Merge branch 'ArduPilot:master' into missionrotation

.github/problem-matchers/Lua.json

@@ -0,0 +1,32 @@
+{
+    "problemMatcher": [
+        {
+            "owner": "Luacheck-problem-matcher",
+            "fileLocation": [ "relative", "${GITHUB_WORKSPACE}" ],
+            "pattern": [
+                {
+                    "regexp": "^( *)(.+.lua):(\\d+):(\\d+): (.*)$",
+                    "file": 2,
+                    "line": 3,
+                    "column": 4,
+                    "message": 5
+                }
+            ]
+        },
+        {
+            "owner": "Lua-language-server-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^(.+.lua):(\\d+):(\\d+)",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3
+                },
+                {
+                    "regexp": "^(.*)",
+                    "message": 1
+                }
+            ]
+        }
+    ]
+}

.github/workflows/cygwin_build.yml

@@ -187,7 +187,6 @@ jobs:
           PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
         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 &&
           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/ &&

.github/workflows/esp32_build.yml

@@ -175,9 +175,7 @@ jobs:
         shell: bash
         run: |
           sudo apt-get update
-          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
+          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 cmake
           python3 --version
           pip3 install gevent
 
@@ -186,24 +184,10 @@ jobs:
           sudo apt-get update
           sudo apt-get install python3.11 python3.11-venv python3.11-distutils  -y
           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
           python3 --version
           python3.11 --version
           which python3.11
-          sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
-          update-alternatives --query python
-
-          rm -rf /usr/local/bin/cmake
-          sudo apt-get remove --purge --auto-remove cmake
-          sudo apt-get update && \
-          sudo apt-get install -y software-properties-common lsb-release && \
-          sudo apt-get clean all
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-          sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
-          sudo apt-get update
-          sudo apt-get install cmake
-
 
           git submodule update --init --recursive --depth=1
           ./Tools/scripts/esp32_get_idf.sh

.github/workflows/test_scripting.yml

@@ -29,6 +29,9 @@ jobs:
         with:
           submodules: 'recursive'
 
+      - name: Register lua problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/Lua.json"
+
       - name: Lua Linter
         shell: bash
         run: |

.gitignore

@@ -171,7 +171,3 @@ ENV/
 env.bak/
 venv.bak/
 autotest_result_*_junit.xml
-
-# Ignore ESP-IDF SDK defines
-/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
-/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig

AntennaTracker/ReleaseNotes.txt

@@ -1,6 +1,53 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024
 
 Changes from 4.5.7
 

ArduCopter/Parameters.cpp

@@ -161,7 +161,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Param: FS_GCS_ENABLE
     // @DisplayName: Ground Station Failsafe Enable
     // @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
-    // @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land,6:Auto DO_LAND_START or RTL,7:Brake or Land
+    // @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL,7:Brake or Land
     // @User: Standard
     GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),
 
@@ -225,7 +225,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Param: FS_THR_ENABLE
     // @DisplayName: Throttle Failsafe Enable
     // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
-    // @Values:  0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START or RTL,7:Enabled always Brake or Land
+    // @Values:  0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START/DO_RETURN_PATH_START or RTL,7:Enabled always Brake or Land
     // @User: Standard
     GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_ENABLED_ALWAYS_RTL),
 
@@ -1044,7 +1044,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FS_DR_ENABLE
     // @DisplayName: DeadReckon Failsafe Action
     // @Description: Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates
-    // @Values: 0:Disabled/NoAction,1:Land, 2:RTL, 3:SmartRTL or RTL, 4:SmartRTL or Land, 6:Auto DO_LAND_START or RTL
+    // @Values: 0:Disabled/NoAction,1:Land, 2:RTL, 3:SmartRTL or RTL, 4:SmartRTL or Land, 6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
     // @User: Standard
     AP_GROUPINFO("FS_DR_ENABLE", 52, ParametersG2, failsafe_dr_enable, (uint8_t)Copter::FailsafeAction::RTL),
 

ArduCopter/ReleaseNotes.txt

@@ -1,6 +1,53 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024
 
 Changes from 4.5.7
 

ArduPlane/ArduPlane.cpp

@@ -789,7 +789,16 @@ float Plane::tecs_hgt_afe(void)
       coming.
     */
     float hgt_afe;
+
     if (flight_stage == AP_FixedWing::FlightStage::LAND) {
+
+        #if AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
+            // if external HAGL is active use that
+            if (get_external_HAGL(hgt_afe)) {
+                return hgt_afe;
+            }
+        #endif
+
         hgt_afe = height_above_target();
 #if AP_RANGEFINDER_ENABLED
         hgt_afe -= rangefinder_correction();

ArduPlane/Parameters.cpp

@@ -745,7 +745,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: RTL_AUTOLAND
     // @DisplayName: RTL auto land
-    // @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).
+    // @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).If this is set to 0 and there is a DO_LAND_START or DO_RETURN_PATH_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around (see wiki for aborting autolandings) without it changing RTL behaviour.
     // @Values: 0:Disable,1:Fly HOME then land via DO_LAND_START mission item, 2:Go directly to landing sequence via DO_LAND_START mission item, 3:OnlyForGoAround, 4:Go directly to landing sequence via DO_RETURN_PATH_START mission item
     // @User: Standard
     GSCALAR(rtl_autoland,         "RTL_AUTOLAND",   float(RtlAutoland::RTL_DISABLE)),

ArduPlane/ReleaseNotes.txt

@@ -1,6 +1,53 @@
 ArduPilot Plane Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024
 
 Changes from 4.5.7
 

ArduPlane/mode_takeoff.cpp

@@ -83,9 +83,12 @@ void ModeTakeoff::update()
     if (!takeoff_mode_setup) {
         plane.auto_state.takeoff_altitude_rel_cm = alt * 100;
         const uint16_t altitude = plane.relative_ground_altitude(false,true);
-        const float direction = degrees(ahrs.get_yaw());
+        const Vector2f &groundspeed2d = ahrs.groundspeed_vector();
+        const float direction = wrap_360(degrees(groundspeed2d.angle()));
+        const float groundspeed = groundspeed2d.length();
+
         // see if we will skip takeoff as already flying
-        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
+        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && groundspeed > 3) {
             if (altitude >= alt) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Above TKOFF alt - loitering");
                 plane.next_WP_loc = plane.current_loc;
@@ -115,7 +118,15 @@ void ModeTakeoff::update()
 
             plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
 
-            if (!plane.throttle_suppressed) {
+            /*
+              don't lock in the takeoff loiter location until we reach
+              a ground speed of AIRSPEED_MIN*0.3 to cope with aircraft
+              with no compass or poor compass. If flying in a very
+              strong headwind then the is_flying() check above will
+              eventually trigger
+             */
+            if (!plane.throttle_suppressed &&
+                groundspeed > plane.aparm.airspeed_min*0.3) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm for %.1fm heading %.1f deg",
                                 alt, dist, direction);
                 plane.takeoff_state.start_time_ms = millis();