloGimbalEKF.cpp +++ b/libraries/AP_Mount/SoloGimbalEKF.cpp @@ -1,3 +1,7 @@ +#include "AP_Mount_config.h" + +#if HAL_SOLO_GIMBAL_ENABLED + #include // uncomment this to force the optimisation of this code, note that @@ -9,7 +13,6 @@ #endif #include "SoloGimbalEKF.h" -#if HAL_SOLO_GIMBAL_ENABLED #include #include #include diff --git a/libraries/AP_Mount/SoloGimbal_Parameters.cpp b/libraries/AP_Mount/SoloGimbal_Parameters.cpp index 60bf156acb3ba..ff76f0583dfed 100644 --- a/libraries/AP_Mount/SoloGimbal_Parameters.cpp +++ b/libraries/AP_Mount/SoloGimbal_Parameters.cpp @@ -1,5 +1,8 @@ -#include "SoloGimbal_Parameters.h" +#include "AP_Mount_config.h" + #if HAL_SOLO_GIMBAL_ENABLED + +#include "SoloGimbal_Parameters.h" #include #include #include From cf27ba09d006752b79862a5de3e53a59d9b4ff60 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 19 Sep 2024 12:25:23 +1000 Subject: [PATCH 242/314] AP_IOMCU: use RC_Channel to populate IOMCU mappings --- libraries/AP_IOMCU/AP_IOMCU.cpp | 23 +++++++++++++---------- libraries/AP_IOMCU/AP_IOMCU.h | 3 +-- 2 files changed, 14 insertions(+), 12 deletions(-) diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp index 77617cdb02ea4..e1c6f5d863444 100644 --- a/libraries/AP_IOMCU/AP_IOMCU.cpp +++ b/libraries/AP_IOMCU/AP_IOMCU.cpp @@ -1208,7 +1208,7 @@ void AP_IOMCU::bind_dsm(uint8_t mode) setup for mixing. This allows fixed wing aircraft to fly in manual mode if the FMU dies */ -bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan, +bool AP_IOMCU::setup_mixing(int8_t override_chan, float mixing_gain, uint16_t manual_rc_mask) { if (!is_chibios_backend) { @@ -1229,16 +1229,19 @@ bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan, MIX_UPDATE(mixing.servo_function[i], c->get_function()); MIX_UPDATE(mixing.servo_reversed[i], c->get_reversed()); } - // update RCMap - MIX_UPDATE(mixing.rc_channel[0], rcmap->roll()); - MIX_UPDATE(mixing.rc_channel[1], rcmap->pitch()); - MIX_UPDATE(mixing.rc_channel[2], rcmap->throttle()); - MIX_UPDATE(mixing.rc_channel[3], rcmap->yaw()); + auto &xrc = rc(); + // note that if not all of these channels are specified correctly + // in parameters then these may be a "dummy" RC channel pointer. + // In that case c->ch() will be zero. + const RC_Channel *channels[] { + &xrc.get_roll_channel(), + &xrc.get_pitch_channel(), + &xrc.get_throttle_channel(), + &xrc.get_yaw_channel() + }; for (uint8_t i=0; i<4; i++) { - const RC_Channel *c = RC_Channels::rc_channel(mixing.rc_channel[i]-1); - if (!c) { - continue; - } + const auto *c = channels[i]; + MIX_UPDATE(mixing.rc_channel[i], c->ch()); MIX_UPDATE(mixing.rc_min[i], c->get_radio_min()); MIX_UPDATE(mixing.rc_max[i], c->get_radio_max()); MIX_UPDATE(mixing.rc_trim[i], c->get_radio_trim()); diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h index 1d03debb9a86b..da6d55a03dce7 100644 --- a/libraries/AP_IOMCU/AP_IOMCU.h +++ b/libraries/AP_IOMCU/AP_IOMCU.h @@ -11,7 +11,6 @@ #if HAL_WITH_IO_MCU #include "iofirmware/ioprotocol.h" -#include #include #include @@ -151,7 +150,7 @@ class AP_IOMCU void soft_reboot(); // setup for FMU failsafe mixing - bool setup_mixing(RCMapper *rcmap, int8_t override_chan, + bool setup_mixing(int8_t override_chan, float mixing_gain, uint16_t manual_rc_mask); // Check if pin number is valid and configured for GPIO From 2ad8477f98f4bc0e73ddfae8ded2548aedaf2a5e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 19 Sep 2024 12:25:23 +1000 Subject: [PATCH 243/314] ArduPlane: use RC_Channel to populate IOMCU mappings --- ArduPlane/ArduPlane.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 0181f392d804b..d69e3a3842e4b 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -329,7 +329,7 @@ void Plane::one_second_loop() set_control_channels(); #if HAL_WITH_IO_MCU - iomcu.setup_mixing(&rcmap, g.override_channel.get(), g.mixing_gain, g2.manual_rc_mask); + iomcu.setup_mixing(g.override_channel.get(), g.mixing_gain, g2.manual_rc_mask); #endif #if HAL_ADSB_ENABLED From 3716f5513d307e4731972819d095e8315dd8bf2d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 13:39:20 +1100 Subject: [PATCH 244/314] AP_HAL_SITL: process inbound data in outqueue-length delay loop this is the loop which ensures the amount of data sent to the mavlink client (usually Python) is limited - if we don't do this then we lose vast amounts of data when running at large speedups. By attempting to process inbound data we may realise that the TCP connection has been dropped, and in that case we will start to listen for another connection. This allows you to terminate the sim_vehicle.py MAVProxy and have it automagically restart (when running under GDB). This is very useful for testing MAVProxy patches with SITL; it's a different workflow to opening an output and connecting a new version of MAVProxy to that outout. --- libraries/AP_HAL_SITL/SITL_State.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp index af55acaa1f844..4850e40b027a4 100644 --- a/libraries/AP_HAL_SITL/SITL_State.cpp +++ b/libraries/AP_HAL_SITL/SITL_State.cpp @@ -185,12 +185,14 @@ void SITL_State::wait_clock(uint64_t wait_time_usec) // conditions. if (speedup > 1 && hal.scheduler->in_main_thread()) { while (true) { - const int queue_length = ((HALSITL::UARTDriver*)hal.serial(0))->get_system_outqueue_length(); + HALSITL::UARTDriver *uart = (HALSITL::UARTDriver*)hal.serial(0); + const int queue_length = uart->get_system_outqueue_length(); // ::fprintf(stderr, "queue_length=%d\n", (signed)queue_length); if (queue_length < 1024) { break; } _serial_0_outqueue_full_count++; + uart->handle_reading_from_device_to_readbuffer(); usleep(1000); } } From 8085c44840aaa31ad454ab7852a978cdb9f52915 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 11 Nov 2024 21:27:06 +1100 Subject: [PATCH 245/314] AP_HAL_SITL: remove redundant gps state shadows stuff in base class --- libraries/AP_HAL_SITL/SITL_State.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h index 4ff1c0c046b22..b5452aceda2df 100644 --- a/libraries/AP_HAL_SITL/SITL_State.h +++ b/libraries/AP_HAL_SITL/SITL_State.h @@ -110,9 +110,6 @@ class HALSITL::SITL_State : public SITL_State_Common { uint32_t wind_start_delay_micros; uint32_t last_wind_update_us; - // simulated GPS devices - SITL::GPS *gps[2]; // constrained by # of parameter sets - // returns a voltage between 0V to 5V which should appear as the // voltage from the sensor float _sonar_pin_voltage() const; From 3bc0207f22d48648d0c46d301904fa782861733d Mon Sep 17 00:00:00 2001 From: zhou <3177821352@qq.com> Date: Wed, 23 Oct 2024 18:03:36 +0800 Subject: [PATCH 246/314] AP_Mount: topotek: Change the type of gimbal angle acquisition ... also convert the lowercase characters in the command to uppercase --- libraries/AP_Mount/AP_Mount_Topotek.cpp | 10 +++++----- libraries/AP_Mount/AP_Mount_Topotek.h | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Topotek.cpp b/libraries/AP_Mount/AP_Mount_Topotek.cpp index dc1fae7007b9f..4e468a7ae5173 100755 --- a/libraries/AP_Mount/AP_Mount_Topotek.cpp +++ b/libraries/AP_Mount/AP_Mount_Topotek.cpp @@ -33,7 +33,7 @@ extern const AP_HAL::HAL& hal; # define AP_MOUNT_TOPOTEK_ID3CHAR_START_TRACKING "LOC" // start image tracking # define AP_MOUNT_TOPOTEK_ID3CHAR_LRF "LRF" // laser rangefinder control, data bytes: 00:ranging stop, 01:ranging start, 02:single measurement, 03:continuous measurement # define AP_MOUNT_TOPOTEK_ID3CHAR_PIP "PIP" // set picture-in-picture setting, data bytes: // 00:main only, 01:main+sub, 02:sub+main, 03:sub only, 0A:next -# define AP_MOUNT_TOPOTEK_ID3CHAR_GIMBAL_ATT "GAA" // get gimbal attitude, data bytes: 00:stop, 01:start +# define AP_MOUNT_TOPOTEK_ID3CHAR_GIMBAL_ATT "GIA" // get gimbal attitude, data bytes: 00:stop, 01:start # define AP_MOUNT_TOPOTEK_ID3CHAR_SD_CARD "SDC" // get SD card state, data bytes: 00:get remaining capacity, 01:get total capacity # define AP_MOUNT_TOPOTEK_ID3CHAR_TIME "UTC" // set time and date, data bytes: HHMMSSDDMMYY # define AP_MOUNT_TOPOTEK_ID3CHAR_GET_VERSION "VSN" // get firmware version, data bytes always 00 @@ -756,7 +756,7 @@ void AP_Mount_Topotek::read_incoming_packets() // request gimbal attitude void AP_Mount_Topotek::request_gimbal_attitude() { - // sample command: #TPUG2wGAA01 + // sample command: #TPUG2wGIA01 send_fixedlen_packet(AddressByte::GIMBAL, AP_MOUNT_TOPOTEK_ID3CHAR_GIMBAL_ATT, true, 1); } @@ -802,7 +802,7 @@ void AP_Mount_Topotek::send_angle_target(const MountTarget& angle_rad) // calculate and send yaw target // sample command #tpUG6wGIY - const char* format_str = "%04x%02x"; + const char* format_str = "%04X%02X"; const uint8_t speed = 99; const uint16_t yaw_angle_cd = (uint16_t)constrain_int16(degrees(angle_rad.get_bf_yaw()) * 100, MAX(-18000, _params.yaw_angle_min * 100), MIN(18000, _params.yaw_angle_max * 100)); @@ -863,7 +863,7 @@ void AP_Mount_Topotek::send_rate_target(const MountTarget& rate_rads) // prepare and send command // sample command: #tpUG6wYPR uint8_t databuff[7]; - hal.util->snprintf((char *)databuff, ARRAY_SIZE(databuff), "%02x%02x%02x", yaw_angle_speed, pitch_angle_speed, roll_angle_speed); + hal.util->snprintf((char *)databuff, ARRAY_SIZE(databuff), "%02X%02X%02X", yaw_angle_speed, pitch_angle_speed, roll_angle_speed); send_variablelen_packet(HeaderType::VARIABLE_LEN, AddressByte::GIMBAL, AP_MOUNT_TOPOTEK_ID3CHAR_YPR_RATE, true, databuff, ARRAY_SIZE(databuff)-1); } @@ -1141,7 +1141,7 @@ int16_t AP_Mount_Topotek::hexchar4_to_int16(char high, char mid_high, char mid_l bool AP_Mount_Topotek::send_fixedlen_packet(AddressByte address, const Identifier id, bool write, uint8_t value) { uint8_t databuff[3]; - hal.util->snprintf((char *)databuff, ARRAY_SIZE(databuff), "%02x", value); + hal.util->snprintf((char *)databuff, ARRAY_SIZE(databuff), "%02X", value); return send_variablelen_packet(HeaderType::FIXED_LEN, address, id, write, databuff, ARRAY_SIZE(databuff)-1); } diff --git a/libraries/AP_Mount/AP_Mount_Topotek.h b/libraries/AP_Mount/AP_Mount_Topotek.h index 3d52f0ff62827..9c8882936c758 100755 --- a/libraries/AP_Mount/AP_Mount_Topotek.h +++ b/libraries/AP_Mount/AP_Mount_Topotek.h @@ -272,7 +272,7 @@ class AP_Mount_Topotek : public AP_Mount_Backend_Serial // stores command ID and corresponding member functions that are compared with the command received by the gimbal UartCmdFunctionHandler uart_recv_cmd_compare_list[AP_MOUNT_RECV_GIMBAL_CMD_CATEGORIES_NUM] = { - {{"GAC"}, &AP_Mount_Topotek::gimbal_angle_analyse}, + {{"GIA"}, &AP_Mount_Topotek::gimbal_angle_analyse}, {{"REC"}, &AP_Mount_Topotek::gimbal_record_analyse}, {{"SDC"}, &AP_Mount_Topotek::gimbal_sdcard_analyse}, {{"LRF"}, &AP_Mount_Topotek::gimbal_dist_info_analyse}, From be769a6a7fa1cfc44c1a2fa6b31dc897c043d4ce Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 12 Nov 2024 22:00:05 +1100 Subject: [PATCH 247/314] Tools: correct powr_change.py output for accumulated flags --- Tools/scripts/powr_change.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/Tools/scripts/powr_change.py b/Tools/scripts/powr_change.py index 332f9814dcd9e..d7c295a08c757 100755 --- a/Tools/scripts/powr_change.py +++ b/Tools/scripts/powr_change.py @@ -70,8 +70,6 @@ def run(self): if new_acc_bit_set and not old_acc_bit_set: line += " ACCFLAGS+%s" % self.bit_description(bit) - elif not new_bit_set and old_bit_set: - line += " ACCFLAGS-%s" % self.bit_description(bit) if len(line) == 0: continue From 7e7f56df79e7a8dd1f71db0bc394a9793be2f8b7 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 02:35:08 -0700 Subject: [PATCH 248/314] Tools: Add mavcesium option to sim_vehicle.py Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/autotest/sim_vehicle.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py index 19dbbb5ee7cd3..6899e55e9912c 100755 --- a/Tools/autotest/sim_vehicle.py +++ b/Tools/autotest/sim_vehicle.py @@ -964,6 +964,8 @@ def start_mavproxy(opts, stuff): cmd.extend(['--aircraft', opts.aircraft]) if opts.moddebug: cmd.append('--moddebug=%u' % opts.moddebug) + if opts.mavcesium: + cmd.extend(["--load-module", "cesium"]) if opts.fresh_params: # these were built earlier: @@ -1373,6 +1375,11 @@ def generate_frame_help(): default=False, action='store_true', help="load map module on startup") +group.add_option("", "--mavcesium", + default=False, + action='store_true', + help="load MAVCesium module on startup") + group.add_option("", "--console", default=False, action='store_true', From 8413ab2bf2ca9d8b60d62af73727baaaeed2be4e Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Sun, 10 Nov 2024 14:03:50 -0900 Subject: [PATCH 249/314] AP_InertialSensor: added IIM42653 support --- .../AP_InertialSensor/AP_InertialSensor_Backend.h | 1 + .../AP_InertialSensor_Invensensev3.cpp | 13 +++++++++++++ .../AP_InertialSensor_Invensensev3.h | 1 + 3 files changed, 15 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h index 00d149e149223..817cb2e947c85 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h @@ -136,6 +136,7 @@ class AP_InertialSensor_Backend DEVTYPE_INS_ICM42670 = 0x3A, DEVTYPE_INS_ICM45686 = 0x3B, DEVTYPE_INS_SCHA63T = 0x3C, + DEVTYPE_INS_IIM42653 = 0x3D, }; protected: diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp index daf54ed64e7ec..d22a7a224f30b 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp @@ -136,6 +136,7 @@ extern const AP_HAL::HAL& hal; #define INV3_ID_ICM42605 0x42 #define INV3_ID_ICM42688 0x47 #define INV3_ID_IIM42652 0x6f +#define INV3_ID_IIM42653 0x56 #define INV3_ID_ICM42670 0x67 #define INV3_ID_ICM45686 0xE9 @@ -258,6 +259,12 @@ void AP_InertialSensor_Invensensev3::start() devtype = DEVTYPE_INS_IIM42652; temp_sensitivity = 1.0 / 2.07; break; + case Invensensev3_Type::IIM42653: + devtype = DEVTYPE_INS_IIM42653; + temp_sensitivity = 1.0 / 2.07; + gyro_scale = GYRO_SCALE_4000DPS; + accel_scale = ACCEL_SCALE_32G; + break; case Invensensev3_Type::ICM42688: devtype = DEVTYPE_INS_ICM42688; temp_sensitivity = 1.0 / 2.07; @@ -294,6 +301,7 @@ void AP_InertialSensor_Invensensev3::start() switch (inv3_type) { case Invensensev3_Type::ICM42688: // HiRes 19bit case Invensensev3_Type::IIM42652: // HiRes 19bit + case Invensensev3_Type::IIM42653: // HiRes 19bit case Invensensev3_Type::ICM45686: // HiRes 20bit highres_sampling = dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI; break; @@ -824,6 +832,7 @@ void AP_InertialSensor_Invensensev3::set_filter_and_scaling(void) case Invensensev3_Type::ICM42688: case Invensensev3_Type::ICM42605: case Invensensev3_Type::IIM42652: + case Invensensev3_Type::IIM42653: case Invensensev3_Type::ICM42670: { /* fix for the "stuck gyro" issue, which affects all IxM42xxx @@ -967,6 +976,9 @@ bool AP_InertialSensor_Invensensev3::check_whoami(void) case INV3_ID_IIM42652: inv3_type = Invensensev3_Type::IIM42652; return true; + case INV3_ID_IIM42653: + inv3_type = Invensensev3_Type::IIM42653; + return true; case INV3_ID_ICM42670: inv3_type = Invensensev3_Type::ICM42670; return true; @@ -1042,6 +1054,7 @@ bool AP_InertialSensor_Invensensev3::hardware_init(void) switch (inv3_type) { case Invensensev3_Type::ICM45686: case Invensensev3_Type::ICM40609: + case Invensensev3_Type::IIM42653: _clip_limit = 29.5f * GRAVITY_MSS; break; case Invensensev3_Type::ICM42688: diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h index b3946aa81dd47..6b4fc49a8c5c4 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h @@ -37,6 +37,7 @@ class AP_InertialSensor_Invensensev3 : public AP_InertialSensor_Backend ICM42605, // No HiRes ICM40605, // No HiRes IIM42652, // HiRes 19bit + IIM42653, // HiRes 19bit ICM42670, // HiRes 19bit ICM45686 // HiRes 20bit }; From 3e0c0132c8625ba515ac8cbac9df191db0119271 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Sun, 10 Nov 2024 14:05:25 -0900 Subject: [PATCH 250/314] Tools: scripts: decode_devid.py: added IIM42653 --- Tools/scripts/decode_devid.py | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/scripts/decode_devid.py b/Tools/scripts/decode_devid.py index ee80f080ae0c8..8841d06d8769e 100755 --- a/Tools/scripts/decode_devid.py +++ b/Tools/scripts/decode_devid.py @@ -104,6 +104,7 @@ def num(s): 0x3A : "DEVTYPE_INS_ICM42670", 0x3B : "DEVTYPE_INS_ICM45686", 0x3C : "DEVTYPE_INS_SCHA63T", + 0x3D : "DEVTYPE_INS_IIM42653", } baro_types = { From 8a58642cd10fe5c8d1a636b795d0a0d5101f15d1 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 20 Sep 2024 16:09:11 +1000 Subject: [PATCH 251/314] waf: make initialiser reordering fatal we were bitten by a nasty bug in CAN because of constructor reordering --- Tools/ardupilotwaf/boards.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 154ef72f8bcf4..7ccddaad109e0 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -361,10 +361,10 @@ def configure_env(self, cfg, env): '-Wpointer-arith', '-Wno-unused-parameter', '-Wno-missing-field-initializers', - '-Wno-reorder', '-Wno-redundant-decls', '-Wno-unknown-pragmas', '-Wno-expansion-to-defined', + '-Werror=reorder', '-Werror=cast-align', '-Werror=attributes', '-Werror=format-security', From 6ee1d94ec7b8f8f4a02f1597d24ba6739da046b8 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 20 Sep 2024 22:19:18 +1000 Subject: [PATCH 252/314] Copter: reorder initialisation of member variables to make -Werror=reorder work --- ArduCopter/Parameters.cpp | 19 ++++++++++--------- ArduCopter/Parameters.h | 5 +++++ 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index ef7f785bea07a..fd5eea3e8626f 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -1240,8 +1240,11 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = { /* constructor for g2 object */ -ParametersG2::ParametersG2(void) - : command_model_pilot(PILOT_Y_RATE_DEFAULT, PILOT_Y_EXPO_DEFAULT, 0.0f) +ParametersG2::ParametersG2(void) : + unused_integer{17} +#if HAL_BUTTON_ENABLED + ,button_ptr(&copter.button) +#endif #if AP_TEMPCALIBRATION_ENABLED , temp_calibration() #endif @@ -1257,15 +1260,15 @@ ParametersG2::ParametersG2(void) #if MODE_SMARTRTL_ENABLED ,smart_rtl() #endif +#if USER_PARAMS_ENABLED + ,user_parameters() +#endif #if MODE_FLOWHOLD_ENABLED ,mode_flowhold_ptr(&copter.mode_flowhold) #endif #if MODE_FOLLOW_ENABLED ,follow() #endif -#if USER_PARAMS_ENABLED - ,user_parameters() -#endif #if AUTOTUNE_ENABLED ,autotune_ptr(&copter.mode_autotune.autotune) #endif @@ -1275,13 +1278,9 @@ ParametersG2::ParametersG2(void) #if MODE_AUTOROTATE_ENABLED ,arot() #endif -#if HAL_BUTTON_ENABLED - ,button_ptr(&copter.button) -#endif #if MODE_ZIGZAG_ENABLED ,mode_zigzag_ptr(&copter.mode_zigzag) #endif - #if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED ,command_model_acro_rp(ACRO_RP_RATE_DEFAULT, ACRO_RP_EXPO_DEFAULT, 0.0f) #endif @@ -1290,6 +1289,8 @@ ParametersG2::ParametersG2(void) ,command_model_acro_y(ACRO_Y_RATE_DEFAULT, ACRO_Y_EXPO_DEFAULT, 0.0f) #endif + ,command_model_pilot(PILOT_Y_RATE_DEFAULT, PILOT_Y_EXPO_DEFAULT, 0.0f) + #if WEATHERVANE_ENABLED ,weathervane() #endif diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 7ba292bc5fed5..0cf0a8cb51959 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -499,6 +499,11 @@ class ParametersG2 { // altitude at which nav control can start in takeoff AP_Float wp_navalt_min; + // unused_integer simply exists so that the constructor for + // ParametersG2 can be created with a relatively easy syntax in + // the face of many #ifs: + uint8_t unused_integer; + // button checking #if HAL_BUTTON_ENABLED AP_Button *button_ptr; From b7ccee5ebe2b604a7bd39f69515651d3f4ffca20 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 22 Sep 2024 15:53:10 +1000 Subject: [PATCH 253/314] Plane: reorder initialisation of member variables to make -Werror=reorder work --- ArduPlane/Parameters.h | 6 +++--- ArduPlane/mode.cpp | 7 ++++--- ArduPlane/mode.h | 3 +++ 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index 377eb9ded865f..d29243d1ef2bb 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -483,6 +483,9 @@ class ParametersG2 { // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; + // just to make compilation easier when all things are compiled out... + uint8_t unused_integer; + // button reporting library #if HAL_BUTTON_ENABLED AP_Button *button_ptr; @@ -579,9 +582,6 @@ class ParametersG2 { AP_Int8 axis_bitmask; // axes to be autotuned - // just to make compilation easier when all things are compiled out... - uint8_t unused_integer; - #if AP_RANGEFINDER_ENABLED // orientation of rangefinder to use for landing AP_Int8 rangefinder_land_orient; diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp index e4f97acc2c089..8bece6d4187c3 100644 --- a/ArduPlane/mode.cpp +++ b/ArduPlane/mode.cpp @@ -1,14 +1,15 @@ #include "Plane.h" Mode::Mode() : - ahrs(plane.ahrs) + unused_integer{17}, #if HAL_QUADPLANE_ENABLED - , quadplane(plane.quadplane), pos_control(plane.quadplane.pos_control), attitude_control(plane.quadplane.attitude_control), loiter_nav(plane.quadplane.loiter_nav), - poscontrol(plane.quadplane.poscontrol) + quadplane(plane.quadplane), + poscontrol(plane.quadplane.poscontrol), #endif + ahrs(plane.ahrs) { } diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h index 230b372499ff4..8260924afca89 100644 --- a/ArduPlane/mode.h +++ b/ArduPlane/mode.h @@ -159,6 +159,9 @@ class Mode // Output pilot throttle, this is used in stabilized modes without auto throttle control void output_pilot_throttle(); + // makes the initialiser list in the constructor manageable + uint8_t unused_integer; + #if HAL_QUADPLANE_ENABLED // References for convenience, used by QModes AC_PosControl*& pos_control; From 35f2dce575d755fb533d85db1705db391879b811 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 14:31:39 +1100 Subject: [PATCH 254/314] AP_HAL_ESP32: re-order initialiser lines so -Werror=reorder will work --- libraries/AP_HAL_ESP32/AnalogIn.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ESP32/AnalogIn.cpp b/libraries/AP_HAL_ESP32/AnalogIn.cpp index 05487e62a0052..7f027a31a31e9 100644 --- a/libraries/AP_HAL_ESP32/AnalogIn.cpp +++ b/libraries/AP_HAL_ESP32/AnalogIn.cpp @@ -141,8 +141,8 @@ void adc_calibration_deinit(adc_cali_handle_t handle) //ardupin is the ardupilot assigned number, starting from 1-8(max) AnalogSource::AnalogSource(int16_t ardupin, adc_channel_t adc_channel, float scaler, float initial_value) : - _ardupin(ardupin), _adc_channel(adc_channel), + _ardupin(ardupin), _scaler(scaler), _value(initial_value), _latest_value(initial_value), From cca1edb78d3f38ce03752bd3746fb78c23d453e3 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 14:31:39 +1100 Subject: [PATCH 255/314] AP_HAL: re-order initialiser lines so -Werror=reorder will work AP_HAL: correct compilation for sim-on-hardware with -werror=reorder --- libraries/AP_HAL/HAL.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h index 723e68f64ffc2..a2bef78e470de 100644 --- a/libraries/AP_HAL/HAL.h +++ b/libraries/AP_HAL/HAL.h @@ -67,9 +67,6 @@ class AP_HAL::HAL { scheduler(_scheduler), util(_util), opticalflow(_opticalflow), -#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL - simstate(_simstate), -#endif flash(_flash), #if HAL_WITH_DSP dsp(_dsp), @@ -85,6 +82,9 @@ class AP_HAL::HAL { _serial7, _serial8, _serial9} +#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL + ,simstate(_simstate) +#endif { #if HAL_NUM_CAN_IFACES > 0 if (_can_ifaces == nullptr) { From 43970c0c7a6bc2d37212decf984fbd2a695fe83f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 14:31:39 +1100 Subject: [PATCH 256/314] AP_HAL_Linux: re-order initialiser lines so -Werror=reorder will work --- libraries/AP_HAL_Linux/Flow_PX4.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_Linux/Flow_PX4.cpp b/libraries/AP_HAL_Linux/Flow_PX4.cpp index e285763c4fa57..08939bccf9193 100644 --- a/libraries/AP_HAL_Linux/Flow_PX4.cpp +++ b/libraries/AP_HAL_Linux/Flow_PX4.cpp @@ -53,8 +53,8 @@ Flow_PX4::Flow_PX4(uint32_t width, uint32_t bytesperline, float bottom_flow_feature_threshold, float bottom_flow_value_threshold) : _width(width), - _bytesperline(bytesperline), _search_size(max_flow_pixel), + _bytesperline(bytesperline), _bottom_flow_feature_threshold(bottom_flow_feature_threshold), _bottom_flow_value_threshold(bottom_flow_value_threshold) { From d1674b089a6f4d6aace91a075dd5d7776f5f5be2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 25 Sep 2024 14:32:02 +1000 Subject: [PATCH 257/314] AP_Periph: rearrange apd periph initialiser for --error=reorder --- Tools/AP_Periph/esc_apd_telem.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Tools/AP_Periph/esc_apd_telem.cpp b/Tools/AP_Periph/esc_apd_telem.cpp index ed438d60f36c5..e7173bdca9e83 100644 --- a/Tools/AP_Periph/esc_apd_telem.cpp +++ b/Tools/AP_Periph/esc_apd_telem.cpp @@ -17,8 +17,9 @@ extern const AP_HAL::HAL& hal; #define TELEM_LEN 0x16 ESC_APD_Telem::ESC_APD_Telem (AP_HAL::UARTDriver *_uart, float num_poles) : - pole_count(num_poles), - uart(_uart) { + uart(_uart), + pole_count(num_poles) +{ uart->begin(115200); } From e14045898d9f7876cef8f6d7371a4e243fa8a546 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 12 Nov 2024 13:31:58 +0000 Subject: [PATCH 258/314] AP_DDS: move closing #endif for status publisher - Must be before the status_ok check. Signed-off-by: Rhys Mainwaring --- libraries/AP_DDS/AP_DDS_Client.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index ef4e14a35132f..b70c026b6a9d4 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -1615,10 +1615,11 @@ void AP_DDS_Client::update() } last_status_check_time_ms = cur_time_ms; } +#endif // AP_DDS_STATUS_PUB_ENABLED status_ok = uxr_run_session_time(&session, 1); } -#endif // AP_DDS_STATUS_PUB_ENABLED + #if CONFIG_HAL_BOARD != HAL_BOARD_SITL extern "C" { int clock_gettime(clockid_t clockid, struct timespec *ts); From 2bd4e15f761d7263e3eb41d0557eb9ea6b6c1d27 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 12 Nov 2024 12:18:17 +0000 Subject: [PATCH 259/314] AP_DDS: use memset to initialise variable size array Signed-off-by: Rhys Mainwaring --- libraries/AP_DDS/AP_DDS_Client.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index b70c026b6a9d4..05ba28f06dc7a 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -955,8 +955,9 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u .type = UXR_REPLIER_ID }; - uint32_t reply_size = rcl_interfaces_srv_SetParameters_Response_size_of_topic(&set_parameter_response, 0U); - uint8_t reply_buffer[reply_size] {}; + const uint32_t reply_size = rcl_interfaces_srv_SetParameters_Response_size_of_topic(&set_parameter_response, 0U); + uint8_t reply_buffer[reply_size]; + memset(reply_buffer, 0, reply_size * sizeof(uint8_t)); ucdrBuffer reply_ub; ucdr_init_buffer(&reply_ub, reply_buffer, reply_size); @@ -1040,8 +1041,9 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u .type = UXR_REPLIER_ID }; - uint32_t reply_size = rcl_interfaces_srv_GetParameters_Response_size_of_topic(&get_parameters_response, 0U); - uint8_t reply_buffer[reply_size] {}; + const uint32_t reply_size = rcl_interfaces_srv_GetParameters_Response_size_of_topic(&get_parameters_response, 0U); + uint8_t reply_buffer[reply_size]; + memset(reply_buffer, 0, reply_size * sizeof(uint8_t)); ucdrBuffer reply_ub; ucdr_init_buffer(&reply_ub, reply_buffer, reply_size); From 3bbcd8b0a3566a90483544ef6c8f7cc7916965e8 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 12 Nov 2024 20:43:06 +0900 Subject: [PATCH 260/314] AP_Scripting: copter-slung-payload minor format fix --- .../AP_Scripting/applets/copter-slung-payload.md | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_Scripting/applets/copter-slung-payload.md b/libraries/AP_Scripting/applets/copter-slung-payload.md index 32d76256c43a7..b4953565ccf22 100644 --- a/libraries/AP_Scripting/applets/copter-slung-payload.md +++ b/libraries/AP_Scripting/applets/copter-slung-payload.md @@ -4,13 +4,13 @@ This script moves a Copter so as to reduce a slung payload's oscillation. Requi # Parameters -SLUP_ENABLE : Set to 1 to enable this script -SLUP_VEL_P : Oscillation controller velocity P gain. Higher values will result in the vehicle moving more quickly in sync with the payload -SLUP_DIST_MAX : maximum acceptable distance between vehicle and payload. Within this distance oscillation suppression will operate -SLUP_SYSID : System id of payload's autopilot. If zero any system id is accepted -SLUP_WP_POS_P : Return to waypoint position P gain. Higher values result in the vehicle returning more quickly to the latest waypoint -SLUP_RESTOFS_TC : Slung Payload resting offset estimate filter time constant. Higher values result in smoother estimate but slower response -SLUP_DEBUG : Slung payload debug output, set to 1 to enable debug +- SLUP_ENABLE : Set to 1 to enable this script +- SLUP_VEL_P : Oscillation controller velocity P gain. Higher values will result in the vehicle moving more quickly in sync with the payload +- SLUP_DIST_MAX : maximum acceptable distance between vehicle and payload. Within this distance oscillation suppression will operate +- SLUP_SYSID : System id of payload's autopilot. If zero any system id is accepted +- SLUP_WP_POS_P : Return to waypoint position P gain. Higher values result in the vehicle returning more quickly to the latest waypoint +- SLUP_RESTOFS_TC : Slung Payload resting offset estimate filter time constant. Higher values result in smoother estimate but slower response +- SLUP_DEBUG : Slung payload debug output, set to 1 to enable debug # How To Use From 9f29606d1c915f0dd64a06babf628c623311783a Mon Sep 17 00:00:00 2001 From: Patrick Menschel Date: Mon, 11 Nov 2024 17:33:10 +0100 Subject: [PATCH 261/314] AP_Tramp: Fix _configuration_finished indication The flag _configuration_finished in AP_VideoTX is not set by AP_Tramp. Therefore OSD item VTX_PWR blinks forever. --- libraries/AP_VideoTX/AP_Tramp.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_VideoTX/AP_Tramp.cpp b/libraries/AP_VideoTX/AP_Tramp.cpp index 54f62a382f051..afe6f07ac7bc2 100644 --- a/libraries/AP_VideoTX/AP_Tramp.cpp +++ b/libraries/AP_VideoTX/AP_Tramp.cpp @@ -143,6 +143,8 @@ char AP_Tramp::handle_response(void) debug("device config: freq: %u, cfg pwr: %umw, act pwr: %umw, pitmode: %u", unsigned(freq), unsigned(power), unsigned(cur_act_power), unsigned(pit_mode)); + // update the "_configuration_finished" flag, otherwise OSD item VTX_POWER blinks forever + vtx.set_configuration_finished(!update_pending); return 'v'; } From d149150a452bc395ed3faa6b0cbdbcf58e97c08b Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 8 Oct 2024 20:38:08 +0200 Subject: [PATCH 262/314] Plane: Added parameter TKOFF_THR_IDLE --- ArduPlane/Parameters.cpp | 9 +++++++++ ArduPlane/Parameters.h | 1 + ArduPlane/servos.cpp | 5 +++++ 3 files changed, 15 insertions(+) diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp index d643d8b013754..b2db9099f8f51 100644 --- a/ArduPlane/Parameters.cpp +++ b/ArduPlane/Parameters.cpp @@ -158,6 +158,15 @@ const AP_Param::Info Plane::var_info[] = { // @User: Standard ASCALAR(takeoff_throttle_min, "TKOFF_THR_MIN", 0), + // @Param: TKOFF_THR_IDLE + // @DisplayName: Takeoff idle throttle + // @Description: The idle throttle to hold after arming and before a takeoff. Applicable in TAKEOFF and AUTO modes. + // @Units: % + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + ASCALAR(takeoff_throttle_idle, "TKOFF_THR_IDLE", 0), + // @Param: TKOFF_OPTIONS // @DisplayName: Takeoff options // @Description: This selects the mode of the takeoff in AUTO and TAKEOFF flight modes. diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index d29243d1ef2bb..24645b3b88471 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -359,6 +359,7 @@ class Parameters { k_param_autotune_options, k_param_takeoff_throttle_min, k_param_takeoff_options, + k_param_takeoff_throttle_idle, k_param_pullup = 270, }; diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp index 49e3e07b460fc..672631e373e74 100644 --- a/ArduPlane/servos.cpp +++ b/ArduPlane/servos.cpp @@ -619,6 +619,11 @@ void Plane::set_throttle(void) // throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines: SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get()); + } else if ((flight_stage == AP_FixedWing::FlightStage::TAKEOFF) + && (aparm.takeoff_throttle_idle.get() > 0) + ) { + // we want to spin at idle throttle before the takeoff conditions are met + SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.takeoff_throttle_idle.get()); } else { // default SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0); From db6a52581e39642f13433364263cf9f53e5e9b59 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 8 Oct 2024 20:38:28 +0200 Subject: [PATCH 263/314] AP_Vehicle: Added parameter TKOFF_THR_IDLE --- libraries/AP_Vehicle/AP_FixedWing.h | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h index 722c53dcaf9af..8135a7d160352 100644 --- a/libraries/AP_Vehicle/AP_FixedWing.h +++ b/libraries/AP_Vehicle/AP_FixedWing.h @@ -12,6 +12,7 @@ struct AP_FixedWing { AP_Int8 throttle_cruise; AP_Int8 takeoff_throttle_max; AP_Int8 takeoff_throttle_min; + AP_Int8 takeoff_throttle_idle; AP_Int32 takeoff_options; AP_Int16 airspeed_min; AP_Int16 airspeed_max; From 19bce3b1714d84388c3a3f13e79edb02a106a1e7 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 8 Oct 2024 21:10:02 +0200 Subject: [PATCH 264/314] autotest: added test for TKOFF_THR_IDLE --- Tools/autotest/arduplane.py | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index bc0d157258f51..48334ab8d7c2e 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -4831,6 +4831,34 @@ def TakeoffGround(self): self.fly_home_land_and_disarm() + def TakeoffIdleThrottle(self): + '''Apply idle throttle before takeoff.''' + self.customise_SITL_commandline( + [], + model='plane-catapult', + defaults_filepath=self.model_defaults_filepath("plane") + ) + self.set_parameters({ + "TKOFF_THR_IDLE": 20.0, + "TKOFF_THR_MINSPD": 3.0, + }) + self.change_mode("TAKEOFF") + + self.wait_ready_to_arm() + self.arm_vehicle() + + # Ensure that the throttle rises to idle throttle. + expected_idle_throttle = 1000+10*self.get_parameter("TKOFF_THR_IDLE") + self.assert_servo_channel_range(3, expected_idle_throttle-10, expected_idle_throttle+10) + + # Launch the catapult + self.set_servo(6, 1000) + + self.delay_sim_time(5) + self.change_mode('RTL') + + self.fly_home_land_and_disarm() + def DCMFallback(self): '''Really annoy the EKF and force fallback''' self.reboot_sitl() @@ -6389,6 +6417,7 @@ def tests1b(self): self.TakeoffTakeoff3, self.TakeoffTakeoff4, self.TakeoffGround, + self.TakeoffIdleThrottle, self.ForcedDCM, self.DCMFallback, self.MAVFTP, From 199074ce34b383d9d244de17e61fff718045455e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:15:08 +1100 Subject: [PATCH 265/314] AP_GPS: add specific defines for sending of GPS mavlink messages --- libraries/AP_GPS/AP_GPS.cpp | 8 +++++--- libraries/AP_GPS/AP_GPS_config.h | 17 +++++++++++++++++ libraries/AP_GPS/GPS_Backend.cpp | 5 +++-- libraries/AP_GPS/GPS_Backend.h | 2 ++ 4 files changed, 27 insertions(+), 5 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index 070276dd45c9f..79a69b88b2962 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/libraries/AP_GPS/AP_GPS.cpp @@ -1367,6 +1367,7 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const return yaw_cd; } +#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan) { const Location &loc = location(0); @@ -1400,8 +1401,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan) 0, // TODO one-sigma heading accuracy standard deviation gps_yaw_cdeg(0)); } +#endif // AP_GPS_GPS_RAW_INT_SENDING_ENABLED -#if GPS_MAX_RECEIVERS > 1 +#if AP_GPS_GPS2_RAW_SENDING_ENABLED void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan) { // always send the message if 2nd GPS is configured @@ -1442,9 +1444,9 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan) sacc * 1000, // one-sigma standard deviation in mm/s 0); // TODO one-sigma heading accuracy standard deviation } -#endif // GPS_MAX_RECEIVERS +#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED -#if HAL_GCS_ENABLED +#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst) { if (inst >= GPS_MAX_RECEIVERS) { diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h index 08ebdac605938..467c056ab4fcc 100644 --- a/libraries/AP_GPS/AP_GPS_config.h +++ b/libraries/AP_GPS/AP_GPS_config.h @@ -104,3 +104,20 @@ #ifndef HAL_GPS_COM_PORT_DEFAULT #define HAL_GPS_COM_PORT_DEFAULT 1 #endif + + +#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED +#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED +#endif + +#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED +#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 +#endif + +#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED +#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED +#endif + +#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED +#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 +#endif diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp index eb55bd76e433d..380730a9af679 100644 --- a/libraries/AP_GPS/GPS_Backend.cpp +++ b/libraries/AP_GPS/GPS_Backend.cpp @@ -172,7 +172,7 @@ bool AP_GPS_Backend::should_log() const #endif -#if HAL_GCS_ENABLED +#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan) { const uint8_t instance = state.instance; @@ -212,7 +212,8 @@ void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan) break; } } -#endif +#endif // AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED + /* diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h index 70f4cb36fc215..2a70a1c57153e 100644 --- a/libraries/AP_GPS/GPS_Backend.h +++ b/libraries/AP_GPS/GPS_Backend.h @@ -71,7 +71,9 @@ class AP_GPS_Backend #if HAL_GCS_ENABLED //MAVLink methods virtual bool supports_mavlink_gps_rtk_message() const { return false; } +#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED virtual void send_mavlink_gps_rtk(mavlink_channel_t chan); +#endif virtual void handle_msg(const mavlink_message_t &msg) { return ; } #endif From d4e15b1ae7cad783ad63973f8cd31d550fed776b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:49 +1100 Subject: [PATCH 266/314] GCS_MAVLink: add specific defines for sending of GPS mavlink messages --- libraries/GCS_MAVLink/GCS_Common.cpp | 26 +++++++++++++++++--------- 1 file changed, 17 insertions(+), 9 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 9a1528b9dca4e..69598bf6959cc 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -1030,13 +1030,17 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c { MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE}, { MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2}, { MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3}, -#if AP_GPS_ENABLED +#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED { MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW}, +#endif +#if AP_GPS_GPS_RTK_SENDING_ENABLED { MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK}, -#if GPS_MAX_RECEIVERS > 1 +#endif +#if AP_GPS_GPS2_RAW_SENDING_ENABLED { MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW}, - { MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK}, #endif +#if AP_GPS_GPS2_RTK_SENDING_ENABLED + { MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK}, #endif { MAVLINK_MSG_ID_SYSTEM_TIME, MSG_SYSTEM_TIME}, { MAVLINK_MSG_ID_RC_CHANNELS_SCALED, MSG_SERVO_OUT}, @@ -6237,28 +6241,32 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id) CHECK_PAYLOAD_SIZE(SYSTEM_TIME); send_system_time(); break; -#if AP_GPS_ENABLED + +#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED case MSG_GPS_RAW: CHECK_PAYLOAD_SIZE(GPS_RAW_INT); AP::gps().send_mavlink_gps_raw(chan); break; +#endif // AP_GPS_GPS_RAW_INT_SENDING_ENABLED +#if AP_GPS_GPS_RTK_SENDING_ENABLED case MSG_GPS_RTK: CHECK_PAYLOAD_SIZE(GPS_RTK); AP::gps().send_mavlink_gps_rtk(chan, 0); break; -#if GPS_MAX_RECEIVERS > 1 +#endif // AP_GPS_GPS_RTK_SENDING_ENABLED +#if AP_GPS_GPS2_RAW_SENDING_ENABLED case MSG_GPS2_RAW: CHECK_PAYLOAD_SIZE(GPS2_RAW); AP::gps().send_mavlink_gps2_raw(chan); break; -#endif -#if GPS_MAX_RECEIVERS > 1 +#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED +#if AP_GPS_GPS2_RTK_SENDING_ENABLED case MSG_GPS2_RTK: CHECK_PAYLOAD_SIZE(GPS2_RTK); AP::gps().send_mavlink_gps_rtk(chan, 1); break; -#endif -#endif // AP_GPS_ENABLED +#endif // AP_GPS_GPS2_RTK_SENDING_ENABLED + #if AP_AHRS_ENABLED case MSG_LOCAL_POSITION: CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED); From 36722f6d3a300c5b399f7009fcebdc9140b9a82c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:49 +1100 Subject: [PATCH 267/314] AntennaTracker: add specific defines for sending of GPS mavlink messages --- AntennaTracker/GCS_Mavlink.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index 31c1148db9ea8..93e6638304440 100644 --- 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 }; From 8df33ce22985e6b12a06790910a026338724c933 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:50 +1100 Subject: [PATCH 268/314] ArduCopter: add specific defines for sending of GPS mavlink messages --- ArduCopter/GCS_Mavlink.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 6c2d169db8af6..c07b4807a2e09 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -505,10 +505,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { #endif MSG_MEMINFO, MSG_CURRENT_WAYPOINT, // MISSION_CURRENT +#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 MSG_NAV_CONTROLLER_OUTPUT, From 4d8a0fac33cc30f01840266d5bbdd1214c455572 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:50 +1100 Subject: [PATCH 269/314] ArduPlane: add specific defines for sending of GPS mavlink messages --- ArduPlane/GCS_Mavlink.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index 9256fdfe01cb3..b733f7b7bff13 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -630,10 +630,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { #endif MSG_MEMINFO, MSG_CURRENT_WAYPOINT, +#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 MSG_NAV_CONTROLLER_OUTPUT, From 187953b297b17bd4fc3e286d68957d74aaba1504 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:50 +1100 Subject: [PATCH 270/314] ArduSub: add specific defines for sending of GPS mavlink messages --- ArduSub/GCS_Mavlink.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index 0d0bad47ebd89..c2bbf8b5c42bb 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -369,10 +369,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { #endif MSG_MEMINFO, MSG_CURRENT_WAYPOINT, +#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 MSG_NAV_CONTROLLER_OUTPUT, From b26e37e54c1ff3b17fd585902c6d3148c6addb97 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:50 +1100 Subject: [PATCH 271/314] Blimp: add specific defines for sending of GPS mavlink messages --- Blimp/GCS_Mavlink.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp index b132d80160a5c..4d91191a02863 100644 --- a/Blimp/GCS_Mavlink.cpp +++ b/Blimp/GCS_Mavlink.cpp @@ -327,10 +327,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { #endif MSG_MEMINFO, MSG_CURRENT_WAYPOINT, // MISSION_CURRENT +#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 MSG_NAV_CONTROLLER_OUTPUT, From 0ce765aac10096dfca1fd27257d2d70768868fbe Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 18:24:50 +1100 Subject: [PATCH 272/314] Rover: add specific defines for sending of GPS mavlink messages --- Rover/GCS_Mavlink.cpp | 8 +++++++- Tools/AP_Periph/GCS_MAVLink.cpp | 4 +++- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp index 6a39311eade23..3704110ec9e2f 100644 --- a/Rover/GCS_Mavlink.cpp +++ b/Rover/GCS_Mavlink.cpp @@ -541,10 +541,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { #endif MSG_MEMINFO, MSG_CURRENT_WAYPOINT, +#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 MSG_NAV_CONTROLLER_OUTPUT, diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp index a3df4631fef87..f35ee3a580c8c 100644 --- a/Tools/AP_Periph/GCS_MAVLink.cpp +++ b/Tools/AP_Periph/GCS_MAVLink.cpp @@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { MSG_MCU_STATUS, #endif MSG_MEMINFO, -#if AP_GPS_ENABLED +#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED MSG_GPS_RAW, +#endif +#if AP_GPS_GPS_RTK_SENDING_ENABLED MSG_GPS_RTK, #endif }; From 20fa2b0741982c77750e817114ffa01a32d9a986 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 12 Nov 2024 15:14:16 +1100 Subject: [PATCH 273/314] AP_GPS: don't compile support for sending rtk messages if no backend supports it --- libraries/AP_GPS/AP_GPS_config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h index 467c056ab4fcc..550add0e1fa62 100644 --- a/libraries/AP_GPS/AP_GPS_config.h +++ b/libraries/AP_GPS/AP_GPS_config.h @@ -115,9 +115,9 @@ #endif #ifndef AP_GPS_GPS_RTK_SENDING_ENABLED -#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED +#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED) #endif #ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED -#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 +#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED) #endif From f38668bd6a2b457babb3bf9fe79fb4bfda307cf4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 12 Nov 2024 14:56:10 +1100 Subject: [PATCH 274/314] AP_GPS: remove handling of HIL_GPS ... per deprecation/removal schedule --- libraries/AP_GPS/AP_GPS_MAV.cpp | 45 +-------------------------------- 1 file changed, 1 insertion(+), 44 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp index b9100f5f17c46..2a059af35b018 100644 --- a/libraries/AP_GPS/AP_GPS_MAV.cpp +++ b/libraries/AP_GPS/AP_GPS_MAV.cpp @@ -143,51 +143,8 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg) state.last_gps_time_ms = now_ms; _new_data = true; break; - } - -#if AP_MAVLINK_MSG_HIL_GPS_ENABLED - case MAVLINK_MSG_ID_HIL_GPS: { - mavlink_hil_gps_t packet; - mavlink_msg_hil_gps_decode(&msg, &packet); - - // check if target instance belongs to incoming gps data. - if (state.instance != packet.id) { - return; - } - - state.time_week = 0; - state.time_week_ms = packet.time_usec/1000; - state.status = (AP_GPS::GPS_Status)packet.fix_type; + } - Location loc = {}; - loc.lat = packet.lat; - loc.lng = packet.lon; - loc.alt = packet.alt * 0.1f; - state.location = loc; - state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP); - state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP); - if (packet.vel < 65535) { - state.ground_speed = packet.vel * 0.01f; - } - Vector3f vel(packet.vn*0.01f, packet.ve*0.01f, packet.vd*0.01f); - state.velocity = vel; - if (packet.vd != 0) { - state.have_vertical_velocity = true; - } - if (packet.cog < 36000) { - state.ground_course = packet.cog * 0.01f; - } - state.have_speed_accuracy = false; - state.have_horizontal_accuracy = false; - state.have_vertical_accuracy = false; - if (packet.satellites_visible < 255) { - state.num_sats = packet.satellites_visible; - } - state.last_gps_time_ms = AP_HAL::millis(); - _new_data = true; - break; - } -#endif // AP_MAVLINK_MSG_HIL_GPS_ENABLED default: // ignore all other messages break; From 866e00f143721fd98b58e62739bce993edcb16b0 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 12 Nov 2024 14:56:10 +1100 Subject: [PATCH 275/314] GCS_MAVLink: remove handling of HIL_GPS ... per deprecation/removal schedule --- libraries/GCS_MAVLink/GCS_Common.cpp | 5 ----- libraries/GCS_MAVLink/GCS_config.h | 9 --------- 2 files changed, 14 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 69598bf6959cc..806831a345f4f 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -4303,11 +4303,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg) #endif #if AP_GPS_ENABLED -#if AP_MAVLINK_MSG_HIL_GPS_ENABLED - case MAVLINK_MSG_ID_HIL_GPS: - send_received_message_deprecation_warning("HIL_GPS"); - FALLTHROUGH; -#endif case MAVLINK_MSG_ID_GPS_RTCM_DATA: case MAVLINK_MSG_ID_GPS_INPUT: case MAVLINK_MSG_ID_GPS_INJECT_DATA: diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h index 5f059cb9a1042..2c8800a959c25 100644 --- a/libraries/GCS_MAVLink/GCS_config.h +++ b/libraries/GCS_MAVLink/GCS_config.h @@ -71,15 +71,6 @@ #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED #endif -// CODE_REMOVAL -// handling of HIL_GPS is slated to be removed in 4.7; GPS_INPUT can be used -// in its place -// ArduPilot 4.6 stops compiling support in -// ArduPilot 4.7 removes the code entirely -#ifndef AP_MAVLINK_MSG_HIL_GPS_ENABLED -#define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0 -#endif - // CODE_REMOVAL // ArduPilot 4.5 sends deprecation warnings for MOUNT_CONTROL/MOUNT_CONFIGURE // ArduPilot 4.6 stops compiling them in From fb4b52fae3e8f43d8913b3d8f6a7004bb044a06c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 12 Nov 2024 14:56:10 +1100 Subject: [PATCH 276/314] Tools: remove handling of HIL_GPS ... per deprecation/removal schedule --- Tools/autotest/test_build_options.py | 1 - Tools/scripts/build_options.py | 1 - Tools/scripts/extract_features.py | 1 - 3 files changed, 3 deletions(-) diff --git a/Tools/autotest/test_build_options.py b/Tools/autotest/test_build_options.py index a11b8c63b169a..7cbc005c310aa 100755 --- a/Tools/autotest/test_build_options.py +++ b/Tools/autotest/test_build_options.py @@ -258,7 +258,6 @@ def define_is_whitelisted_for_feature_in_code(self, target, define): 'AP_COMPASS_MAG3110_ENABLED', # must be in hwdef, not probed 'AP_COMPASS_MMC5XX3_ENABLED', # must be in hwdef, not probed 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', # completely elided - 'AP_MAVLINK_MSG_HIL_GPS_ENABLED', # no symbol available 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', # no symbol available 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', # no symbol available 'HAL_MSP_SENSORS_ENABLED', # no symbol available diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py index 54be58a3bd074..f31edfaf87ff3 100644 --- a/Tools/scripts/build_options.py +++ b/Tools/scripts/build_options.py @@ -364,7 +364,6 @@ def config_option(self): Feature('MAVLink', 'MAVLINK_VERSION_REQUEST', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'Enable Old AUTOPILOT_VERSION_REQUEST mesage', 0, None), # noqa Feature('MAVLink', 'REQUEST_AUTOPILOT_CAPA', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'Enable Old REQUEST_AUTOPILOT_CAPABILITIES command', 0, None), # noqa Feature('MAVLink', 'MAV_MSG_RELAY_STATUS', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'Enable Send RELAY_STATUS message', 0, 'RELAY'), # noqa - Feature('MAVLink', 'MAV_MSG_HIL_GPS', 'AP_MAVLINK_MSG_HIL_GPS_ENABLED', 'Enable Receive HIL_GPS messages', 0, 'MAV'), # noqa Feature('MAVLink', 'MAV_MSG_MOUNT_CONTROL', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'Enable Deprecated MOUNT_CONTROL message', 0, "MOUNT"), # noqa Feature('MAVLink', 'MAV_MSG_MOUNT_CONFIGURE', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'Enable Deprecated MOUNT_CONFIGURE message', 0, "MOUNT"), # noqa Feature('MAVLink', 'AP_MAVLINK_BATTERY2_ENABLED', 'AP_MAVLINK_BATTERY2_ENABLED', 'Enable Send old BATTERY2 message', 0, None), # noqa diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py index 36a375522aa05..de6eec6589523 100755 --- a/Tools/scripts/extract_features.py +++ b/Tools/scripts/extract_features.py @@ -273,7 +273,6 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"): ('AP_CUSTOMROTATIONS_ENABLED', 'AP_CustomRotations::init'), ('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'), ('HAL_ENABLE_DRONECAN_DRIVERS', r'AP_DroneCAN::init'), - ('AP_MAVLINK_MSG_HIL_GPS_ENABLED', r'mavlink_msg_hil_gps_decode'), ('AP_BARO_PROBE_EXTERNAL_I2C_BUSES', r'AP_Baro::_probe_i2c_barometers'), ('AP_RSSI_ENABLED', r'AP_RSSI::init'), From 02f25e81f8c391f0d74dda4ee2078fbd77185ba9 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 25 May 2024 09:31:12 +0100 Subject: [PATCH 277/314] AP_AHRS: correct get_accel() to use primary accel rather than first usable for scripting --- libraries/AP_AHRS/AP_AHRS.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index 00988f1a0a6b9..10f9deed01df9 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -618,9 +618,9 @@ class AP_AHRS { // return current vibration vector for primary IMU Vector3f get_vibration(void) const; - // return primary accels, for lua + // return primary accels const Vector3f &get_accel(void) const { - return AP::ins().get_accel(); + return AP::ins().get_accel(_get_primary_accel_index()); } // return primary accel bias. This should be subtracted from From f60d0596188a8a89eb93a1e6fdb2aed3775811a2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:27 +1100 Subject: [PATCH 278/314] AP_Vehicle: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- libraries/AP_Vehicle/AP_Vehicle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp index 562ac606075a4..3005e40d3adcb 100644 --- a/libraries/AP_Vehicle/AP_Vehicle.cpp +++ b/libraries/AP_Vehicle/AP_Vehicle.cpp @@ -438,7 +438,7 @@ void AP_Vehicle::setup() #if AP_SRV_CHANNELS_ENABLED - SRV_Channels::init(); + AP::srv().init(); #endif // gyro FFT needs to be initialized really late From c1f04b507eb7b5b0676759122df107f174065985 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:28 +1100 Subject: [PATCH 279/314] AR_Motors: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- libraries/AR_Motors/AP_MotorsUGV.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp index e27ef29cdc11a..70f9754d625fa 100644 --- a/libraries/AR_Motors/AP_MotorsUGV.cpp +++ b/libraries/AR_Motors/AP_MotorsUGV.cpp @@ -343,7 +343,7 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt) SRV_Channels::calc_pwm(); SRV_Channels::cork(); SRV_Channels::output_ch_all(); - SRV_Channels::push(); + AP::srv().push(); } // test steering or throttle output as a percentage of the total (range -100 to +100) @@ -411,7 +411,7 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct) SRV_Channels::calc_pwm(); SRV_Channels::cork(); SRV_Channels::output_ch_all(); - SRV_Channels::push(); + AP::srv().push(); return true; } @@ -477,7 +477,7 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm) SRV_Channels::calc_pwm(); SRV_Channels::cork(); SRV_Channels::output_ch_all(); - SRV_Channels::push(); + AP::srv().push(); return true; } From a0eef1039c49e59c73330bee14da512948e5805c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:28 +1100 Subject: [PATCH 280/314] SRV_Channel: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- libraries/SRV_Channel/SRV_Channel.h | 15 +++--- libraries/SRV_Channel/SRV_Channel_aux.cpp | 2 +- libraries/SRV_Channel/SRV_Channels.cpp | 63 ++++++----------------- 3 files changed, 24 insertions(+), 56 deletions(-) diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h index 24631a448d2c4..e19c52a4bf574 100644 --- a/libraries/SRV_Channel/SRV_Channel.h +++ b/libraries/SRV_Channel/SRV_Channel.h @@ -473,7 +473,7 @@ class SRV_Channels { int16_t value, int16_t angle_min, int16_t angle_max); // assign and enable auxiliary channels - static void enable_aux_servos(void); + void enable_aux_servos(void); // enable channels by mask static void enable_by_mask(uint32_t mask); @@ -541,7 +541,7 @@ class SRV_Channels { static void cork(); - static void push(); + void push(); // disable PWM output to a set of channels given by a mask. This is used by the AP_BLHeli code static void set_disabled_channel_mask(uint32_t mask) { disabled_mask = mask; } @@ -570,7 +570,7 @@ class SRV_Channels { static void zero_rc_outputs(); // initialize before any call to push - static void init(uint32_t motor_mask = 0, AP_HAL::RCOutput::output_mode mode = AP_HAL::RCOutput::MODE_PWM_NONE); + void init(uint32_t motor_mask = 0, AP_HAL::RCOutput::output_mode mode = AP_HAL::RCOutput::MODE_PWM_NONE); // return true if a channel is set to type GPIO static bool is_GPIO(uint8_t channel); @@ -610,30 +610,25 @@ class SRV_Channels { #if AP_VOLZ_ENABLED // support for Volz protocol AP_Volz_Protocol volz; - static AP_Volz_Protocol *volz_ptr; #endif #if AP_SBUSOUTPUT_ENABLED // support for SBUS protocol AP_SBusOut sbus; - static AP_SBusOut *sbus_ptr; #endif #if AP_ROBOTISSERVO_ENABLED // support for Robotis servo protocol AP_RobotisServo robotis; - static AP_RobotisServo *robotis_ptr; #endif #if HAL_SUPPORT_RCOUT_SERIAL // support for BLHeli protocol AP_BLHeli blheli; - static AP_BLHeli *blheli_ptr; #endif #if AP_FETTEC_ONEWIRE_ENABLED AP_FETtecOneWire fetteconwire; - static AP_FETtecOneWire *fetteconwire_ptr; #endif // AP_FETTEC_ONEWIRE_ENABLED // mask of disabled channels @@ -692,3 +687,7 @@ class SRV_Channels { // semaphore for multi-thread use of override_counter array HAL_Semaphore override_counter_sem; }; + +namespace AP { + SRV_Channels &srv(); +}; diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp index c117915e8a474..3fb4e922744d7 100644 --- a/libraries/SRV_Channel/SRV_Channel_aux.cpp +++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp @@ -270,7 +270,7 @@ void SRV_Channels::enable_aux_servos() hal.rcout->update_channel_masks(); #if HAL_SUPPORT_RCOUT_SERIAL - blheli_ptr->update(); + blheli.update(); #endif } diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp index 67a9af5b00ad6..3ef0c7e34318f 100644 --- a/libraries/SRV_Channel/SRV_Channels.cpp +++ b/libraries/SRV_Channel/SRV_Channels.cpp @@ -41,28 +41,8 @@ extern const AP_HAL::HAL& hal; SRV_Channel *SRV_Channels::channels; SRV_Channels *SRV_Channels::_singleton; -#if AP_VOLZ_ENABLED -AP_Volz_Protocol *SRV_Channels::volz_ptr; -#endif - -#if AP_SBUSOUTPUT_ENABLED -AP_SBusOut *SRV_Channels::sbus_ptr; -#endif - -#if AP_ROBOTISSERVO_ENABLED -AP_RobotisServo *SRV_Channels::robotis_ptr; -#endif - -#if AP_FETTEC_ONEWIRE_ENABLED -AP_FETtecOneWire *SRV_Channels::fetteconwire_ptr; -#endif - uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS]; -#if HAL_SUPPORT_RCOUT_SERIAL -AP_BLHeli *SRV_Channels::blheli_ptr; -#endif - uint32_t SRV_Channels::disabled_mask; uint32_t SRV_Channels::digital_mask; uint32_t SRV_Channels::reversible_mask; @@ -379,26 +359,6 @@ SRV_Channels::SRV_Channels(void) } #endif } - -#if AP_FETTEC_ONEWIRE_ENABLED - fetteconwire_ptr = &fetteconwire; -#endif - -#if AP_VOLZ_ENABLED - volz_ptr = &volz; -#endif - -#if AP_SBUSOUTPUT_ENABLED - sbus_ptr = &sbus; -#endif - -#if AP_ROBOTISSERVO_ENABLED - robotis_ptr = &robotis; -#endif // AP_ROBOTISSERVO_ENABLED - -#if HAL_SUPPORT_RCOUT_SERIAL - blheli_ptr = &blheli; -#endif } // SRV_Channels initialization @@ -406,7 +366,7 @@ void SRV_Channels::init(uint32_t motor_mask, AP_HAL::RCOutput::output_mode mode) { // initialize BLHeli late so that all of the masks it might setup don't get trodden on by motor initialization #if HAL_SUPPORT_RCOUT_SERIAL - blheli_ptr->init(motor_mask, mode); + blheli.init(motor_mask, mode); #endif #ifndef HAL_BUILD_AP_PERIPH hal.rcout->set_dshot_rate(_singleton->dshot_rate, AP::scheduler().get_loop_rate_hz()); @@ -519,26 +479,26 @@ void SRV_Channels::push() #if AP_VOLZ_ENABLED // give volz library a chance to update - volz_ptr->update(); + volz.update(); #endif #if AP_SBUSOUTPUT_ENABLED // give sbus library a chance to update - sbus_ptr->update(); + sbus.update(); #endif #if AP_ROBOTISSERVO_ENABLED // give robotis library a chance to update - robotis_ptr->update(); + robotis.update(); #endif #if HAL_SUPPORT_RCOUT_SERIAL // give blheli telemetry a chance to update - blheli_ptr->update_telemetry(); + blheli.update_telemetry(); #endif #if AP_FETTEC_ONEWIRE_ENABLED - fetteconwire_ptr->update(); + fetteconwire.update(); #endif #if AP_KDECAN_ENABLED @@ -589,7 +549,7 @@ void SRV_Channels::zero_rc_outputs() for (uint8_t i=0; iwrite(i, 0); } - push(); + AP::srv().push(); } /* @@ -619,3 +579,12 @@ void SRV_Channels::set_emergency_stop(bool state) { #endif emergency_stop = state; } + +namespace AP { + +SRV_Channels &srv() +{ + return *SRV_Channels::get_singleton(); +} + +}; From fbb28a0c3ac36f269a25dbcd243427140627fdd0 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:28 +1100 Subject: [PATCH 281/314] AntennaTracker: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- AntennaTracker/Tracker.cpp | 2 +- AntennaTracker/servos.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp index 435134d6189e1..a35a6f3251ad5 100644 --- a/AntennaTracker/Tracker.cpp +++ b/AntennaTracker/Tracker.cpp @@ -82,7 +82,7 @@ void Tracker::one_second_loop() mavlink_system.sysid = g.sysid_this_mav; // update assigned functions and enable auxiliary servos - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); // updated armed/disarmed status LEDs update_armed_disarmed(); diff --git a/AntennaTracker/servos.cpp b/AntennaTracker/servos.cpp index 23e1e0cab5bfd..5ca8bc0b54656 100644 --- a/AntennaTracker/servos.cpp +++ b/AntennaTracker/servos.cpp @@ -8,7 +8,7 @@ void Tracker::init_servos() { // update assigned functions and enable auxiliary servos - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); SRV_Channels::set_default_function(CH_YAW, SRV_Channel::k_tracker_yaw); SRV_Channels::set_default_function(CH_PITCH, SRV_Channel::k_tracker_pitch); From e29b6c30368bdd17b901347d4dc18a26bac27b25 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:28 +1100 Subject: [PATCH 282/314] ArduCopter: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- ArduCopter/Copter.cpp | 2 +- ArduCopter/compassmot.cpp | 2 +- ArduCopter/esc_calibration.cpp | 8 ++++---- ArduCopter/motors.cpp | 2 +- ArduCopter/radio.cpp | 2 +- 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index 417468160cdfc..84e31f3ebb326 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -727,7 +727,7 @@ void Copter::one_hz_loop() } // update assigned functions and enable auxiliary servos - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); #if HAL_LOGGING_ENABLED // log terrain data diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp index 703f5cf722a2e..c0d26041c0901 100644 --- a/ArduCopter/compassmot.cpp +++ b/ArduCopter/compassmot.cpp @@ -148,7 +148,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan) // pass through throttle to motors SRV_Channels::cork(); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f); - SRV_Channels::push(); + AP::srv().push(); // read some compass values compass.read(); diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp index b4c5c11906399..722127898e225 100644 --- a/ArduCopter/esc_calibration.cpp +++ b/ArduCopter/esc_calibration.cpp @@ -97,7 +97,7 @@ void Copter::esc_calibration_passthrough() // pass through to motors SRV_Channels::cork(); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f); - SRV_Channels::push(); + AP::srv().push(); } #endif // FRAME_CONFIG != HELI_FRAME } @@ -114,14 +114,14 @@ void Copter::esc_calibration_auto() // raise throttle to maximum SRV_Channels::cork(); motors->set_throttle_passthrough_for_esc_calibration(1.0f); - SRV_Channels::push(); + AP::srv().push(); // delay for 5 seconds while outputting pulses uint32_t tstart = millis(); while (millis() - tstart < 5000) { SRV_Channels::cork(); motors->set_throttle_passthrough_for_esc_calibration(1.0f); - SRV_Channels::push(); + AP::srv().push(); esc_calibration_notify(); hal.scheduler->delay(3); } @@ -130,7 +130,7 @@ void Copter::esc_calibration_auto() while(1) { SRV_Channels::cork(); motors->set_throttle_passthrough_for_esc_calibration(0.0f); - SRV_Channels::push(); + AP::srv().push(); esc_calibration_notify(); hal.scheduler->delay(3); } diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp index e382cb5941f65..328eb831500d5 100644 --- a/ArduCopter/motors.cpp +++ b/ArduCopter/motors.cpp @@ -181,7 +181,7 @@ void Copter::motors_output() } // push all channels - SRV_Channels::push(); + AP::srv().push(); } // check for pilot stick input to trigger lost vehicle alarm diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp index b92178d0981ea..9873d1a2846f8 100644 --- a/ArduCopter/radio.cpp +++ b/ArduCopter/radio.cpp @@ -45,7 +45,7 @@ void Copter::init_rc_out() motors->init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get()); // enable aux servos to cope with multiple output channels per motor - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); // update rate must be set after motors->init() to allow for motor mapping motors->set_update_rate(g.rc_speed); From c23f777ae654832f7714be3a951f4dafb9c6680e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:28 +1100 Subject: [PATCH 283/314] ArduPlane: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- ArduPlane/ArduPlane.cpp | 2 +- ArduPlane/radio.cpp | 2 +- ArduPlane/servos.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index d69e3a3842e4b..1e10df8c42784 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -346,7 +346,7 @@ void Plane::one_second_loop() // sync MAVLink system ID mavlink_system.sysid = g.sysid_this_mav; - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); // update notify flags AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false); diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp index cb2048be6d42f..49835adcfdf66 100644 --- a/ArduPlane/radio.cpp +++ b/ArduPlane/radio.cpp @@ -107,7 +107,7 @@ void Plane::init_rc_out_main() */ void Plane::init_rc_out_aux() { - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); servos_output(); diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp index 672631e373e74..b8db6e14b8648 100644 --- a/ArduPlane/servos.cpp +++ b/ArduPlane/servos.cpp @@ -1055,7 +1055,7 @@ void Plane::servos_output(void) SRV_Channels::output_ch_all(); - SRV_Channels::push(); + AP::srv().push(); if (g2.servo_channels.auto_trim_enabled()) { servos_auto_trim(); From a8b07a854f87eee3c2c5fc2fae19090f0b4981dc Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:17:28 +1100 Subject: [PATCH 284/314] ArduSub: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- ArduSub/ArduSub.cpp | 2 +- ArduSub/motors.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp index df4729ba01692..002fbfbaad591 100644 --- a/ArduSub/ArduSub.cpp +++ b/ArduSub/ArduSub.cpp @@ -290,7 +290,7 @@ void Sub::one_hz_loop() } // update assigned functions and enable auxiliary servos - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); #if HAL_LOGGING_ENABLED // log terrain data diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp index 5d45a2c00fbe2..7bfe51c24904c 100644 --- a/ArduSub/motors.cpp +++ b/ArduSub/motors.cpp @@ -22,7 +22,7 @@ void Sub::motors_output() SRV_Channels::calc_pwm(); SRV_Channels::output_ch_all(); motors.output(); - SRV_Channels::push(); + AP::srv().push(); } } From 52e2a162c969807d2cd48f612106146832a42a24 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:24:59 +1100 Subject: [PATCH 285/314] Blimp: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- Blimp/Blimp.cpp | 2 +- Blimp/motors.cpp | 4 ++-- Blimp/radio.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp index 83f8e6207394b..8ae8c0b704aa3 100644 --- a/Blimp/Blimp.cpp +++ b/Blimp/Blimp.cpp @@ -210,7 +210,7 @@ void Blimp::one_hz_loop() #endif // update assigned functions and enable auxiliary servos - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); AP_Notify::flags.flying = !ap.land_complete; diff --git a/Blimp/motors.cpp b/Blimp/motors.cpp index 35ba08b90cce9..c2993c99bd48f 100644 --- a/Blimp/motors.cpp +++ b/Blimp/motors.cpp @@ -88,5 +88,5 @@ void Blimp::motors_output() motors->output(); // push all channels - SRV_Channels::push(); -} \ No newline at end of file + AP::srv().push(); +} diff --git a/Blimp/radio.cpp b/Blimp/radio.cpp index 4b0c5a9a709e2..47212c501272c 100644 --- a/Blimp/radio.cpp +++ b/Blimp/radio.cpp @@ -38,7 +38,7 @@ void Blimp::init_rc_in() void Blimp::init_rc_out() { // enable aux servos to cope with multiple output channels per motor - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); // refresh auxiliary channel to function map SRV_Channels::update_aux_servo_function(); From ccd12e3e1239e6dcd476ee8468cd44848714783f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:24:59 +1100 Subject: [PATCH 286/314] Rover: create and use a singleton for SRV_Channels avoid creation of static pointers to objects held within SRV_Channels --- Rover/Rover.cpp | 2 +- Rover/system.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp index a8fc94074d2fa..7460a561e056b 100644 --- a/Rover/Rover.cpp +++ b/Rover/Rover.cpp @@ -435,7 +435,7 @@ void Rover::one_second_loop(void) set_control_channels(); // cope with changes to aux functions - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); // update notify flags AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false); diff --git a/Rover/system.cpp b/Rover/system.cpp index 6911b78b74701..06405d5e31d4f 100644 --- a/Rover/system.cpp +++ b/Rover/system.cpp @@ -70,7 +70,7 @@ void Rover::init_ardupilot() init_rc_in(); // sets up rc channels deadzone g2.motors.init(get_frame_type()); // init motors including setting servo out channels ranges - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); // init wheel encoders g2.wheel_encoder.init(); From 573b02fc2365ccaeba20d83fbcd9e741f0142ed4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 9 Nov 2024 18:40:03 +1100 Subject: [PATCH 287/314] AP_Periph: create and use a singleton for SRV_Channels --- Tools/AP_Periph/rc_out.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp index 2dbfbe07f5149..b4d9d410a5307 100644 --- a/Tools/AP_Periph/rc_out.cpp +++ b/Tools/AP_Periph/rc_out.cpp @@ -71,7 +71,7 @@ void AP_Periph_FW::rcout_init() hal.rcout->set_freq(esc_mask, g.esc_rate.get()); // setup ESCs with the desired PWM type, allowing for DShot - SRV_Channels::init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get()); + AP::srv().init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get()); // run DShot at 1kHz hal.rcout->set_dshot_rate(SRV_Channels::get_dshot_rate(), 400); @@ -83,7 +83,7 @@ void AP_Periph_FW::rcout_init() void AP_Periph_FW::rcout_init_1Hz() { // this runs at 1Hz to allow for run-time param changes - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); for (uint8_t i=0; i= esc_telem_update_period_ms) { last_esc_telem_update_ms = now_ms; From d204f22fe0b767a4bbe9ed3bddaf6eacb5d1dd54 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 10 Nov 2024 09:50:00 +1100 Subject: [PATCH 288/314] AP_Motors: create and use a singleton for SRV_Channels --- libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp index f28db5c9243fb..336eea61e3d80 100644 --- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp +++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp @@ -518,7 +518,7 @@ void stability_test() // arm motors motors->armed(true); motors->set_interlock(true); - SRV_Channels::enable_aux_servos(); + AP::srv().enable_aux_servos(); hal.console->printf("Roll,Pitch,Yaw,Thr,"); for (uint8_t i=0; i Date: Wed, 13 Nov 2024 08:09:59 +1100 Subject: [PATCH 289/314] AR_Motors: make SRV_Channels::cork non-static for symmetry with the push function --- libraries/AR_Motors/AP_MotorsUGV.cpp | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp index 70f9754d625fa..4b63101d5f5bb 100644 --- a/libraries/AR_Motors/AP_MotorsUGV.cpp +++ b/libraries/AR_Motors/AP_MotorsUGV.cpp @@ -340,10 +340,11 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt) output_sail(); // send values to the PWM timers for output + auto &srv = AP::srv(); SRV_Channels::calc_pwm(); - SRV_Channels::cork(); + srv.cork(); SRV_Channels::output_ch_all(); - AP::srv().push(); + srv.push(); } // test steering or throttle output as a percentage of the total (range -100 to +100) @@ -408,10 +409,11 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct) case MOTOR_TEST_LAST: return false; } + auto &srv = AP::srv(); SRV_Channels::calc_pwm(); - SRV_Channels::cork(); + srv.cork(); SRV_Channels::output_ch_all(); - AP::srv().push(); + srv.push(); return true; } @@ -474,10 +476,11 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm) default: return false; } + auto &srv = AP::srv(); SRV_Channels::calc_pwm(); - SRV_Channels::cork(); + srv.cork(); SRV_Channels::output_ch_all(); - AP::srv().push(); + srv.push(); return true; } From 89936bab3d2bf3f9d1b7d4362180ad024aa846b4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 08:09:59 +1100 Subject: [PATCH 290/314] SRV_Channel: make SRV_Channels::cork non-static for symmetry with the push function --- libraries/SRV_Channel/SRV_Channel.h | 3 +-- libraries/SRV_Channel/SRV_Channels.cpp | 5 +++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h index e19c52a4bf574..e4778b27738bf 100644 --- a/libraries/SRV_Channel/SRV_Channel.h +++ b/libraries/SRV_Channel/SRV_Channel.h @@ -538,9 +538,8 @@ class SRV_Channels { } return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor9+(channel-8))); } - - static void cork(); + void cork(); void push(); // disable PWM output to a set of channels given by a mask. This is used by the AP_BLHeli code diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp index 3ef0c7e34318f..c1fda6226c37c 100644 --- a/libraries/SRV_Channel/SRV_Channels.cpp +++ b/libraries/SRV_Channel/SRV_Channels.cpp @@ -545,11 +545,12 @@ void SRV_Channels::zero_rc_outputs() * send an invalid signal to all channels to prevent * undesired/unexpected behavior */ - cork(); + auto &srv = AP::srv(); + srv.cork(); for (uint8_t i=0; iwrite(i, 0); } - AP::srv().push(); + srv.push(); } /* From a2f35b3150157db3522690fedea597602389a888 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 08:09:59 +1100 Subject: [PATCH 291/314] ArduCopter: make SRV_Channels::cork non-static for symmetry with the push function --- ArduCopter/compassmot.cpp | 5 +++-- ArduCopter/esc_calibration.cpp | 18 ++++++++++-------- ArduCopter/motors.cpp | 6 ++++-- 3 files changed, 17 insertions(+), 12 deletions(-) diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp index c0d26041c0901..28282c35399f1 100644 --- a/ArduCopter/compassmot.cpp +++ b/ArduCopter/compassmot.cpp @@ -146,9 +146,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan) read_radio(); // pass through throttle to motors - SRV_Channels::cork(); + auto &srv = AP::srv(); + srv.cork(); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f); - AP::srv().push(); + srv.push(); // read some compass values compass.read(); diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp index 722127898e225..0c1d7ea70e636 100644 --- a/ArduCopter/esc_calibration.cpp +++ b/ArduCopter/esc_calibration.cpp @@ -95,9 +95,10 @@ void Copter::esc_calibration_passthrough() hal.scheduler->delay(3); // pass through to motors - SRV_Channels::cork(); + auto &srv = AP::srv(); + srv.cork(); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f); - AP::srv().push(); + srv.push(); } #endif // FRAME_CONFIG != HELI_FRAME } @@ -112,25 +113,26 @@ void Copter::esc_calibration_auto() esc_calibration_setup(); // raise throttle to maximum - SRV_Channels::cork(); + auto &srv = AP::srv(); + srv.cork(); motors->set_throttle_passthrough_for_esc_calibration(1.0f); - AP::srv().push(); + srv.push(); // delay for 5 seconds while outputting pulses uint32_t tstart = millis(); while (millis() - tstart < 5000) { - SRV_Channels::cork(); + srv.cork(); motors->set_throttle_passthrough_for_esc_calibration(1.0f); - AP::srv().push(); + srv.push(); esc_calibration_notify(); hal.scheduler->delay(3); } // block until we restart while(1) { - SRV_Channels::cork(); + srv.cork(); motors->set_throttle_passthrough_for_esc_calibration(0.0f); - AP::srv().push(); + srv.push(); esc_calibration_notify(); hal.scheduler->delay(3); } diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp index 328eb831500d5..c37a4d55a2fb3 100644 --- a/ArduCopter/motors.cpp +++ b/ArduCopter/motors.cpp @@ -156,8 +156,10 @@ void Copter::motors_output() // output any servo channels SRV_Channels::calc_pwm(); + auto &srv = AP::srv(); + // cork now, so that all channel outputs happen at once - SRV_Channels::cork(); + srv.cork(); // update output on any aux channels, for manual passthru SRV_Channels::output_ch_all(); @@ -181,7 +183,7 @@ void Copter::motors_output() } // push all channels - AP::srv().push(); + srv.push(); } // check for pilot stick input to trigger lost vehicle alarm From aadc37ebeb58dd6162806ed7a8b049ba8ba9969a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 08:09:59 +1100 Subject: [PATCH 292/314] ArduPlane: make SRV_Channels::cork non-static for symmetry with the push function --- ArduPlane/servos.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp index b8db6e14b8648..aa3de533d3cf6 100644 --- a/ArduPlane/servos.cpp +++ b/ArduPlane/servos.cpp @@ -858,8 +858,8 @@ void Plane::set_servos(void) // start with output corked. the cork is released when we run // servos_output(), which is run from all code paths in this // function - SRV_Channels::cork(); - + AP::srv().cork(); + // this is to allow the failsafe module to deliberately crash // the plane. Only used in extreme circumstances to meet the // OBC rules @@ -1017,7 +1017,8 @@ void Plane::indicate_waiting_for_rud_neutral_to_takeoff(void) */ void Plane::servos_output(void) { - SRV_Channels::cork(); + auto &srv = AP::srv(); + srv.cork(); // support twin-engine aircraft servos_twin_engine_mix(); @@ -1055,7 +1056,7 @@ void Plane::servos_output(void) SRV_Channels::output_ch_all(); - AP::srv().push(); + srv.push(); if (g2.servo_channels.auto_trim_enabled()) { servos_auto_trim(); From afadb7e6c06baf45f60590b31e830a11f698f14a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 08:09:59 +1100 Subject: [PATCH 293/314] ArduSub: make SRV_Channels::cork non-static for symmetry with the push function --- ArduSub/motors.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp index 7bfe51c24904c..504c6651d933b 100644 --- a/ArduSub/motors.cpp +++ b/ArduSub/motors.cpp @@ -18,11 +18,12 @@ void Sub::motors_output() verify_motor_test(); } else { motors.set_interlock(true); - SRV_Channels::cork(); + auto &srv = AP::srv(); + srv.cork(); SRV_Channels::calc_pwm(); SRV_Channels::output_ch_all(); motors.output(); - AP::srv().push(); + srv.push(); } } From cd2c5a1697f33cf5055354161daacac0a965feb5 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 08:10:00 +1100 Subject: [PATCH 294/314] Blimp: make SRV_Channels::cork non-static for symmetry with the push function --- Blimp/motors.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/Blimp/motors.cpp b/Blimp/motors.cpp index c2993c99bd48f..90fb3308a925b 100644 --- a/Blimp/motors.cpp +++ b/Blimp/motors.cpp @@ -78,8 +78,10 @@ void Blimp::motors_output() // output any servo channels SRV_Channels::calc_pwm(); + auto &srv = AP::srv(); + // cork now, so that all channel outputs happen at once - SRV_Channels::cork(); + srv.cork(); // update output on any aux channels, for manual passthru SRV_Channels::output_ch_all(); @@ -88,5 +90,5 @@ void Blimp::motors_output() motors->output(); // push all channels - AP::srv().push(); + srv.push(); } From dce439643072aea71efe905fb8327fba1f7a1763 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 08:10:00 +1100 Subject: [PATCH 295/314] Tools: make SRV_Channels::cork non-static for symmetry with the push function --- Tools/AP_Periph/rc_out.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp index b4d9d410a5307..8feb3e0805ce8 100644 --- a/Tools/AP_Periph/rc_out.cpp +++ b/Tools/AP_Periph/rc_out.cpp @@ -156,10 +156,11 @@ void AP_Periph_FW::rcout_update() } rcout_has_new_data_to_update = false; + auto &srv = AP::srv(); SRV_Channels::calc_pwm(); - SRV_Channels::cork(); + srv.cork(); SRV_Channels::output_ch_all(); - AP::srv().push(); + srv.push(); #if HAL_WITH_ESC_TELEM if (now_ms - last_esc_telem_update_ms >= esc_telem_update_period_ms) { last_esc_telem_update_ms = now_ms; From 88a80993dcb626f2344785d22e670bde5fe6ced4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 13 Nov 2024 12:20:08 +1100 Subject: [PATCH 296/314] RC_Channel: remove unused method get_channel_pos --- libraries/RC_Channel/RC_Channel.cpp | 8 -------- libraries/RC_Channel/RC_Channel.h | 1 - 2 files changed, 9 deletions(-) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index 4b4f30d79e288..1d4c7cc77fd0c 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -1921,14 +1921,6 @@ RC_Channel::AuxSwitchPos RC_Channel::get_aux_switch_pos() const return position; } -// return switch position value as LOW, MIDDLE, HIGH -// if reading the switch fails then it returns LOW -RC_Channel::AuxSwitchPos RC_Channels::get_channel_pos(const uint8_t rcmapchan) const -{ - const RC_Channel* chan = rc().channel(rcmapchan-1); - return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::AuxSwitchPos::LOW; -} - RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::AUX_FUNC option) { for (uint8_t i=0; i Date: Sat, 9 Nov 2024 11:45:20 +0000 Subject: [PATCH 297/314] GCS_MAVLink: add support for `AVAILABLE_MODES` msg --- libraries/GCS_MAVLink/GCS.h | 14 ++++++++ libraries/GCS_MAVLink/GCS_Common.cpp | 50 ++++++++++++++++++++++++++++ libraries/GCS_MAVLink/GCS_Dummy.h | 1 + libraries/GCS_MAVLink/ap_message.h | 1 + 4 files changed, 66 insertions(+) diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h index 8edbc60474a7c..8bb1108de3d18 100644 --- a/libraries/GCS_MAVLink/GCS.h +++ b/libraries/GCS_MAVLink/GCS.h @@ -412,6 +412,10 @@ class GCS_MAVLINK void send_uavionix_adsb_out_status() const; void send_autopilot_state_for_gimbal_device() const; + // Send the mode with the given index (not mode number!) return the total number of modes + // Index starts at 1 + virtual uint8_t send_available_mode(uint8_t index) const = 0; + // lock a channel, preventing use by MAVLink void lock(bool _lock) { _locked = _lock; @@ -1126,6 +1130,16 @@ class GCS_MAVLINK // true if we should NOT do MAVLink on this port (usually because // someone's doing SERIAL_CONTROL over mavlink) bool _locked; + + // Handling of AVAILABLE_MODES + struct { + bool should_send; + // Note these start at 1 + uint8_t requested_index; + uint8_t next_index; + } available_modes; + bool send_available_modes(); + }; /// @class GCS diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 806831a345f4f..9922a4f8377b0 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -1152,6 +1152,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c #if AP_AIRSPEED_ENABLED { MAVLINK_MSG_ID_AIRSPEED, MSG_AIRSPEED}, #endif + { MAVLINK_MSG_ID_AVAILABLE_MODES, MSG_AVAILABLE_MODES}, }; for (uint8_t i=0; i mode_count)) { + // Sending all and just sent the last + available_modes.should_send = false; + } + + return true; +} + bool GCS_MAVLINK::try_send_message(const enum ap_message id) { bool ret = true; @@ -6521,6 +6567,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id) break; #endif + case MSG_AVAILABLE_MODES: + ret = send_available_modes(); + break; + default: // try_send_message must always at some stage return true for // a message, or we will attempt to infinitely retry the diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h index f12155294df31..17e74ee0ba7ed 100644 --- a/libraries/GCS_MAVLink/GCS_Dummy.h +++ b/libraries/GCS_MAVLink/GCS_Dummy.h @@ -35,6 +35,7 @@ class GCS_MAVLINK_Dummy : public GCS_MAVLINK void send_nav_controller_output() const override {}; void send_pid_tuning() override {}; + uint8_t send_available_mode(uint8_t index) const override { return 0; } }; /* diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h index a14be7cd53897..b82e64611f9dc 100644 --- a/libraries/GCS_MAVLink/ap_message.h +++ b/libraries/GCS_MAVLink/ap_message.h @@ -103,5 +103,6 @@ enum ap_message : uint8_t { MSG_HIGHRES_IMU, #endif MSG_AIRSPEED, + MSG_AVAILABLE_MODES, MSG_LAST // MSG_LAST must be the last entry in this enum }; From 67bca38151f3c14d2fd4cca797233f935a95d6af Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 11:47:28 +0000 Subject: [PATCH 298/314] Copter: add support for `AVAILABLE_MODES` msg --- ArduCopter/GCS_Mavlink.cpp | 120 ++++++++++++++++++++++++++++++++++++- ArduCopter/GCS_Mavlink.h | 4 ++ 2 files changed, 123 insertions(+), 1 deletion(-) diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index c07b4807a2e09..b87375320753a 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -589,7 +589,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = { #endif }; static const ap_message STREAM_PARAMS_msgs[] = { - MSG_NEXT_PARAM + MSG_NEXT_PARAM, + MSG_AVAILABLE_MODES }; static const ap_message STREAM_ADSB_msgs[] = { MSG_ADSB_VEHICLE, @@ -1663,3 +1664,120 @@ uint8_t GCS_MAVLINK_Copter::high_latency_wind_direction() const return 0; } #endif // HAL_HIGH_LATENCY2_ENABLED + +// Send the mode with the given index (not mode number!) return the total number of modes +// Index starts at 1 +uint8_t GCS_MAVLINK_Copter::send_available_mode(uint8_t index) const +{ + const Mode* modes[] { +#if MODE_AUTO_ENABLED + &copter.mode_auto, // This auto is actually auto RTL! + &copter.mode_auto, // This one is really is auto! +#endif +#if MODE_ACRO_ENABLED + &copter.mode_acro, +#endif + &copter.mode_stabilize, + &copter.mode_althold, +#if MODE_CIRCLE_ENABLED + &copter.mode_circle, +#endif +#if MODE_LOITER_ENABLED + &copter.mode_loiter, +#endif +#if MODE_GUIDED_ENABLED + &copter.mode_guided, +#endif + &copter.mode_land, +#if MODE_RTL_ENABLED + &copter.mode_rtl, +#endif +#if MODE_DRIFT_ENABLED + &copter.mode_drift, +#endif +#if MODE_SPORT_ENABLED + &copter.mode_sport, +#endif +#if MODE_FLIP_ENABLED + &copter.mode_flip, +#endif +#if AUTOTUNE_ENABLED + &copter.mode_autotune, +#endif +#if MODE_POSHOLD_ENABLED + &copter.mode_poshold, +#endif +#if MODE_BRAKE_ENABLED + &copter.mode_brake, +#endif +#if MODE_THROW_ENABLED + &copter.mode_throw, +#endif +#if HAL_ADSB_ENABLED + &copter.mode_avoid_adsb, +#endif +#if MODE_GUIDED_NOGPS_ENABLED + &copter.mode_guided_nogps, +#endif +#if MODE_SMARTRTL_ENABLED + &copter.mode_smartrtl, +#endif +#if MODE_FLOWHOLD_ENABLED + (Mode*)copter.g2.mode_flowhold_ptr, +#endif +#if MODE_FOLLOW_ENABLED + &copter.mode_follow, +#endif +#if MODE_ZIGZAG_ENABLED + &copter.mode_zigzag, +#endif +#if MODE_SYSTEMID_ENABLED + (Mode *)copter.g2.mode_systemid_ptr, +#endif +#if MODE_AUTOROTATE_ENABLED + &copter.mode_autorotate, +#endif +#if MODE_TURTLE_ENABLED + &copter.mode_turtle, +#endif + }; + + 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(); + uint8_t mode_number = (uint8_t)modes[index_zero]->mode_number(); + +#if MODE_AUTO_ENABLED + // Auto RTL is odd + // Have to deal with is separately becase its number and name can change depending on if were in it or not + if (index_zero == 0) { + mode_number = (uint8_t)Mode::Number::AUTO_RTL; + name = "AUTO RTL"; + + } else if (index_zero == 1) { + mode_number = (uint8_t)Mode::Number::AUTO; + name = "AUTO"; + + } +#endif + + 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/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h index e38c9b6e7aa02..558804c05e8c3 100644 --- a/ArduCopter/GCS_Mavlink.h +++ b/ArduCopter/GCS_Mavlink.h @@ -64,6 +64,10 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK uint32_t log_radio_bit() const override { return MASK_LOG_PM; } #endif + // 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: // sanity check velocity or acceleration vector components are numbers From 684881d13a6faf7b806534112b7bcc288066fea0 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 12:08:01 +0000 Subject: [PATCH 299/314] Plane: add support `AVAILABLE_MODES` msg --- ArduPlane/GCS_Mavlink.cpp | 99 ++++++++++++++++++++++++++++++++++++++- ArduPlane/GCS_Mavlink.h | 4 ++ 2 files changed, 102 insertions(+), 1 deletion(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index b733f7b7bff13..298b4e47a5195 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -716,7 +716,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = { MSG_VIBRATION, }; static const ap_message STREAM_PARAMS_msgs[] = { - MSG_NEXT_PARAM + MSG_NEXT_PARAM, + MSG_AVAILABLE_MODES }; static const ap_message STREAM_ADSB_msgs[] = { MSG_ADSB_VEHICLE, @@ -1545,3 +1546,99 @@ MAV_LANDED_STATE GCS_MAVLINK_Plane::landed_state() const return MAV_LANDED_STATE_ON_GROUND; } +// Send the mode with the given index (not mode number!) return the total number of modes +// Index starts at 1 +uint8_t GCS_MAVLINK_Plane::send_available_mode(uint8_t index) const +{ + // Fixed wing modes + const Mode* fw_modes[] { + &plane.mode_manual, + &plane.mode_circle, + &plane.mode_stabilize, + &plane.mode_training, + &plane.mode_acro, + &plane.mode_fbwa, + &plane.mode_fbwb, + &plane.mode_cruise, + &plane.mode_autotune, + &plane.mode_auto, + &plane.mode_rtl, + &plane.mode_loiter, +#if HAL_ADSB_ENABLED + &plane.mode_avoidADSB, +#endif + &plane.mode_guided, + &plane.mode_initializing, + &plane.mode_takeoff, +#if HAL_SOARING_ENABLED + &plane.mode_thermal, +#endif + }; + + const uint8_t fw_mode_count = ARRAY_SIZE(fw_modes); + + // Fixedwing modes are always present + uint8_t mode_count = fw_mode_count; + +#if HAL_QUADPLANE_ENABLED + // Quadplane modes + const Mode* q_modes[] { + &plane.mode_qstabilize, + &plane.mode_qhover, + &plane.mode_qloiter, + &plane.mode_qland, + &plane.mode_qrtl, + &plane.mode_qacro, + &plane.mode_loiter_qland, +#if QAUTOTUNE_ENABLED + &plane.mode_qautotune, +#endif + }; + + // Quadplane modes must be enabled + if (plane.quadplane.available()) { + mode_count += ARRAY_SIZE(q_modes); + } +#endif // HAL_QUADPLANE_ENABLED + + + // 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; + uint8_t mode_number; + + if (index_zero < fw_mode_count) { + // A fixedwing mode + name = fw_modes[index_zero]->name(); + mode_number = (uint8_t)fw_modes[index_zero]->mode_number(); + + } else { +#if HAL_QUADPLANE_ENABLED + // A Quadplane mode + const uint8_t q_index = index_zero - fw_mode_count; + name = q_modes[q_index]->name(); + mode_number = (uint8_t)q_modes[q_index]->mode_number(); +#else + // Should not endup here + return mode_count; +#endif + } + + 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/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h index 9e03940882713..2fa88274e1655 100644 --- a/ArduPlane/GCS_Mavlink.h +++ b/ArduPlane/GCS_Mavlink.h @@ -50,6 +50,10 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override; void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) 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 send_pid_info(const struct AP_PIDInfo *pid_info, const uint8_t axis, const float achieved); From 984daeabfd231445a45c2f70fa8f4d7c996ee389 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 12:17:28 +0000 Subject: [PATCH 300/314] Rover: add support for `AVAILABLE_MODES` msg --- Rover/GCS_Mavlink.cpp | 54 ++++++++++++++++++++++++++++++++++++++++++- Rover/GCS_Mavlink.h | 4 ++++ 2 files changed, 57 insertions(+), 1 deletion(-) diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp index 3704110ec9e2f..a903e591c6e62 100644 --- a/Rover/GCS_Mavlink.cpp +++ b/Rover/GCS_Mavlink.cpp @@ -619,7 +619,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = { #endif }; static const ap_message STREAM_PARAMS_msgs[] = { - MSG_NEXT_PARAM + MSG_NEXT_PARAM, + MSG_AVAILABLE_MODES }; static const ap_message STREAM_ADSB_msgs[] = { MSG_ADSB_VEHICLE, @@ -1154,3 +1155,54 @@ uint8_t GCS_MAVLINK_Rover::high_latency_wind_direction() const return 0; } #endif // HAL_HIGH_LATENCY2_ENABLED + +// Send the mode with the given index (not mode number!) return the total number of modes +// Index starts at 1 +uint8_t GCS_MAVLINK_Rover::send_available_mode(uint8_t index) const +{ + const Mode* modes[] { + &rover.mode_manual, + &rover.mode_acro, + &rover.mode_steering, + &rover.mode_hold, + &rover.mode_loiter, +#if MODE_FOLLOW_ENABLED + &rover.mode_follow, +#endif + &rover.mode_simple, + &rover.g2.mode_circle, + &rover.mode_auto, + &rover.mode_rtl, + &rover.mode_smartrtl, + &rover.mode_guided, + &rover.mode_initializing, +#if MODE_DOCK_ENABLED + (Mode *)rover.g2.mode_dock_ptr, +#endif + }; + + 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]->name4(); + const uint8_t mode_number = (uint8_t)modes[index_zero]->mode_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/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h index b39a8cfb3630e..fd92cac3d5cfa 100644 --- a/Rover/GCS_Mavlink.h +++ b/Rover/GCS_Mavlink.h @@ -40,6 +40,10 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK uint32_t log_radio_bit() const override { return MASK_LOG_PM; } #endif + // 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 handle_message(const mavlink_message_t &msg) override; From c0a31344390d7ddac426db6f6c790100702f300a Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 12:27:36 +0000 Subject: [PATCH 301/314] Tracker: add support for `AVAILABLE_MODES` msg --- AntennaTracker/GCS_Mavlink.cpp | 43 +++++++++++++++++++++++++++++++++- AntennaTracker/GCS_Mavlink.h | 4 ++++ AntennaTracker/mode.h | 8 +++++++ 3 files changed, 54 insertions(+), 1 deletion(-) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index 93e6638304440..c9ec2050c746f 100644 --- a/AntennaTracker/GCS_Mavlink.cpp +++ b/AntennaTracker/GCS_Mavlink.cpp @@ -321,7 +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[] = { @@ -649,3 +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 index a431f5217e230..af98ee5a39fd7 100644 --- 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; diff --git a/AntennaTracker/mode.h b/AntennaTracker/mode.h index d6a10022dc8c5..bfdcad9ac7860 100644 --- a/AntennaTracker/mode.h +++ b/AntennaTracker/mode.h @@ -22,6 +22,7 @@ class Mode { // returns a unique number specific to this mode virtual Mode::Number number() const = 0; + virtual const char* name() const = 0; virtual bool requires_armed_servos() const = 0; @@ -41,6 +42,7 @@ class Mode { class ModeAuto : public Mode { public: Mode::Number number() const override { return Mode::Number::AUTO; } + const char* name() const override { return "Auto"; } bool requires_armed_servos() const override { return true; } void update() override; }; @@ -48,6 +50,7 @@ class ModeAuto : public Mode { class ModeGuided : public Mode { public: Mode::Number number() const override { return Mode::Number::GUIDED; } + const char* name() const override { return "Guided"; } bool requires_armed_servos() const override { return true; } void update() override; @@ -66,6 +69,7 @@ class ModeGuided : public Mode { class ModeInitialising : public Mode { public: Mode::Number number() const override { return Mode::Number::INITIALISING; } + const char* name() const override { return "Initialising"; } bool requires_armed_servos() const override { return false; } void update() override {}; }; @@ -73,6 +77,7 @@ class ModeInitialising : public Mode { class ModeManual : public Mode { public: Mode::Number number() const override { return Mode::Number::MANUAL; } + const char* name() const override { return "Manual"; } bool requires_armed_servos() const override { return true; } void update() override; }; @@ -80,6 +85,7 @@ class ModeManual : public Mode { class ModeScan : public Mode { public: Mode::Number number() const override { return Mode::Number::SCAN; } + const char* name() const override { return "Scan"; } bool requires_armed_servos() const override { return true; } void update() override; }; @@ -87,6 +93,7 @@ class ModeScan : public Mode { class ModeServoTest : public Mode { public: Mode::Number number() const override { return Mode::Number::SERVOTEST; } + const char* name() const override { return "ServoTest"; } bool requires_armed_servos() const override { return true; } void update() override {}; @@ -96,6 +103,7 @@ class ModeServoTest : public Mode { class ModeStop : public Mode { public: Mode::Number number() const override { return Mode::Number::STOP; } + const char* name() const override { return "Stop"; } bool requires_armed_servos() const override { return false; } void update() override {}; }; From deca687d303e17534a2182b3df1c7545d08b508d Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 12:35:04 +0000 Subject: [PATCH 302/314] Blimp: add support for `AVAILABLE_MODES` msg --- Blimp/GCS_Mavlink.cpp | 41 ++++++++++++++++++++++++++++++++++++++++- Blimp/GCS_Mavlink.h | 4 ++++ Blimp/mode.h | 14 ++++++++++++++ 3 files changed, 58 insertions(+), 1 deletion(-) diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp index 4d91191a02863..1eb5985e81a1c 100644 --- a/Blimp/GCS_Mavlink.cpp +++ b/Blimp/GCS_Mavlink.cpp @@ -401,7 +401,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = { #endif }; static const ap_message STREAM_PARAMS_msgs[] = { - MSG_NEXT_PARAM + MSG_NEXT_PARAM, + MSG_AVAILABLE_MODES }; static const ap_message STREAM_ADSB_msgs[] = { MSG_ADSB_VEHICLE, @@ -614,3 +615,41 @@ uint8_t GCS_MAVLINK_Blimp::high_latency_wind_direction() const return wrap_360(degrees(atan2f(-wind.y, -wind.x))) / 2; } #endif // HAL_HIGH_LATENCY2_ENABLED + +// Send the mode with the given index (not mode number!) return the total number of modes +// Index starts at 1 +uint8_t GCS_MAVLINK_Blimp::send_available_mode(uint8_t index) const +{ + const Mode* modes[] { + &blimp.mode_land, + &blimp.mode_manual, + &blimp.mode_velocity, + &blimp.mode_loiter, + &blimp.mode_rtl, + }; + + 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/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h index 35276b03a46d5..90c4881b2adf4 100644 --- a/Blimp/GCS_Mavlink.h +++ b/Blimp/GCS_Mavlink.h @@ -48,6 +48,10 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK uint32_t log_radio_bit() const override { return MASK_LOG_PM; } #endif + // 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 handle_message(const mavlink_message_t &msg) override; diff --git a/Blimp/mode.h b/Blimp/mode.h index 8a990fbb31b30..8718d47fa144e 100644 --- a/Blimp/mode.h +++ b/Blimp/mode.h @@ -52,6 +52,9 @@ class Mode virtual const char *name() const = 0; virtual const char *name4() const = 0; + // returns a unique number specific to this mode + virtual Mode::Number number() const = 0; + virtual bool is_landing() const { return false; @@ -159,6 +162,8 @@ class ModeManual : public Mode return "MANU"; } + Mode::Number number() const override { return Mode::Number::MANUAL; } + private: }; @@ -201,6 +206,8 @@ class ModeVelocity : public Mode return "VELY"; } + Mode::Number number() const override { return Mode::Number::VELOCITY; } + private: }; @@ -244,6 +251,8 @@ class ModeLoiter : public Mode return "LOIT"; } + Mode::Number number() const override { return Mode::Number::LOITER; } + private: Vector3f target_pos; float target_yaw; @@ -286,6 +295,8 @@ class ModeLand : public Mode return "LAND"; } + Mode::Number number() const override { return Mode::Number::LAND; } + private: }; @@ -328,4 +339,7 @@ class ModeRTL : public Mode { return "RTL"; } + + Mode::Number number() const override { return Mode::Number::RTL; } + }; From b0f821a96f43ce1e196793b9690b8dbde588af2c Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 9 Nov 2024 12:41:50 +0000 Subject: [PATCH 303/314] Sub: add support for `AVAILABLE_MODES` msg --- ArduSub/GCS_Mavlink.cpp | 47 ++++++++++++++++++++++++++++++++++++++++- ArduSub/GCS_Mavlink.h | 4 ++++ ArduSub/mode.h | 15 +++++++++++++ 3 files changed, 65 insertions(+), 1 deletion(-) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index c2bbf8b5c42bb..f17901638d76a 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -443,7 +443,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = { #endif }; 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[] = { @@ -968,3 +969,47 @@ uint8_t GCS_MAVLINK_Sub::high_latency_tgt_airspeed() const return 0; } #endif // HAL_HIGH_LATENCY2_ENABLED + +// Send the mode with the given index (not mode number!) return the total number of modes +// Index starts at 1 +uint8_t GCS_MAVLINK_Sub::send_available_mode(uint8_t index) const +{ + const Mode* modes[] { + &sub.mode_manual, + &sub.mode_stabilize, + &sub.mode_acro, + &sub.mode_althold, + &sub.mode_surftrak, + &sub.mode_poshold, + &sub.mode_auto, + &sub.mode_guided, + &sub.mode_circle, + &sub.mode_surface, + &sub.mode_motordetect, + }; + + 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/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h index c38ec3f4abb6e..7dc2d0c1a2586 100644 --- a/ArduSub/GCS_Mavlink.h +++ b/ArduSub/GCS_Mavlink.h @@ -37,6 +37,10 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK { uint64_t capabilities() const 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 handle_message(const mavlink_message_t &msg) override; diff --git a/ArduSub/mode.h b/ArduSub/mode.h index 11a6447167511..35780cb9c04d0 100644 --- a/ArduSub/mode.h +++ b/ArduSub/mode.h @@ -72,6 +72,9 @@ class Mode virtual const char *name() const = 0; virtual const char *name4() const = 0; + // returns a unique number specific to this mode + virtual Mode::Number number() const = 0; + // functions for reporting to GCS virtual bool get_wp(Location &loc) { return false; } virtual int32_t wp_bearing() const { return 0; } @@ -202,6 +205,7 @@ class ModeManual : public Mode const char *name() const override { return "MANUAL"; } const char *name4() const override { return "MANU"; } + Mode::Number number() const override { return Mode::Number::MANUAL; } }; @@ -224,6 +228,7 @@ class ModeAcro : public Mode const char *name() const override { return "ACRO"; } const char *name4() const override { return "ACRO"; } + Mode::Number number() const override { return Mode::Number::ACRO; } }; @@ -246,6 +251,7 @@ class ModeStabilize : public Mode const char *name() const override { return "STABILIZE"; } const char *name4() const override { return "STAB"; } + Mode::Number number() const override { return Mode::Number::STABILIZE; } }; @@ -272,6 +278,7 @@ class ModeAlthold : public Mode const char *name() const override { return "ALT_HOLD"; } const char *name4() const override { return "ALTH"; } + Mode::Number number() const override { return Mode::Number::ALT_HOLD; } }; @@ -293,6 +300,7 @@ class ModeSurftrak : public ModeAlthold const char *name() const override { return "SURFTRAK"; } const char *name4() const override { return "STRK"; } + Mode::Number number() const override { return Mode::Number::SURFTRAK; } private: @@ -342,6 +350,8 @@ class ModeGuided : public Mode const char *name() const override { return "GUIDED"; } const char *name4() const override { return "GUID"; } + Mode::Number number() const override { return Mode::Number::GUIDED; } + autopilot_yaw_mode get_default_auto_yaw_mode(bool rtl) const; private: @@ -387,6 +397,7 @@ class ModeAuto : public ModeGuided const char *name() const override { return "AUTO"; } const char *name4() const override { return "AUTO"; } + Mode::Number number() const override { return Mode::Number::AUTO; } private: void auto_wp_run(); @@ -417,6 +428,7 @@ class ModePoshold : public ModeAlthold const char *name() const override { return "POSHOLD"; } const char *name4() const override { return "POSH"; } + Mode::Number number() const override { return Mode::Number::POSHOLD; } }; @@ -439,6 +451,7 @@ class ModeCircle : public Mode const char *name() const override { return "CIRCLE"; } const char *name4() const override { return "CIRC"; } + Mode::Number number() const override { return Mode::Number::CIRCLE; } }; class ModeSurface : public Mode @@ -460,6 +473,7 @@ class ModeSurface : public Mode const char *name() const override { return "SURFACE"; } const char *name4() const override { return "SURF"; } + Mode::Number number() const override { return Mode::Number::CIRCLE; } }; @@ -482,4 +496,5 @@ class ModeMotordetect : public Mode const char *name() const override { return "MOTORDETECT"; } const char *name4() const override { return "DETE"; } + Mode::Number number() const override { return Mode::Number::MOTOR_DETECT; } }; From f08a2120a8ce990e3939496dbe50ea1d4cae9fcb Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 12 Nov 2024 02:27:39 +0000 Subject: [PATCH 304/314] MAVLink: add required messages to support addition of modes at runtime --- modules/mavlink | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/mavlink b/modules/mavlink index 08da786b2d94c..4c64b9522f9bb 160000 --- a/modules/mavlink +++ b/modules/mavlink @@ -1 +1 @@ -Subproject commit 08da786b2d94ce0955a82f92ab2166c347259623 +Subproject commit 4c64b9522f9bb9815b089ab98cf2f33f11bded52 From b1acd6295b93c65da0c8dc965b1af07e59160ca5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 31 Dec 2019 09:52:36 +1100 Subject: [PATCH 305/314] HAL_ChibiOS: cleanup cube IMUs and compasses don't probe for old sensor set --- .../AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc | 29 ++----------------- .../AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat | 29 ++----------------- 2 files changed, 4 insertions(+), 54 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc index cb5769d8d514b..f7d85e808225c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc @@ -212,17 +212,8 @@ PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ -SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ -SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ @@ -231,18 +222,7 @@ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ -# three IMUs, but allow for different variants. First two IMUs are -# isolated, 3rd isn't -IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180 - -# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro -# and the H variant of the gyro -IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90 - -# 3rd non-isolated IMU -IMU Invensense SPI:mpu9250 ROTATION_YAW_270 - -# alternative IMU set for newer cubes +# IMU set for newer cubes IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 @@ -270,12 +250,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 7 BARO MS56XX SPI:ms5611_ext BARO MS56XX SPI:ms5611 -# two compasses. First is in the LSM303D -COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270 -# 2nd compass is part of the 2nd invensense IMU -COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270 - -# compass as part of ICM20948 on newer cubes +# one internal compass COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90 # offset the internal compass for EM impact of the IMU heater diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat index afc44a107c605..55ac0d221db2c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat @@ -351,17 +351,8 @@ PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ -SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ -SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ @@ -382,18 +373,7 @@ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ #SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz #SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz -# three IMUs, but allow for different variants. First two IMUs are -# isolated, 3rd isn't -IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180 - -# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro -# and the H variant of the gyro -IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90 - -# 3rd non-isolated IMU -IMU Invensense SPI:mpu9250 ROTATION_YAW_270 - -# alternative IMU set for newer cubes +#IMU set for newer cubes IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 @@ -404,12 +384,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 5 BARO MS56XX SPI:ms5611_ext BARO MS56XX SPI:ms5611 -# two compasses. First is in the LSM303D -COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270 -# 2nd compass is part of the 2nd invensense IMU -COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270 - -# compass as part of ICM20948 on newer cubes +# one compass COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90 # also probe for external compasses From 8354bedd5191bfef03d8a271e8ab307282988c7e Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 13:02:11 -0700 Subject: [PATCH 306/314] Tools: Recommend what to do when astyle fails Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- Tools/scripts/build_ci.sh | 4 ++++ Tools/scripts/run_astyle.py | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh index 19d2912158a8f..8c7a3ba9c25eb 100755 --- a/Tools/scripts/build_ci.sh +++ b/Tools/scripts/build_ci.sh @@ -473,7 +473,11 @@ for t in $CI_BUILD_TARGET; do if [ "$t" == "astyle-cleanliness" ]; then echo "Checking AStyle code cleanliness" + ./Tools/scripts/run_astyle.py --dry-run + if [ $? -ne 0 ]; then + echo The code failed astyle cleanliness checks. Please run ./Tools/scripts/run_astyle.py + fi continue fi diff --git a/Tools/scripts/run_astyle.py b/Tools/scripts/run_astyle.py index 7f5a694f73dbe..23ebee79ac16f 100755 --- a/Tools/scripts/run_astyle.py +++ b/Tools/scripts/run_astyle.py @@ -60,7 +60,7 @@ def check(self): self.progress("astyle check failed: (%s)" % (ret.stdout)) self.retcode = 1 if "Formatted" in ret.stdout: - self.progress("Files needing formatting found") + self.progress("Files needing formatting found.") print(ret.stdout) self.retcode = 1 From 81d194534766ac989af22c3a6a53f7a779abd8f9 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 8 Nov 2024 13:07:20 -0700 Subject: [PATCH 307/314] AP_DDS: Recommend run_astyle.py Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- libraries/AP_DDS/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md index 61aed38a6d5a3..03a1aa92938bf 100644 --- a/libraries/AP_DDS/README.md +++ b/libraries/AP_DDS/README.md @@ -364,10 +364,10 @@ for additional details. ### Development Requirements Astyle is used to format the C++ code in AP_DDS. This is required for CI to pass the build. -See [Tools/CodeStyle/ardupilot-astyle.sh](../../Tools/CodeStyle/ardupilot-astyle.sh). +To run the automated formatter, run: ```bash -./Tools/CodeStyle/ardupilot-astyle.sh libraries/AP_DDS/*.h libraries/AP_DDS/*.cpp +./Tools/scripts/run_astyle.py ``` Pre-commit is used for other things like formatting python and XML code. From 4f406f31f28fb4a02749c380f0801f048ee71040 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 13:09:19 +0900 Subject: [PATCH 308/314] Plane: 4.6.0-beta1 release notes Co-authored-by: Bill Geyer Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Thomas Watson Co-authored-by: Andrew Tridgell --- ArduPlane/ReleaseNotes.txt | 424 +++++++++++++++++++++++++++++++++++++ 1 file changed, 424 insertions(+) diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt index e8699fa5c9320..ed28f55e6d524 100644 --- a/ArduPlane/ReleaseNotes.txt +++ b/ArduPlane/ReleaseNotes.txt @@ -1,5 +1,429 @@ ArduPilot Plane Release Notes: ------------------------------------------------------------------ +Release 4.6.0-beta 13 Nov 2024 + +Changes from 4.5.7 + +1) Board specific changes + +- AnyLeaf H7 supports compass and onboard logging +- Blitz743Pro supports CAN +- BlueRobotics Navigator supports BMP390 baro +- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed) +- CB Unmanned Stamp H743 support +- ClearSky CSKY405 support +- CUAV-7-Nano default batt monitor fixed +- CubeRed bootloader fixes including disabling 2nd core by default +- CubeRed supports PPP networking between primary and secondary MCU +- CubeRedPrimary supports external compasses +- ESP32 main loop rate improvements +- ESP32 RC input fixes and wifi connection reliability improved +- ESP32 safety switch and GPIO pin support +- FlyingMoon no longer support MAX7456 +- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot +- Flywoo H743 Pro support +- Flywoo/Goku F405 HD 1-2S ELRS AIO v2 +- FlywooF745 supports DPS310 baro +- FPV boards lose SMBus battery support (to save flash) +- GEPRC F745BTHD support +- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash) +- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates +- Holybro Kakute F4 Wing support +- iFlight 2RAW H743 supports onboard logging +- JFB110 supports measuring servo rail voltage +- JFB110 supports safety switch LED +- JHEM-JHEF405 bootloader supports firmware updates via serial +- JHEMCU GF30H743 HD support +- JHEMCU-GF16-F405 autopilot support +- JHEMCU-GSF405A becomes FPV board (to save flash) +- KakuteF7 only supports BMP280 baro (to save flash) +- KakuteH7Mini supports ICM42688 IMU +- Linux auto detection of GPS baud rate fixed +- Linux board scheduler jitter reduced +- Linux board shutdown fixes +- MakeFlyEasy PixPilot-V6Pro support +- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash) +- MatekH7A3 support Bi-directional DShot +- MicoAir405v2 and MicoAir405Mini support optical flow and OSD +- MicoAir743 internal compass orientation fixed +- MicroAir405Mini, MicroAir743, NxtPX4v2 support +- MicroAir405v2 Bi-directional DShot and LED DMA fixes +- MicroAir405v2 defined as FPV board with reduced features (to save flash) +- ModalAI VOXL2 support including Starling 2 and Starling 2 max +- mRo Control Zero Classic supports servo rail analog input +- mRo KitCAN revC fixed +- Mugin MUPilot support +- OmnibusF7v2 loses quadplane support (to save flash) +- Pixhack-v3 board added (same as fmuv3) +- Pixhawk6C bootloader supports flashing firmware from SD card +- RadiolinkPIX6 imu orientation fixed +- RadiolinkPIX6 supports SPA06 baro +- ReaperF745 V4 FC supports MPU6000 IMU +- RPI5 support +- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed +- Solo serial ports default to MAVLink1 +- SpeedyBeeF405Wing gets Bi-directional DShot +- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash) +- Spektreworks boom board support +- TrueNavPro-G4 SPI does not share DMA +- X-MAV AP-H743v2 support + +2) AHRS/EKF enhancements and fixes + +- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back) +- AHRS_OPTION to disable innovation check for airspeed sensor +- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity +- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only) +- EK2 supports disabling external nav (see EK2_OPTIONS) +- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1) +- EK3 uses filtered velocity corrections for IMU position +- EKF2, EKF3, ExternalAHRS all use common origin +- EKF3 accepts set origin even when using GPS +- EKF3 allows earth-frame fields to be estimated with an origin but no GPS +- EKF3 copes better with GPS jamming +- EKF3 logs mag fusion selection to XKFS +- EKF3 wind estimation when using GPS-for-yaw fixed +- External AHRS improvements including handling variances, pre-arm origin check +- Inertial Labs External AHRS fixes +- VectorNav driver fix for handling of error from sensor +- VectorNav External AHRS enhancements including validation of config commands and logging improvements +- VectorNav support for sensors outside VN-100 and VN-300 + +3) Driver enhancements and bug fixes + +- ADSB fix to display last character in status text sent to GCS +- Ainstein LR-D1 radar support +- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor +- AIRSPEED message sent to GCS +- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5) +- ARSPD_OPTIONS to report calibration offset to GCS +- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only) +- Baro provides improved atmospheric model for high altitude flight +- BARO_ALT_OFFSET slew slowed to keep EKF happy +- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries +- BATTx_OPTION to not send battery voltage, current, etc to GCS +- Benewake RDS02U radar support +- Bi-directional DShot on IOMCU supports reversible mask +- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs +- BMM350 compass support +- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus) +- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS) +- CRSF baro and vertical speeed fixed +- CRSF RX bind command support +- DroneCAN battery monitor check to avoid memory corruption when type changed +- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info +- DroneCAN EFI health check fix +- DroneCAN ESC battery monitors calculate consumed mah +- DroneCAN ESCs forced to zero when disarmed +- DroneCAN RPM message support +- DroneCAN timeout fix for auxiliary frames +- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600') +- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass +- FuelLevel battery monitor fix to report capacity +- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx +- Hirth EFI logging includes modified throttle +- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter) +- Hott and LTM telemetry deprecated (still available through custom build server) +- i-BUS telemetry support +- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only) +- ICE_START_CHAN replaced with RC aux function (Plane only) +- ICEngine retry max added (see ICE_STRT_MX_RTRY) +- IE 2400 generator error message severity to GCS improved +- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params) +- MCP9600 temperature sensor I2C address fixed +- MLX90614 temperature sensor support +- MSP GPS ground course scaling fixed +- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect) +- Networking supports reconnection to TCP server or client +- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT) +- Relay inverted output support (see RELAYx_INVERTED parameter) +- ROMFS efficiency improvements +- RS-485 driver enable RTS flow control +- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt) +- Septentrio GPS sat count correctly drops to zero when 255 received +- Septentrio supports selecting constellations (see GPS_GNSS_MODE) +- Single LED for user notification supported +- SPA06 baro supported +- Sum battery monitor optionally reports minimum voltage instead of average +- Sum battery monitor reports average temp +- Torqeedo dual motor support (see TRQ1, TRQ2 params) +- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes) +- UBlox GPS time ignored until at least 2D fix +- VideoTX supports additional freq bands (RushFPV 3.3Ghz) +- Volz logs desired and actual position, voltage, current, motor and PCB temp +- Volz server feedback and logging fixed +- Volz servo output in its own thread resulting in smoother movements +- W25N02KV flash support + +4) Networking enhancements and fixes + +- Allow multiple UDP clients to connect/disconnect/reconnect +- Ethernet supports faster log downloading (raised SDMMC clock limit on H7) + +5) Camera and gimbal enhancements + +- Alexmos precision improved slightly +- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC) +- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at +- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame) +- Dual serial camera gimbal mounts fixed +- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS +- Retract Mount2 aux function added (see RCx_OPTION = 113) +- Servo gimbal reported angles respect roll, pitch and yaw limits +- Siyi driver sends autopilot location and speed (recorded in images via EXIF) +- Siyi picture and video download scripts +- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg) +- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script +- Siyi ZT6 hardware id and set-lens fixed +- Topotek gimbal support +- Trigger distance ignores GPS status and only uses EKF reported location + +6) Harmonic notch enhancements + +- Harmonic notch is active in forward flight on quadplanes +- Harmonic notch filter freq clamping and disabling reworked +- Harmonic notch handles negative ESC RPMs +- Harmonic notch supports per-motor throttle-based harmonic notch + +7) Copter specific enhancements and bug fixes + +- Attitude control fix to dt update order (reduces rate controller noise) +- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time +- Auto mode small target position jump when takeoff completes removed +- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None +- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178) +- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command +- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only) +- AutoTune fix to prevent spool up after landing +- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well) +- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180) +- Config error avoided if auto mode is paused very soon after poweron +- FLIGHT_OPTIONS bit added to require position estimate before arming +- Follow mode slowdown calcs fixed when target is moving +- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT) +- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message +- Guided mode internal error resolved when switching between thrust or climb rate based altitude control +- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle +- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down +- Landing detector logging added to ease support (see LDET message) +- Loiter unlimited command accepts NaNs (QGC sends these) +- Mavlink SYSTEM_STATUS set to BOOT during initialisation +- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values +- Payload place bug fix when aborted because gripper is already released +- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219) +- RTL_ALT minimum reduced to 30cm +- SystemID position controller support (Copter and Heli) +- TriCopter motor test and slew-up fixed +- WPNAV_SPEED min reduced to 10 cm/s (Copter only) +- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe + +8) TradHeli specific enhancements + +- Autorotation yaw behaviour fix +- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate +- Blade pitch angle logging added (see SWSH log message) +- Constrain cyclic roll for intermeshing +- ICE / turbine cool down fix +- Inverted flight extended to non manual throttle modes +- Inverted flight transitions smoothed and restricted to only Stabilize mode +- SWSH logging fix for reversed collectives + +9) Plane specific enhancements and bug fixes + +- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling +- Allow for different orientations of landing rangefinder +- Assistance requirements evaluted on mode change +- FBWB/CRUISE climb/sink rate limited by TECS limits +- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope) +- Glider pullup support (available only through custom build server) +- Loiter breakout improved to better handle destinations inside loiter circle +- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled) +- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes +- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition) +- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic +- Quadplane assistance check enhancements +- Quadplane Deca frame support +- Quadplane gets smoother takeoff by input shaping target accel and velocity +- Servo wiggles in altitude wait staged to be one after another +- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames +- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN) +- Takeoff fixes for fence autoenable +- Takeoff improvements including less overshoot of TKOFF_ALT +- TECS reset along with other controllers (important if plane dropped from balloon) +- Tilt quadplane ramp of motors on back transition fixed +- Tiltrotor tilt angles logged +- TKOFF_THR_MIN applied to SLT transitions +- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration +- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff + +10) Rover specific enhancements and bug fixes + +- Auto mode reversed state maintained if momentarily switched to Hold mode +- Circle mode tracks better and avoids getting stuck at circle edge +- Flight time stats fixed +- MAV_CMD_NAV_SET_YAW_SPEED deprecated +- Omni3Mecanum frame support +- Stopping point uses max deceleration (was incorrectly using acceleration) +- Wheel rate controller slew rate fix + +11) Antenna Tracker specific enhancements and bug fixes + +- Never track lat,lon of 0,0 + +12) Scripting enhancements + +- advance-wp.lua applet supports advancing Auto mode WP via RC switch +- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch +- battery_internal_resistance_check.lua monitors battery resistance +- CAN:get_device returns nil for unconfigured CAN device +- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only) +- Copter:get_target_location, update_target_location support +- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only) +- Display text on OLED display supported +- Docs improved for many bindings +- EFI get_last_update_ms binding +- EFI_SkyPower.lua driver accepts 2nd supply voltage +- ESC_slew_rate.lua example script supports testing ESCs +- Filesystem CRC32 check to allow scripts to check module versions +- forced arming support +- GPIO get/set mode bindings (see gpio:set_mode, get_mode) +- GPS-for-yaw angle binding (see gps:gps_yaw_deg) +- Halo6000 EFI driver can log all CAN packets for easier debugging +- handle_external_position_estimate binding allows sending position estimate from lua to EKF +- I2C:transfer support +- IMU gyros_consistent and accels_consistent bindings added +- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control +- INS bindings for is calibrating, gyro and accel sensor values +- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients +- Logging of booleans supported +- Lua language checks improved (finds more errors) +- MAVLink commands can be called from scripting +- MCU voltage binding (see analog:mcu_voltage) +- NMEA 2000 EFI driver (see EFI_NMEA2k.lua) +- "open directory failed" false warning when scripts in ROMFS fixed +- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch +- Pass by reference values are always initialized +- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras +- plane_aerobatics.lua minor enhancements +- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation +- "require" function failures in rare circumstances fixed +- "require" function works for modules in ROMFS (e.g. not on SD card) +- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_) +- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand) +- SD card formatting supported +- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation) +- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter) +- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch +- Slung payload oscillation suppression applet added (see copter-slung-payload.lua) +- Temperature sensor bindings added +- uint64 support +- Various performance and memory usage optimizations +- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8 +- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame + +13) GCS / mavlink related changes and fixes + +- BATTERY2 message deprecated (replaced by BATTERY_STATUS) +- CMD_MISSION_START/STOP rejected if first-item/last-item args provided +- Deny attempts to upload two missions simultaneously +- Fence and Rally points may be uploaded using FTP +- GPS_INPUT and HIL_GPS handles multiple GPSs +- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC) +- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196 +- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support +- MAV_CMD_SET_HAGL support (Plane only) +- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links +- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message) +- Message interval supports TERRAIN_REPORT msg +- Mission upload may be cancelled using MISSION_CLEAR_ALL +- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated +- RC_CHANNELS_RAW deprecated +- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers +- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only) +- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports + +14) Logging enhancements and fixes + +- AC_PID resets and I-term sets logged +- ANG provides attitude at high rate (equivalent to ATT) +- ATT logs angles as floats (better resolution than ints) +- CAND message gets driver index +- DCM log message includes roll/pitch and yaw error +- EDT2 log msg includes stress and status received via extended DShot Telemetry v2 +- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin) +- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct +- FMT messages written as required instead of all at beginning +- Logging restarted after download completes when LOG_DISARMED = 1 +- MISE msg logs active mission command (CMD logged when commands are uploaded) +- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN +- RPM sensor logging gets instance field, quality and health fields +- Short filename support removed (e.g log1.BIN instead of 00000001.BIN) +- Temperature sensor logging option for only sensors with no source (see TEMP_LOG) +- UART data rates logged at 1hz (see UART message) + +15) ROS2 / DDS support + +- Airspeed published +- Battery topic reports all available batteries +- Compile-time configurable rates for each publisher +- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent +- GPS global origin published at 1 Hz +- High frequency raw imu data transmission +- Joystick support +- Support sending waypoints to Copter and Rover +- Remove the XML refs file in favor of binary entity creation + +16) Safety related enhancements and fixes + +- Accel/Gyro inconsistent message fixed for using with only single IMU +- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action +- Far from EKF origin pre-arm check removed (Copter only) +- Fence breach warning message slightly improved +- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS) +- Fences can be stored to SD Card (see BRD_SD_FENCE param) +- ICEngine stopped when in E-Stop or safety engaged (Plane only) +- LEDs flash green lights based on EKF location not GPS +- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS) +- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added +- Pre-arm check if OpenDroneID is compiled in but disabled +- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions) +- Pre-arm checks alert user more quickly on failure +- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE +- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover) +- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on +- Warning of duplicate SERIALx_PROTOCOL = RCIN + +17) Other bug fixes and minor enhancements + +- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher) +- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools +- Bootloader rejects allocation of broadcast node ID +- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI) +- Dijkstras fix to correct use of uninitialised variable +- DShot rates are not limited by NeoPixel rates +- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode +- Filesystem does not show entries for empty @ files +- Filesystem efficiency improvements when reading files +- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset) +- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm) +- Internal error thrown if we lose parameters due to saving queue being too small +- MAVLink via DroneCAN baud rate fix +- SPI pins may also be used as GPIOs +- Terrain cache size configurable (see TERRAIN_CACHE_SZ) + +18) Developer focused fixes and enhancements + +- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams +- Cygwin build fix for non-SITL builds +- Cygwin build fixed with malloc wrap +- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua) +- EKF3 code generator documentation and cleanup +- GPS jamming simulator added +- MacOS compiler warnings reduced +- SFML joystick support +- SITL support for OpenBSD +- Text warning if older Fence or Rally point protocols are used +------------------------------------------------------------------ Release 4.5.7 08 Oct 2024 Changes from 4.5.7-beta1 From 1fe0273adffdc6ce432e8fac483d396fef3cb71c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 13:10:10 +0900 Subject: [PATCH 309/314] Tracker: 4.6.0-beta1 release notes Co-authored-by: Bill Geyer Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Thomas Watson Co-authored-by: Andrew Tridgell --- AntennaTracker/ReleaseNotes.txt | 424 ++++++++++++++++++++++++++++++++ 1 file changed, 424 insertions(+) diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt index 972964d76c3e7..c03c34c3ab4d8 100644 --- a/AntennaTracker/ReleaseNotes.txt +++ b/AntennaTracker/ReleaseNotes.txt @@ -1,5 +1,429 @@ Antenna Tracker Release Notes: ------------------------------------------------------------------ +Release 4.6.0-beta 13 Nov 2024 + +Changes from 4.5.7 + +1) Board specific changes + +- AnyLeaf H7 supports compass and onboard logging +- Blitz743Pro supports CAN +- BlueRobotics Navigator supports BMP390 baro +- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed) +- CB Unmanned Stamp H743 support +- ClearSky CSKY405 support +- CUAV-7-Nano default batt monitor fixed +- CubeRed bootloader fixes including disabling 2nd core by default +- CubeRed supports PPP networking between primary and secondary MCU +- CubeRedPrimary supports external compasses +- ESP32 main loop rate improvements +- ESP32 RC input fixes and wifi connection reliability improved +- ESP32 safety switch and GPIO pin support +- FlyingMoon no longer support MAX7456 +- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot +- Flywoo H743 Pro support +- Flywoo/Goku F405 HD 1-2S ELRS AIO v2 +- FlywooF745 supports DPS310 baro +- FPV boards lose SMBus battery support (to save flash) +- GEPRC F745BTHD support +- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash) +- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates +- Holybro Kakute F4 Wing support +- iFlight 2RAW H743 supports onboard logging +- JFB110 supports measuring servo rail voltage +- JFB110 supports safety switch LED +- JHEM-JHEF405 bootloader supports firmware updates via serial +- JHEMCU GF30H743 HD support +- JHEMCU-GF16-F405 autopilot support +- JHEMCU-GSF405A becomes FPV board (to save flash) +- KakuteF7 only supports BMP280 baro (to save flash) +- KakuteH7Mini supports ICM42688 IMU +- Linux auto detection of GPS baud rate fixed +- Linux board scheduler jitter reduced +- Linux board shutdown fixes +- MakeFlyEasy PixPilot-V6Pro support +- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash) +- MatekH7A3 support Bi-directional DShot +- MicoAir405v2 and MicoAir405Mini support optical flow and OSD +- MicoAir743 internal compass orientation fixed +- MicroAir405Mini, MicroAir743, NxtPX4v2 support +- MicroAir405v2 Bi-directional DShot and LED DMA fixes +- MicroAir405v2 defined as FPV board with reduced features (to save flash) +- ModalAI VOXL2 support including Starling 2 and Starling 2 max +- mRo Control Zero Classic supports servo rail analog input +- mRo KitCAN revC fixed +- Mugin MUPilot support +- OmnibusF7v2 loses quadplane support (to save flash) +- Pixhack-v3 board added (same as fmuv3) +- Pixhawk6C bootloader supports flashing firmware from SD card +- RadiolinkPIX6 imu orientation fixed +- RadiolinkPIX6 supports SPA06 baro +- ReaperF745 V4 FC supports MPU6000 IMU +- RPI5 support +- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed +- Solo serial ports default to MAVLink1 +- SpeedyBeeF405Wing gets Bi-directional DShot +- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash) +- Spektreworks boom board support +- TrueNavPro-G4 SPI does not share DMA +- X-MAV AP-H743v2 support + +2) AHRS/EKF enhancements and fixes + +- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back) +- AHRS_OPTION to disable innovation check for airspeed sensor +- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity +- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only) +- EK2 supports disabling external nav (see EK2_OPTIONS) +- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1) +- EK3 uses filtered velocity corrections for IMU position +- EKF2, EKF3, ExternalAHRS all use common origin +- EKF3 accepts set origin even when using GPS +- EKF3 allows earth-frame fields to be estimated with an origin but no GPS +- EKF3 copes better with GPS jamming +- EKF3 logs mag fusion selection to XKFS +- EKF3 wind estimation when using GPS-for-yaw fixed +- External AHRS improvements including handling variances, pre-arm origin check +- Inertial Labs External AHRS fixes +- VectorNav driver fix for handling of error from sensor +- VectorNav External AHRS enhancements including validation of config commands and logging improvements +- VectorNav support for sensors outside VN-100 and VN-300 + +3) Driver enhancements and bug fixes + +- ADSB fix to display last character in status text sent to GCS +- Ainstein LR-D1 radar support +- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor +- AIRSPEED message sent to GCS +- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5) +- ARSPD_OPTIONS to report calibration offset to GCS +- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only) +- Baro provides improved atmospheric model for high altitude flight +- BARO_ALT_OFFSET slew slowed to keep EKF happy +- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries +- BATTx_OPTION to not send battery voltage, current, etc to GCS +- Benewake RDS02U radar support +- Bi-directional DShot on IOMCU supports reversible mask +- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs +- BMM350 compass support +- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus) +- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS) +- CRSF baro and vertical speeed fixed +- CRSF RX bind command support +- DroneCAN battery monitor check to avoid memory corruption when type changed +- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info +- DroneCAN EFI health check fix +- DroneCAN ESC battery monitors calculate consumed mah +- DroneCAN ESCs forced to zero when disarmed +- DroneCAN RPM message support +- DroneCAN timeout fix for auxiliary frames +- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600') +- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass +- FuelLevel battery monitor fix to report capacity +- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx +- Hirth EFI logging includes modified throttle +- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter) +- Hott and LTM telemetry deprecated (still available through custom build server) +- i-BUS telemetry support +- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only) +- ICE_START_CHAN replaced with RC aux function (Plane only) +- ICEngine retry max added (see ICE_STRT_MX_RTRY) +- IE 2400 generator error message severity to GCS improved +- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params) +- MCP9600 temperature sensor I2C address fixed +- MLX90614 temperature sensor support +- MSP GPS ground course scaling fixed +- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect) +- Networking supports reconnection to TCP server or client +- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT) +- Relay inverted output support (see RELAYx_INVERTED parameter) +- ROMFS efficiency improvements +- RS-485 driver enable RTS flow control +- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt) +- Septentrio GPS sat count correctly drops to zero when 255 received +- Septentrio supports selecting constellations (see GPS_GNSS_MODE) +- Single LED for user notification supported +- SPA06 baro supported +- Sum battery monitor optionally reports minimum voltage instead of average +- Sum battery monitor reports average temp +- Torqeedo dual motor support (see TRQ1, TRQ2 params) +- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes) +- UBlox GPS time ignored until at least 2D fix +- VideoTX supports additional freq bands (RushFPV 3.3Ghz) +- Volz logs desired and actual position, voltage, current, motor and PCB temp +- Volz server feedback and logging fixed +- Volz servo output in its own thread resulting in smoother movements +- W25N02KV flash support + +4) Networking enhancements and fixes + +- Allow multiple UDP clients to connect/disconnect/reconnect +- Ethernet supports faster log downloading (raised SDMMC clock limit on H7) + +5) Camera and gimbal enhancements + +- Alexmos precision improved slightly +- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC) +- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at +- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame) +- Dual serial camera gimbal mounts fixed +- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS +- Retract Mount2 aux function added (see RCx_OPTION = 113) +- Servo gimbal reported angles respect roll, pitch and yaw limits +- Siyi driver sends autopilot location and speed (recorded in images via EXIF) +- Siyi picture and video download scripts +- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg) +- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script +- Siyi ZT6 hardware id and set-lens fixed +- Topotek gimbal support +- Trigger distance ignores GPS status and only uses EKF reported location + +6) Harmonic notch enhancements + +- Harmonic notch is active in forward flight on quadplanes +- Harmonic notch filter freq clamping and disabling reworked +- Harmonic notch handles negative ESC RPMs +- Harmonic notch supports per-motor throttle-based harmonic notch + +7) Copter specific enhancements and bug fixes + +- Attitude control fix to dt update order (reduces rate controller noise) +- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time +- Auto mode small target position jump when takeoff completes removed +- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None +- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178) +- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command +- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only) +- AutoTune fix to prevent spool up after landing +- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well) +- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180) +- Config error avoided if auto mode is paused very soon after poweron +- FLIGHT_OPTIONS bit added to require position estimate before arming +- Follow mode slowdown calcs fixed when target is moving +- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT) +- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message +- Guided mode internal error resolved when switching between thrust or climb rate based altitude control +- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle +- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down +- Landing detector logging added to ease support (see LDET message) +- Loiter unlimited command accepts NaNs (QGC sends these) +- Mavlink SYSTEM_STATUS set to BOOT during initialisation +- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values +- Payload place bug fix when aborted because gripper is already released +- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219) +- RTL_ALT minimum reduced to 30cm +- SystemID position controller support (Copter and Heli) +- TriCopter motor test and slew-up fixed +- WPNAV_SPEED min reduced to 10 cm/s (Copter only) +- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe + +8) TradHeli specific enhancements + +- Autorotation yaw behaviour fix +- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate +- Blade pitch angle logging added (see SWSH log message) +- Constrain cyclic roll for intermeshing +- ICE / turbine cool down fix +- Inverted flight extended to non manual throttle modes +- Inverted flight transitions smoothed and restricted to only Stabilize mode +- SWSH logging fix for reversed collectives + +9) Plane specific enhancements and bug fixes + +- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling +- Allow for different orientations of landing rangefinder +- Assistance requirements evaluted on mode change +- FBWB/CRUISE climb/sink rate limited by TECS limits +- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope) +- Glider pullup support (available only through custom build server) +- Loiter breakout improved to better handle destinations inside loiter circle +- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled) +- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes +- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition) +- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic +- Quadplane assistance check enhancements +- Quadplane Deca frame support +- Quadplane gets smoother takeoff by input shaping target accel and velocity +- Servo wiggles in altitude wait staged to be one after another +- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames +- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN) +- Takeoff fixes for fence autoenable +- Takeoff improvements including less overshoot of TKOFF_ALT +- TECS reset along with other controllers (important if plane dropped from balloon) +- Tilt quadplane ramp of motors on back transition fixed +- Tiltrotor tilt angles logged +- TKOFF_THR_MIN applied to SLT transitions +- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration +- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff + +10) Rover specific enhancements and bug fixes + +- Auto mode reversed state maintained if momentarily switched to Hold mode +- Circle mode tracks better and avoids getting stuck at circle edge +- Flight time stats fixed +- MAV_CMD_NAV_SET_YAW_SPEED deprecated +- Omni3Mecanum frame support +- Stopping point uses max deceleration (was incorrectly using acceleration) +- Wheel rate controller slew rate fix + +11) Antenna Tracker specific enhancements and bug fixes + +- Never track lat,lon of 0,0 + +12) Scripting enhancements + +- advance-wp.lua applet supports advancing Auto mode WP via RC switch +- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch +- battery_internal_resistance_check.lua monitors battery resistance +- CAN:get_device returns nil for unconfigured CAN device +- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only) +- Copter:get_target_location, update_target_location support +- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only) +- Display text on OLED display supported +- Docs improved for many bindings +- EFI get_last_update_ms binding +- EFI_SkyPower.lua driver accepts 2nd supply voltage +- ESC_slew_rate.lua example script supports testing ESCs +- Filesystem CRC32 check to allow scripts to check module versions +- forced arming support +- GPIO get/set mode bindings (see gpio:set_mode, get_mode) +- GPS-for-yaw angle binding (see gps:gps_yaw_deg) +- Halo6000 EFI driver can log all CAN packets for easier debugging +- handle_external_position_estimate binding allows sending position estimate from lua to EKF +- I2C:transfer support +- IMU gyros_consistent and accels_consistent bindings added +- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control +- INS bindings for is calibrating, gyro and accel sensor values +- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients +- Logging of booleans supported +- Lua language checks improved (finds more errors) +- MAVLink commands can be called from scripting +- MCU voltage binding (see analog:mcu_voltage) +- NMEA 2000 EFI driver (see EFI_NMEA2k.lua) +- "open directory failed" false warning when scripts in ROMFS fixed +- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch +- Pass by reference values are always initialized +- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras +- plane_aerobatics.lua minor enhancements +- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation +- "require" function failures in rare circumstances fixed +- "require" function works for modules in ROMFS (e.g. not on SD card) +- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_) +- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand) +- SD card formatting supported +- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation) +- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter) +- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch +- Slung payload oscillation suppression applet added (see copter-slung-payload.lua) +- Temperature sensor bindings added +- uint64 support +- Various performance and memory usage optimizations +- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8 +- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame + +13) GCS / mavlink related changes and fixes + +- BATTERY2 message deprecated (replaced by BATTERY_STATUS) +- CMD_MISSION_START/STOP rejected if first-item/last-item args provided +- Deny attempts to upload two missions simultaneously +- Fence and Rally points may be uploaded using FTP +- GPS_INPUT and HIL_GPS handles multiple GPSs +- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC) +- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196 +- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support +- MAV_CMD_SET_HAGL support (Plane only) +- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links +- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message) +- Message interval supports TERRAIN_REPORT msg +- Mission upload may be cancelled using MISSION_CLEAR_ALL +- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated +- RC_CHANNELS_RAW deprecated +- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers +- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only) +- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports + +14) Logging enhancements and fixes + +- AC_PID resets and I-term sets logged +- ANG provides attitude at high rate (equivalent to ATT) +- ATT logs angles as floats (better resolution than ints) +- CAND message gets driver index +- DCM log message includes roll/pitch and yaw error +- EDT2 log msg includes stress and status received via extended DShot Telemetry v2 +- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin) +- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct +- FMT messages written as required instead of all at beginning +- Logging restarted after download completes when LOG_DISARMED = 1 +- MISE msg logs active mission command (CMD logged when commands are uploaded) +- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN +- RPM sensor logging gets instance field, quality and health fields +- Short filename support removed (e.g log1.BIN instead of 00000001.BIN) +- Temperature sensor logging option for only sensors with no source (see TEMP_LOG) +- UART data rates logged at 1hz (see UART message) + +15) ROS2 / DDS support + +- Airspeed published +- Battery topic reports all available batteries +- Compile-time configurable rates for each publisher +- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent +- GPS global origin published at 1 Hz +- High frequency raw imu data transmission +- Joystick support +- Support sending waypoints to Copter and Rover +- Remove the XML refs file in favor of binary entity creation + +16) Safety related enhancements and fixes + +- Accel/Gyro inconsistent message fixed for using with only single IMU +- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action +- Far from EKF origin pre-arm check removed (Copter only) +- Fence breach warning message slightly improved +- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS) +- Fences can be stored to SD Card (see BRD_SD_FENCE param) +- ICEngine stopped when in E-Stop or safety engaged (Plane only) +- LEDs flash green lights based on EKF location not GPS +- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS) +- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added +- Pre-arm check if OpenDroneID is compiled in but disabled +- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions) +- Pre-arm checks alert user more quickly on failure +- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE +- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover) +- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on +- Warning of duplicate SERIALx_PROTOCOL = RCIN + +17) Other bug fixes and minor enhancements + +- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher) +- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools +- Bootloader rejects allocation of broadcast node ID +- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI) +- Dijkstras fix to correct use of uninitialised variable +- DShot rates are not limited by NeoPixel rates +- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode +- Filesystem does not show entries for empty @ files +- Filesystem efficiency improvements when reading files +- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset) +- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm) +- Internal error thrown if we lose parameters due to saving queue being too small +- MAVLink via DroneCAN baud rate fix +- SPI pins may also be used as GPIOs +- Terrain cache size configurable (see TERRAIN_CACHE_SZ) + +18) Developer focused fixes and enhancements + +- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams +- Cygwin build fix for non-SITL builds +- Cygwin build fixed with malloc wrap +- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua) +- EKF3 code generator documentation and cleanup +- GPS jamming simulator added +- MacOS compiler warnings reduced +- SFML joystick support +- SITL support for OpenBSD +- Text warning if older Fence or Rally point protocols are used +------------------------------------------------------------------ Release 4.5.7 08 Oct 2024 Changes from 4.5.7-beta1 From 1e261136102bc98131d6f62ac5514cc7c42be6c5 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 13:08:55 +0900 Subject: [PATCH 310/314] Rover: 4.6.0-beta1 release notes Co-authored-by: Bill Geyer Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Thomas Watson Co-authored-by: Andrew Tridgell --- Rover/ReleaseNotes.txt | 424 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 424 insertions(+) diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt index 792f86077d3b0..9722121b97a89 100644 --- a/Rover/ReleaseNotes.txt +++ b/Rover/ReleaseNotes.txt @@ -1,5 +1,429 @@ Rover Release Notes: ------------------------------------------------------------------ +Release 4.6.0-beta 13 Nov 2024 + +Changes from 4.5.7 + +1) Board specific changes + +- AnyLeaf H7 supports compass and onboard logging +- Blitz743Pro supports CAN +- BlueRobotics Navigator supports BMP390 baro +- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed) +- CB Unmanned Stamp H743 support +- ClearSky CSKY405 support +- CUAV-7-Nano default batt monitor fixed +- CubeRed bootloader fixes including disabling 2nd core by default +- CubeRed supports PPP networking between primary and secondary MCU +- CubeRedPrimary supports external compasses +- ESP32 main loop rate improvements +- ESP32 RC input fixes and wifi connection reliability improved +- ESP32 safety switch and GPIO pin support +- FlyingMoon no longer support MAX7456 +- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot +- Flywoo H743 Pro support +- Flywoo/Goku F405 HD 1-2S ELRS AIO v2 +- FlywooF745 supports DPS310 baro +- FPV boards lose SMBus battery support (to save flash) +- GEPRC F745BTHD support +- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash) +- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates +- Holybro Kakute F4 Wing support +- iFlight 2RAW H743 supports onboard logging +- JFB110 supports measuring servo rail voltage +- JFB110 supports safety switch LED +- JHEM-JHEF405 bootloader supports firmware updates via serial +- JHEMCU GF30H743 HD support +- JHEMCU-GF16-F405 autopilot support +- JHEMCU-GSF405A becomes FPV board (to save flash) +- KakuteF7 only supports BMP280 baro (to save flash) +- KakuteH7Mini supports ICM42688 IMU +- Linux auto detection of GPS baud rate fixed +- Linux board scheduler jitter reduced +- Linux board shutdown fixes +- MakeFlyEasy PixPilot-V6Pro support +- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash) +- MatekH7A3 support Bi-directional DShot +- MicoAir405v2 and MicoAir405Mini support optical flow and OSD +- MicoAir743 internal compass orientation fixed +- MicroAir405Mini, MicroAir743, NxtPX4v2 support +- MicroAir405v2 Bi-directional DShot and LED DMA fixes +- MicroAir405v2 defined as FPV board with reduced features (to save flash) +- ModalAI VOXL2 support including Starling 2 and Starling 2 max +- mRo Control Zero Classic supports servo rail analog input +- mRo KitCAN revC fixed +- Mugin MUPilot support +- OmnibusF7v2 loses quadplane support (to save flash) +- Pixhack-v3 board added (same as fmuv3) +- Pixhawk6C bootloader supports flashing firmware from SD card +- RadiolinkPIX6 imu orientation fixed +- RadiolinkPIX6 supports SPA06 baro +- ReaperF745 V4 FC supports MPU6000 IMU +- RPI5 support +- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed +- Solo serial ports default to MAVLink1 +- SpeedyBeeF405Wing gets Bi-directional DShot +- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash) +- Spektreworks boom board support +- TrueNavPro-G4 SPI does not share DMA +- X-MAV AP-H743v2 support + +2) AHRS/EKF enhancements and fixes + +- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back) +- AHRS_OPTION to disable innovation check for airspeed sensor +- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity +- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only) +- EK2 supports disabling external nav (see EK2_OPTIONS) +- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1) +- EK3 uses filtered velocity corrections for IMU position +- EKF2, EKF3, ExternalAHRS all use common origin +- EKF3 accepts set origin even when using GPS +- EKF3 allows earth-frame fields to be estimated with an origin but no GPS +- EKF3 copes better with GPS jamming +- EKF3 logs mag fusion selection to XKFS +- EKF3 wind estimation when using GPS-for-yaw fixed +- External AHRS improvements including handling variances, pre-arm origin check +- Inertial Labs External AHRS fixes +- VectorNav driver fix for handling of error from sensor +- VectorNav External AHRS enhancements including validation of config commands and logging improvements +- VectorNav support for sensors outside VN-100 and VN-300 + +3) Driver enhancements and bug fixes + +- ADSB fix to display last character in status text sent to GCS +- Ainstein LR-D1 radar support +- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor +- AIRSPEED message sent to GCS +- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5) +- ARSPD_OPTIONS to report calibration offset to GCS +- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only) +- Baro provides improved atmospheric model for high altitude flight +- BARO_ALT_OFFSET slew slowed to keep EKF happy +- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries +- BATTx_OPTION to not send battery voltage, current, etc to GCS +- Benewake RDS02U radar support +- Bi-directional DShot on IOMCU supports reversible mask +- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs +- BMM350 compass support +- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus) +- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS) +- CRSF baro and vertical speeed fixed +- CRSF RX bind command support +- DroneCAN battery monitor check to avoid memory corruption when type changed +- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info +- DroneCAN EFI health check fix +- DroneCAN ESC battery monitors calculate consumed mah +- DroneCAN ESCs forced to zero when disarmed +- DroneCAN RPM message support +- DroneCAN timeout fix for auxiliary frames +- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600') +- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass +- FuelLevel battery monitor fix to report capacity +- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx +- Hirth EFI logging includes modified throttle +- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter) +- Hott and LTM telemetry deprecated (still available through custom build server) +- i-BUS telemetry support +- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only) +- ICE_START_CHAN replaced with RC aux function (Plane only) +- ICEngine retry max added (see ICE_STRT_MX_RTRY) +- IE 2400 generator error message severity to GCS improved +- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params) +- MCP9600 temperature sensor I2C address fixed +- MLX90614 temperature sensor support +- MSP GPS ground course scaling fixed +- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect) +- Networking supports reconnection to TCP server or client +- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT) +- Relay inverted output support (see RELAYx_INVERTED parameter) +- ROMFS efficiency improvements +- RS-485 driver enable RTS flow control +- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt) +- Septentrio GPS sat count correctly drops to zero when 255 received +- Septentrio supports selecting constellations (see GPS_GNSS_MODE) +- Single LED for user notification supported +- SPA06 baro supported +- Sum battery monitor optionally reports minimum voltage instead of average +- Sum battery monitor reports average temp +- Torqeedo dual motor support (see TRQ1, TRQ2 params) +- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes) +- UBlox GPS time ignored until at least 2D fix +- VideoTX supports additional freq bands (RushFPV 3.3Ghz) +- Volz logs desired and actual position, voltage, current, motor and PCB temp +- Volz server feedback and logging fixed +- Volz servo output in its own thread resulting in smoother movements +- W25N02KV flash support + +4) Networking enhancements and fixes + +- Allow multiple UDP clients to connect/disconnect/reconnect +- Ethernet supports faster log downloading (raised SDMMC clock limit on H7) + +5) Camera and gimbal enhancements + +- Alexmos precision improved slightly +- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC) +- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at +- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame) +- Dual serial camera gimbal mounts fixed +- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS +- Retract Mount2 aux function added (see RCx_OPTION = 113) +- Servo gimbal reported angles respect roll, pitch and yaw limits +- Siyi driver sends autopilot location and speed (recorded in images via EXIF) +- Siyi picture and video download scripts +- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg) +- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script +- Siyi ZT6 hardware id and set-lens fixed +- Topotek gimbal support +- Trigger distance ignores GPS status and only uses EKF reported location + +6) Harmonic notch enhancements + +- Harmonic notch is active in forward flight on quadplanes +- Harmonic notch filter freq clamping and disabling reworked +- Harmonic notch handles negative ESC RPMs +- Harmonic notch supports per-motor throttle-based harmonic notch + +7) Copter specific enhancements and bug fixes + +- Attitude control fix to dt update order (reduces rate controller noise) +- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time +- Auto mode small target position jump when takeoff completes removed +- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None +- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178) +- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command +- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only) +- AutoTune fix to prevent spool up after landing +- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well) +- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180) +- Config error avoided if auto mode is paused very soon after poweron +- FLIGHT_OPTIONS bit added to require position estimate before arming +- Follow mode slowdown calcs fixed when target is moving +- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT) +- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message +- Guided mode internal error resolved when switching between thrust or climb rate based altitude control +- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle +- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down +- Landing detector logging added to ease support (see LDET message) +- Loiter unlimited command accepts NaNs (QGC sends these) +- Mavlink SYSTEM_STATUS set to BOOT during initialisation +- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values +- Payload place bug fix when aborted because gripper is already released +- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219) +- RTL_ALT minimum reduced to 30cm +- SystemID position controller support (Copter and Heli) +- TriCopter motor test and slew-up fixed +- WPNAV_SPEED min reduced to 10 cm/s (Copter only) +- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe + +8) TradHeli specific enhancements + +- Autorotation yaw behaviour fix +- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate +- Blade pitch angle logging added (see SWSH log message) +- Constrain cyclic roll for intermeshing +- ICE / turbine cool down fix +- Inverted flight extended to non manual throttle modes +- Inverted flight transitions smoothed and restricted to only Stabilize mode +- SWSH logging fix for reversed collectives + +9) Plane specific enhancements and bug fixes + +- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling +- Allow for different orientations of landing rangefinder +- Assistance requirements evaluted on mode change +- FBWB/CRUISE climb/sink rate limited by TECS limits +- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope) +- Glider pullup support (available only through custom build server) +- Loiter breakout improved to better handle destinations inside loiter circle +- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled) +- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes +- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition) +- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic +- Quadplane assistance check enhancements +- Quadplane Deca frame support +- Quadplane gets smoother takeoff by input shaping target accel and velocity +- Servo wiggles in altitude wait staged to be one after another +- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames +- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN) +- Takeoff fixes for fence autoenable +- Takeoff improvements including less overshoot of TKOFF_ALT +- TECS reset along with other controllers (important if plane dropped from balloon) +- Tilt quadplane ramp of motors on back transition fixed +- Tiltrotor tilt angles logged +- TKOFF_THR_MIN applied to SLT transitions +- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration +- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff + +10) Rover specific enhancements and bug fixes + +- Auto mode reversed state maintained if momentarily switched to Hold mode +- Circle mode tracks better and avoids getting stuck at circle edge +- Flight time stats fixed +- MAV_CMD_NAV_SET_YAW_SPEED deprecated +- Omni3Mecanum frame support +- Stopping point uses max deceleration (was incorrectly using acceleration) +- Wheel rate controller slew rate fix + +11) Antenna Tracker specific enhancements and bug fixes + +- Never track lat,lon of 0,0 + +12) Scripting enhancements + +- advance-wp.lua applet supports advancing Auto mode WP via RC switch +- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch +- battery_internal_resistance_check.lua monitors battery resistance +- CAN:get_device returns nil for unconfigured CAN device +- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only) +- Copter:get_target_location, update_target_location support +- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only) +- Display text on OLED display supported +- Docs improved for many bindings +- EFI get_last_update_ms binding +- EFI_SkyPower.lua driver accepts 2nd supply voltage +- ESC_slew_rate.lua example script supports testing ESCs +- Filesystem CRC32 check to allow scripts to check module versions +- forced arming support +- GPIO get/set mode bindings (see gpio:set_mode, get_mode) +- GPS-for-yaw angle binding (see gps:gps_yaw_deg) +- Halo6000 EFI driver can log all CAN packets for easier debugging +- handle_external_position_estimate binding allows sending position estimate from lua to EKF +- I2C:transfer support +- IMU gyros_consistent and accels_consistent bindings added +- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control +- INS bindings for is calibrating, gyro and accel sensor values +- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients +- Logging of booleans supported +- Lua language checks improved (finds more errors) +- MAVLink commands can be called from scripting +- MCU voltage binding (see analog:mcu_voltage) +- NMEA 2000 EFI driver (see EFI_NMEA2k.lua) +- "open directory failed" false warning when scripts in ROMFS fixed +- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch +- Pass by reference values are always initialized +- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras +- plane_aerobatics.lua minor enhancements +- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation +- "require" function failures in rare circumstances fixed +- "require" function works for modules in ROMFS (e.g. not on SD card) +- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_) +- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand) +- SD card formatting supported +- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation) +- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter) +- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch +- Slung payload oscillation suppression applet added (see copter-slung-payload.lua) +- Temperature sensor bindings added +- uint64 support +- Various performance and memory usage optimizations +- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8 +- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame + +13) GCS / mavlink related changes and fixes + +- BATTERY2 message deprecated (replaced by BATTERY_STATUS) +- CMD_MISSION_START/STOP rejected if first-item/last-item args provided +- Deny attempts to upload two missions simultaneously +- Fence and Rally points may be uploaded using FTP +- GPS_INPUT and HIL_GPS handles multiple GPSs +- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC) +- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196 +- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support +- MAV_CMD_SET_HAGL support (Plane only) +- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links +- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message) +- Message interval supports TERRAIN_REPORT msg +- Mission upload may be cancelled using MISSION_CLEAR_ALL +- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated +- RC_CHANNELS_RAW deprecated +- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers +- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only) +- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports + +14) Logging enhancements and fixes + +- AC_PID resets and I-term sets logged +- ANG provides attitude at high rate (equivalent to ATT) +- ATT logs angles as floats (better resolution than ints) +- CAND message gets driver index +- DCM log message includes roll/pitch and yaw error +- EDT2 log msg includes stress and status received via extended DShot Telemetry v2 +- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin) +- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct +- FMT messages written as required instead of all at beginning +- Logging restarted after download completes when LOG_DISARMED = 1 +- MISE msg logs active mission command (CMD logged when commands are uploaded) +- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN +- RPM sensor logging gets instance field, quality and health fields +- Short filename support removed (e.g log1.BIN instead of 00000001.BIN) +- Temperature sensor logging option for only sensors with no source (see TEMP_LOG) +- UART data rates logged at 1hz (see UART message) + +15) ROS2 / DDS support + +- Airspeed published +- Battery topic reports all available batteries +- Compile-time configurable rates for each publisher +- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent +- GPS global origin published at 1 Hz +- High frequency raw imu data transmission +- Joystick support +- Support sending waypoints to Copter and Rover +- Remove the XML refs file in favor of binary entity creation + +16) Safety related enhancements and fixes + +- Accel/Gyro inconsistent message fixed for using with only single IMU +- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action +- Far from EKF origin pre-arm check removed (Copter only) +- Fence breach warning message slightly improved +- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS) +- Fences can be stored to SD Card (see BRD_SD_FENCE param) +- ICEngine stopped when in E-Stop or safety engaged (Plane only) +- LEDs flash green lights based on EKF location not GPS +- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS) +- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added +- Pre-arm check if OpenDroneID is compiled in but disabled +- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions) +- Pre-arm checks alert user more quickly on failure +- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE +- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover) +- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on +- Warning of duplicate SERIALx_PROTOCOL = RCIN + +17) Other bug fixes and minor enhancements + +- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher) +- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools +- Bootloader rejects allocation of broadcast node ID +- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI) +- Dijkstras fix to correct use of uninitialised variable +- DShot rates are not limited by NeoPixel rates +- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode +- Filesystem does not show entries for empty @ files +- Filesystem efficiency improvements when reading files +- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset) +- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm) +- Internal error thrown if we lose parameters due to saving queue being too small +- MAVLink via DroneCAN baud rate fix +- SPI pins may also be used as GPIOs +- Terrain cache size configurable (see TERRAIN_CACHE_SZ) + +18) Developer focused fixes and enhancements + +- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams +- Cygwin build fix for non-SITL builds +- Cygwin build fixed with malloc wrap +- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua) +- EKF3 code generator documentation and cleanup +- GPS jamming simulator added +- MacOS compiler warnings reduced +- SFML joystick support +- SITL support for OpenBSD +- Text warning if older Fence or Rally point protocols are used +------------------------------------------------------------------ Release 4.5.7 08 Oct 2024 Changes from 4.5.7-beta1 From c03960cba4f65b8b2f59019f6704146afe0341de Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 1 Nov 2024 09:02:25 +0900 Subject: [PATCH 311/314] Copter: 4.6.0-beta1 release notes Co-authored-by: Bill Geyer Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Thomas Watson Co-authored-by: Andrew Tridgell --- ArduCopter/ReleaseNotes.txt | 424 ++++++++++++++++++++++++++++++++++++ 1 file changed, 424 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 510ed875e842b..26bda5c232ac0 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,429 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Release 4.6.0-beta 13 Nov 2024 + +Changes from 4.5.7 + +1) Board specific changes + +- AnyLeaf H7 supports compass and onboard logging +- Blitz743Pro supports CAN +- BlueRobotics Navigator supports BMP390 baro +- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed) +- CB Unmanned Stamp H743 support +- ClearSky CSKY405 support +- CUAV-7-Nano default batt monitor fixed +- CubeRed bootloader fixes including disabling 2nd core by default +- CubeRed supports PPP networking between primary and secondary MCU +- CubeRedPrimary supports external compasses +- ESP32 main loop rate improvements +- ESP32 RC input fixes and wifi connection reliability improved +- ESP32 safety switch and GPIO pin support +- FlyingMoon no longer support MAX7456 +- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot +- Flywoo H743 Pro support +- Flywoo/Goku F405 HD 1-2S ELRS AIO v2 +- FlywooF745 supports DPS310 baro +- FPV boards lose SMBus battery support (to save flash) +- GEPRC F745BTHD support +- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash) +- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates +- Holybro Kakute F4 Wing support +- iFlight 2RAW H743 supports onboard logging +- JFB110 supports measuring servo rail voltage +- JFB110 supports safety switch LED +- JHEM-JHEF405 bootloader supports firmware updates via serial +- JHEMCU GF30H743 HD support +- JHEMCU-GF16-F405 autopilot support +- JHEMCU-GSF405A becomes FPV board (to save flash) +- KakuteF7 only supports BMP280 baro (to save flash) +- KakuteH7Mini supports ICM42688 IMU +- Linux auto detection of GPS baud rate fixed +- Linux board scheduler jitter reduced +- Linux board shutdown fixes +- MakeFlyEasy PixPilot-V6Pro support +- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash) +- MatekH7A3 support Bi-directional DShot +- MicoAir405v2 and MicoAir405Mini support optical flow and OSD +- MicoAir743 internal compass orientation fixed +- MicroAir405Mini, MicroAir743, NxtPX4v2 support +- MicroAir405v2 Bi-directional DShot and LED DMA fixes +- MicroAir405v2 defined as FPV board with reduced features (to save flash) +- ModalAI VOXL2 support including Starling 2 and Starling 2 max +- mRo Control Zero Classic supports servo rail analog input +- mRo KitCAN revC fixed +- Mugin MUPilot support +- OmnibusF7v2 loses quadplane support (to save flash) +- Pixhack-v3 board added (same as fmuv3) +- Pixhawk6C bootloader supports flashing firmware from SD card +- RadiolinkPIX6 imu orientation fixed +- RadiolinkPIX6 supports SPA06 baro +- ReaperF745 V4 FC supports MPU6000 IMU +- RPI5 support +- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed +- Solo serial ports default to MAVLink1 +- SpeedyBeeF405Wing gets Bi-directional DShot +- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash) +- Spektreworks boom board support +- TrueNavPro-G4 SPI does not share DMA +- X-MAV AP-H743v2 support + +2) AHRS/EKF enhancements and fixes + +- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back) +- AHRS_OPTION to disable innovation check for airspeed sensor +- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity +- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only) +- EK2 supports disabling external nav (see EK2_OPTIONS) +- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1) +- EK3 uses filtered velocity corrections for IMU position +- EKF2, EKF3, ExternalAHRS all use common origin +- EKF3 accepts set origin even when using GPS +- EKF3 allows earth-frame fields to be estimated with an origin but no GPS +- EKF3 copes better with GPS jamming +- EKF3 logs mag fusion selection to XKFS +- EKF3 wind estimation when using GPS-for-yaw fixed +- External AHRS improvements including handling variances, pre-arm origin check +- Inertial Labs External AHRS fixes +- VectorNav driver fix for handling of error from sensor +- VectorNav External AHRS enhancements including validation of config commands and logging improvements +- VectorNav support for sensors outside VN-100 and VN-300 + +3) Driver enhancements and bug fixes + +- ADSB fix to display last character in status text sent to GCS +- Ainstein LR-D1 radar support +- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor +- AIRSPEED message sent to GCS +- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5) +- ARSPD_OPTIONS to report calibration offset to GCS +- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only) +- Baro provides improved atmospheric model for high altitude flight +- BARO_ALT_OFFSET slew slowed to keep EKF happy +- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries +- BATTx_OPTION to not send battery voltage, current, etc to GCS +- Benewake RDS02U radar support +- Bi-directional DShot on IOMCU supports reversible mask +- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs +- BMM350 compass support +- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus) +- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS) +- CRSF baro and vertical speeed fixed +- CRSF RX bind command support +- DroneCAN battery monitor check to avoid memory corruption when type changed +- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info +- DroneCAN EFI health check fix +- DroneCAN ESC battery monitors calculate consumed mah +- DroneCAN ESCs forced to zero when disarmed +- DroneCAN RPM message support +- DroneCAN timeout fix for auxiliary frames +- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600') +- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass +- FuelLevel battery monitor fix to report capacity +- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx +- Hirth EFI logging includes modified throttle +- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter) +- Hott and LTM telemetry deprecated (still available through custom build server) +- i-BUS telemetry support +- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only) +- ICE_START_CHAN replaced with RC aux function (Plane only) +- ICEngine retry max added (see ICE_STRT_MX_RTRY) +- IE 2400 generator error message severity to GCS improved +- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params) +- MCP9600 temperature sensor I2C address fixed +- MLX90614 temperature sensor support +- MSP GPS ground course scaling fixed +- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect) +- Networking supports reconnection to TCP server or client +- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT) +- Relay inverted output support (see RELAYx_INVERTED parameter) +- ROMFS efficiency improvements +- RS-485 driver enable RTS flow control +- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt) +- Septentrio GPS sat count correctly drops to zero when 255 received +- Septentrio supports selecting constellations (see GPS_GNSS_MODE) +- Single LED for user notification supported +- SPA06 baro supported +- Sum battery monitor optionally reports minimum voltage instead of average +- Sum battery monitor reports average temp +- Torqeedo dual motor support (see TRQ1, TRQ2 params) +- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes) +- UBlox GPS time ignored until at least 2D fix +- VideoTX supports additional freq bands (RushFPV 3.3Ghz) +- Volz logs desired and actual position, voltage, current, motor and PCB temp +- Volz server feedback and logging fixed +- Volz servo output in its own thread resulting in smoother movements +- W25N02KV flash support + +4) Networking enhancements and fixes + +- Allow multiple UDP clients to connect/disconnect/reconnect +- Ethernet supports faster log downloading (raised SDMMC clock limit on H7) + +5) Camera and gimbal enhancements + +- Alexmos precision improved slightly +- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC) +- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at +- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame) +- Dual serial camera gimbal mounts fixed +- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS +- Retract Mount2 aux function added (see RCx_OPTION = 113) +- Servo gimbal reported angles respect roll, pitch and yaw limits +- Siyi driver sends autopilot location and speed (recorded in images via EXIF) +- Siyi picture and video download scripts +- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg) +- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script +- Siyi ZT6 hardware id and set-lens fixed +- Topotek gimbal support +- Trigger distance ignores GPS status and only uses EKF reported location + +6) Harmonic notch enhancements + +- Harmonic notch is active in forward flight on quadplanes +- Harmonic notch filter freq clamping and disabling reworked +- Harmonic notch handles negative ESC RPMs +- Harmonic notch supports per-motor throttle-based harmonic notch + +7) Copter specific enhancements and bug fixes + +- Attitude control fix to dt update order (reduces rate controller noise) +- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time +- Auto mode small target position jump when takeoff completes removed +- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None +- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178) +- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command +- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only) +- AutoTune fix to prevent spool up after landing +- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well) +- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180) +- Config error avoided if auto mode is paused very soon after poweron +- FLIGHT_OPTIONS bit added to require position estimate before arming +- Follow mode slowdown calcs fixed when target is moving +- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT) +- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message +- Guided mode internal error resolved when switching between thrust or climb rate based altitude control +- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle +- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down +- Landing detector logging added to ease support (see LDET message) +- Loiter unlimited command accepts NaNs (QGC sends these) +- Mavlink SYSTEM_STATUS set to BOOT during initialisation +- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values +- Payload place bug fix when aborted because gripper is already released +- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219) +- RTL_ALT minimum reduced to 30cm +- SystemID position controller support (Copter and Heli) +- TriCopter motor test and slew-up fixed +- WPNAV_SPEED min reduced to 10 cm/s (Copter only) +- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe + +8) TradHeli specific enhancements + +- Autorotation yaw behaviour fix +- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate +- Blade pitch angle logging added (see SWSH log message) +- Constrain cyclic roll for intermeshing +- ICE / turbine cool down fix +- Inverted flight extended to non manual throttle modes +- Inverted flight transitions smoothed and restricted to only Stabilize mode +- SWSH logging fix for reversed collectives + +9) Plane specific enhancements and bug fixes + +- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling +- Allow for different orientations of landing rangefinder +- Assistance requirements evaluted on mode change +- FBWB/CRUISE climb/sink rate limited by TECS limits +- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope) +- Glider pullup support (available only through custom build server) +- Loiter breakout improved to better handle destinations inside loiter circle +- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled) +- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes +- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition) +- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic +- Quadplane assistance check enhancements +- Quadplane Deca frame support +- Quadplane gets smoother takeoff by input shaping target accel and velocity +- Servo wiggles in altitude wait staged to be one after another +- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames +- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN) +- Takeoff fixes for fence autoenable +- Takeoff improvements including less overshoot of TKOFF_ALT +- TECS reset along with other controllers (important if plane dropped from balloon) +- Tilt quadplane ramp of motors on back transition fixed +- Tiltrotor tilt angles logged +- TKOFF_THR_MIN applied to SLT transitions +- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration +- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff + +10) Rover specific enhancements and bug fixes + +- Auto mode reversed state maintained if momentarily switched to Hold mode +- Circle mode tracks better and avoids getting stuck at circle edge +- Flight time stats fixed +- MAV_CMD_NAV_SET_YAW_SPEED deprecated +- Omni3Mecanum frame support +- Stopping point uses max deceleration (was incorrectly using acceleration) +- Wheel rate controller slew rate fix + +11) Antenna Tracker specific enhancements and bug fixes + +- Never track lat,lon of 0,0 + +12) Scripting enhancements + +- advance-wp.lua applet supports advancing Auto mode WP via RC switch +- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch +- battery_internal_resistance_check.lua monitors battery resistance +- CAN:get_device returns nil for unconfigured CAN device +- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only) +- Copter:get_target_location, update_target_location support +- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only) +- Display text on OLED display supported +- Docs improved for many bindings +- EFI get_last_update_ms binding +- EFI_SkyPower.lua driver accepts 2nd supply voltage +- ESC_slew_rate.lua example script supports testing ESCs +- Filesystem CRC32 check to allow scripts to check module versions +- forced arming support +- GPIO get/set mode bindings (see gpio:set_mode, get_mode) +- GPS-for-yaw angle binding (see gps:gps_yaw_deg) +- Halo6000 EFI driver can log all CAN packets for easier debugging +- handle_external_position_estimate binding allows sending position estimate from lua to EKF +- I2C:transfer support +- IMU gyros_consistent and accels_consistent bindings added +- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control +- INS bindings for is calibrating, gyro and accel sensor values +- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients +- Logging of booleans supported +- Lua language checks improved (finds more errors) +- MAVLink commands can be called from scripting +- MCU voltage binding (see analog:mcu_voltage) +- NMEA 2000 EFI driver (see EFI_NMEA2k.lua) +- "open directory failed" false warning when scripts in ROMFS fixed +- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch +- Pass by reference values are always initialized +- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras +- plane_aerobatics.lua minor enhancements +- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation +- "require" function failures in rare circumstances fixed +- "require" function works for modules in ROMFS (e.g. not on SD card) +- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_) +- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand) +- SD card formatting supported +- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation) +- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter) +- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch +- Slung payload oscillation suppression applet added (see copter-slung-payload.lua) +- Temperature sensor bindings added +- uint64 support +- Various performance and memory usage optimizations +- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8 +- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame + +13) GCS / mavlink related changes and fixes + +- BATTERY2 message deprecated (replaced by BATTERY_STATUS) +- CMD_MISSION_START/STOP rejected if first-item/last-item args provided +- Deny attempts to upload two missions simultaneously +- Fence and Rally points may be uploaded using FTP +- GPS_INPUT and HIL_GPS handles multiple GPSs +- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC) +- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196 +- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support +- MAV_CMD_SET_HAGL support (Plane only) +- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links +- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message) +- Message interval supports TERRAIN_REPORT msg +- Mission upload may be cancelled using MISSION_CLEAR_ALL +- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated +- RC_CHANNELS_RAW deprecated +- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers +- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only) +- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports + +14) Logging enhancements and fixes + +- AC_PID resets and I-term sets logged +- ANG provides attitude at high rate (equivalent to ATT) +- ATT logs angles as floats (better resolution than ints) +- CAND message gets driver index +- DCM log message includes roll/pitch and yaw error +- EDT2 log msg includes stress and status received via extended DShot Telemetry v2 +- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin) +- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct +- FMT messages written as required instead of all at beginning +- Logging restarted after download completes when LOG_DISARMED = 1 +- MISE msg logs active mission command (CMD logged when commands are uploaded) +- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN +- RPM sensor logging gets instance field, quality and health fields +- Short filename support removed (e.g log1.BIN instead of 00000001.BIN) +- Temperature sensor logging option for only sensors with no source (see TEMP_LOG) +- UART data rates logged at 1hz (see UART message) + +15) ROS2 / DDS support + +- Airspeed published +- Battery topic reports all available batteries +- Compile-time configurable rates for each publisher +- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent +- GPS global origin published at 1 Hz +- High frequency raw imu data transmission +- Joystick support +- Support sending waypoints to Copter and Rover +- Remove the XML refs file in favor of binary entity creation + +16) Safety related enhancements and fixes + +- Accel/Gyro inconsistent message fixed for using with only single IMU +- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action +- Far from EKF origin pre-arm check removed (Copter only) +- Fence breach warning message slightly improved +- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS) +- Fences can be stored to SD Card (see BRD_SD_FENCE param) +- ICEngine stopped when in E-Stop or safety engaged (Plane only) +- LEDs flash green lights based on EKF location not GPS +- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS) +- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added +- Pre-arm check if OpenDroneID is compiled in but disabled +- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions) +- Pre-arm checks alert user more quickly on failure +- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE +- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover) +- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on +- Warning of duplicate SERIALx_PROTOCOL = RCIN + +17) Other bug fixes and minor enhancements + +- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher) +- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools +- Bootloader rejects allocation of broadcast node ID +- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI) +- Dijkstras fix to correct use of uninitialised variable +- DShot rates are not limited by NeoPixel rates +- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode +- Filesystem does not show entries for empty @ files +- Filesystem efficiency improvements when reading files +- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset) +- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm) +- Internal error thrown if we lose parameters due to saving queue being too small +- MAVLink via DroneCAN baud rate fix +- SPI pins may also be used as GPIOs +- Terrain cache size configurable (see TERRAIN_CACHE_SZ) + +18) Developer focused fixes and enhancements + +- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams +- Cygwin build fix for non-SITL builds +- Cygwin build fixed with malloc wrap +- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua) +- EKF3 code generator documentation and cleanup +- GPS jamming simulator added +- MacOS compiler warnings reduced +- SFML joystick support +- SITL support for OpenBSD +- Text warning if older Fence or Rally point protocols are used +------------------------------------------------------------------ Release 4.5.7 08 Oct 2024 Changes from 4.5.7-beta1 From 86f216703d4bfd37c93ea58ca6b44cb663e23ecb Mon Sep 17 00:00:00 2001 From: Tiziano Fiorenzani Date: Wed, 13 Nov 2024 16:30:42 +0000 Subject: [PATCH 312/314] AP_DDS: status topic to report RC failsafe with callback function --- libraries/AP_DDS/AP_DDS_Client.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 05ba28f06dc7a..a39240143fb55 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -632,15 +632,17 @@ bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg) msg.external_control = true; // Always true for now. To be filled after PR#28429. uint8_t fs_iter = 0; msg.failsafe_size = 0; - if (AP_Notify::flags.failsafe_radio) { + if (rc().in_rc_failsafe()) { msg.failsafe[fs_iter++] = FS_RADIO; } if (battery.has_failsafed()) { msg.failsafe[fs_iter++] = FS_BATTERY; } + // TODO: replace flag with function. if (AP_Notify::flags.failsafe_gcs) { msg.failsafe[fs_iter++] = FS_GCS; } + // TODO: replace flag with function. if (AP_Notify::flags.failsafe_ekf) { msg.failsafe[fs_iter++] = FS_EKF; } From 3674eb0c49c6dc04010aedad332e7a01ee3dd635 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 14 Nov 2024 10:03:58 +1100 Subject: [PATCH 313/314] autotest: tidy GpsForYaw using new infrastructure --- Tools/autotest/arducopter.py | 25 ++++++------------------- 1 file changed, 6 insertions(+), 19 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 97792527db53d..1482c6f829ade 100644 --- a/Tools/autotest/arducopter.py +++ b/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''' From f07df393bea1e00a6df74bd0fa02ab909f301d77 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 2 Oct 2024 18:14:47 +0100 Subject: [PATCH 314/314] AP_HAL_ChibiOS: support BMP280 on FoxeerF405v2 --- libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat index cd08660e4922e..8a7d80b127a8a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat +++ b/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

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