Revert "Merge branch 'master' into master"

This reverts commit e404681, reversing changes made to 36663e5.
ArduPilot · Oct 30, 2024 · 255b1d9 · 255b1d9
1 parent ba1a6df
commit 255b1d9
Show file tree

Hide file tree

Showing 16 changed files with 97 additions and 179 deletions.
diff --git a/.github/workflows/qurt_build.yml b/.github/workflows/qurt_build.yml
@@ -157,9 +157,6 @@ 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
@@ -171,5 +168,4 @@ jobs:
             build/QURT/ArduPilot_Plane.so
             build/QURT/ArduPilot_Rover.so
             build/QURT/ArduPilot.so
-            libraries/AP_HAL_QURT/packaging/*.deb
           retention-days: 7
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
-#include "AP_DDS_config.h"
 #if AP_DDS_ENABLED
 #include <uxr/client/util/ping.h>
 
@@ -13,22 +12,16 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_AHRS/AP_AHRS.h>
-#if AP_DDS_ARM_SERVER_ENABLED
 #include <AP_Arming/AP_Arming.h>
-# endif // AP_DDS_ARM_SERVER_ENABLED
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 
-#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 // AP_EXTERNAL_CONTROL_ENABLED
+#endif
 #include "AP_DDS_Frames.h"
 
 #include "AP_DDS_Client.h"
@@ -674,7 +667,7 @@ 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_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) {
@@ -691,7 +684,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
         }
         break;
     }
-#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
+#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);
@@ -739,7 +732,6 @@ 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;
@@ -769,8 +761,6 @@ 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;
@@ -799,7 +789,6 @@ 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
@@ -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_ENABLED
+#if AP_DDS_DYNAMIC_TF_SUB
     // incoming transforms
     static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic;
-#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
+#endif // AP_DDS_DYNAMIC_TF_SUB
     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
@@ -1,13 +1,8 @@
 #include "uxr/client/client.h"
-#include <AP_DDS/AP_DDS_config.h>
 
 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)
@@ -17,7 +12,6 @@ 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),
@@ -34,8 +28,6 @@ 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),
@@ -46,5 +38,4 @@ 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
@@ -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_ENABLED
+#if AP_DDS_DYNAMIC_TF_SUB
     DYNAMIC_TRANSFORMS_SUB,
-#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
+#endif // AP_DDS_DYNAMIC_TF_SUB
 #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_ENABLED
+#if AP_DDS_DYNAMIC_TF_SUB
     {
         .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_ENABLED
+#endif // AP_DDS_DYNAMIC_TF_SUB
 #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
@@ -114,23 +114,15 @@
 #define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1
 #endif
 
-#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
+#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_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED
+#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

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md
@@ -1,7 +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.
-![Uploading ZeroOneX6.jpg…]()
-
+![ZeroOneX6](ZeroOneX6.png "ZeroOneX6")
 
 ## 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