Merge branch 'master' into pr-mlx90-sensor

ArduPilot · Apr 26, 2024 · c40af01 · c40af01
2 parents 0bed8bb + 338f492
commit c40af01
Show file tree

Hide file tree

Showing 572 changed files with 23,810 additions and 3,942 deletions.
diff --git a/.github/workflows/test_ccache.yml b/.github/workflows/test_ccache.yml
@@ -143,6 +143,6 @@ jobs:
         shell: bash
         run: |
           PATH="/usr/lib/ccache:/opt/gcc-arm-none-eabi-${{matrix.gcc}}/bin:$PATH"
-          Tools/scripts/build_tests/test_ccache.py --boards MatekF405,MatekF405-bdshot --min-cache-pct=75
-          Tools/scripts/build_tests/test_ccache.py --boards Durandal,Pixhawk6X --min-cache-pct=70
+          Tools/scripts/build_tests/test_ccache.py --boards MatekF405-bdshot,MatekF405-TE-bdshot --min-cache-pct=75
+          Tools/scripts/build_tests/test_ccache.py --boards Durandal-bdshot,Pixhawk6X --min-cache-pct=70
 
diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
@@ -451,13 +451,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_int_packet(const mavlink_command_
     }
 }
 
-bool GCS_MAVLINK_Tracker::set_home_to_current_location(bool _lock) {
-    return tracker.set_home(AP::gps().location());
-}
-bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool _lock) {
-    return tracker.set_home(loc);
-}
-
 void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
@@ -584,7 +577,7 @@ void GCS_MAVLINK_Tracker::handle_message_mission_item(const mavlink_message_t &m
 
         // check if this is the HOME wp
         if (packet.seq == 0) {
-            if (!tracker.set_home(tell_command)) {
+            if (!tracker.set_home(tell_command, false)) {
                 result = MAV_MISSION_ERROR;
                 goto mission_failed;
             }

diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
@@ -27,9 +27,6 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
         return 0; // what if we have been picked up and carried somewhere?
     }
 
-    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
-
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
 

diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,19 @@
 Antenna Tracker Release Notes:
+
+------------------------------------------------------------------
+Release 4.5.1 8th April 2024
+
+This release fixes a critical bug in the CRSF R/C protocol parser that
+can lead to a handfault and a vehicle crashing. A similar fix was
+applied to the GHST protocol, although we believe that GHST could not
+be affected by the bug, so this was just a precaution.
+
+There are no other changes in this release.
+
+------------------------------------------------------------------
+Release 4.5.0 2nd April 2024
+
+No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0-beta4 22nd March 2024
 Changes from 4.5.0-beta3

diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
@@ -58,7 +58,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10, 1500, 40),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_send,    50, 3000, 50),
-    SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900, 55),
 #if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,    10,    300, 60),
     SCHED_TASK_CLASS(AP_Logger,   &tracker.logger, periodic_tasks, 50,  300, 65),
@@ -92,7 +91,7 @@ void Tracker::one_second_loop()
         // set home to current location
         Location temp_loc;
         if (ahrs.get_location(temp_loc)) {
-            if (!set_home(temp_loc)){
+            if (!set_home(temp_loc, false)) {
                 // fail silently
             }
         }

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -197,7 +197,8 @@ class Tracker : public AP_Vehicle {
     void init_ardupilot() override;
     bool get_home_eeprom(Location &loc) const;
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
-    bool set_home(const Location &temp) WARN_IF_UNUSED;
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
+    bool set_home(const Location &temp, bool lock) override WARN_IF_UNUSED;
     void prepare_servos();
     void set_mode(Mode &newmode, ModeReason reason);
     bool set_mode(uint8_t new_mode, ModeReason reason) override;

diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
@@ -51,7 +51,7 @@ void Tracker::update_GPS(void)
                 // Now have an initial GPS position
                 // use it as the HOME position in future startups
                 current_loc = gps.location();
-                IGNORE_RETURN(set_home(current_loc));
+                IGNORE_RETURN(set_home(current_loc, false));
                 ground_start_count = 0;
             }
         }

diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
@@ -116,7 +116,12 @@ bool Tracker::set_home_eeprom(const Location &temp)
     return true;
 }
 
-bool Tracker::set_home(const Location &temp)
+bool Tracker::set_home_to_current_location(bool lock)
+{
+    return set_home(AP::gps().location(), lock);
+}
+
+bool Tracker::set_home(const Location &temp, bool lock)
 {
     // check EKF origin has been set
     Location ekf_origin;

diff --git a/AntennaTracker/wscript b/AntennaTracker/wscript
@@ -6,11 +6,7 @@ def build(bld):
     bld.ap_stlib(
         name=vehicle + '_libs',
         ap_vehicle=vehicle,
-        ap_libraries=bld.ap_common_vehicle_libraries() + [
-            'AP_Beacon',
-            'AP_Arming',
-            'AP_RCMapper',
-        ],
+        ap_libraries=bld.ap_common_vehicle_libraries(),
     )
 
     bld.ap_program(

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -495,18 +495,6 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
         }
     }
 
-    // check if home is too far from EKF origin
-    if (copter.far_from_EKF_origin(ahrs.get_home())) {
-        check_failed(display_failure, "Home too far from EKF origin");
-        return false;
-    }
-
-    // check if vehicle is too far from EKF origin
-    if (copter.far_from_EKF_origin(copter.current_loc)) {
-        check_failed(display_failure, "Vehicle too far from EKF origin");
-        return false;
-    }
-
     // if we got here all must be ok
     return true;
 }

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -186,7 +186,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_SERVORELAYEVENTS_ENABLED
     SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,  75,  60),
 #endif
-    SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,             accumulate,    50,  90,  63),
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(update_precland,      400,     50,  69),
 #endif

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -739,9 +739,8 @@ class Copter : public AP_Vehicle {
     // commands.cpp
     void update_home_from_EKF();
     void set_home_to_current_location_inflight();
-    bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
-    bool far_from_EKF_origin(const Location& loc);
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
+    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
 
     // compassmot.cpp
     MAV_RESULT mavlink_compassmot(const GCS_MAVLINK &gcs_chan);

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -711,13 +711,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_int
     return GCS_MAVLINK::handle_preflight_reboot(packet, msg);
 }
 
-bool GCS_MAVLINK_Copter::set_home_to_current_location(bool _lock) {
-    return copter.set_home_to_current_location(_lock);
-}
-bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool _lock) {
-    return copter.set_home(loc, _lock);
-}
-
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
 {
 #if MODE_GUIDED_ENABLED == ENABLED
@@ -1169,8 +1162,6 @@ bool GCS_MAVLINK_Copter::sane_vel_or_acc_vector(const Vector3f &vec) const
     return true;
 }
 
-void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
-{
 #if MODE_GUIDED_ENABLED == ENABLED
     // for mavlink SET_POSITION_TARGET messages
     constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE =
@@ -1196,18 +1187,16 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
         POSITION_TARGET_TYPEMASK_FORCE_SET;
 #endif
 
-    switch (msg.msgid) {
-
 #if MODE_GUIDED_ENABLED == ENABLED
-    case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:   // MAV ID: 82
-    {
+void GCS_MAVLINK_Copter::handle_message_set_attitude_target(const mavlink_message_t &msg)
+{
         // decode packet
         mavlink_set_attitude_target_t packet;
         mavlink_msg_set_attitude_target_decode(&msg, &packet);
 
         // exit if vehicle is not in Guided mode or Auto-Guided mode
         if (!copter.flightmode->in_guided_mode()) {
-            break;
+            return;
         }
 
         const bool roll_rate_ignore   = packet.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE;
@@ -1218,7 +1207,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
 
         // ensure thrust field is not ignored
         if (throttle_ignore) {
-            break;
+            return;
         }
 
         Quaternion attitude_quat;
@@ -1232,7 +1221,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
             // this limit is somewhat greater than sqrt(FLT_EPSL)
             if (!attitude_quat.is_unit_length()) {
                 // The attitude quaternion is ill-defined
-                break;
+                return;
             }
         }
 
@@ -1270,19 +1259,17 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
 
         copter.mode_guided.set_angle(attitude_quat, ang_vel,
                 climb_rate_or_thrust, use_thrust);
+}
 
-        break;
-    }
-
-    case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:     // MAV ID: 84
-    {
+void GCS_MAVLINK_Copter::handle_message_set_position_target_local_ned(const mavlink_message_t &msg)
+{
         // decode packet
         mavlink_set_position_target_local_ned_t packet;
         mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
 
         // exit if vehicle is not in Guided mode or Auto-Guided mode
         if (!copter.flightmode->in_guided_mode()) {
-            break;
+            return;
         }
 
         // check for supported coordinate frames
@@ -1292,7 +1279,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
             packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) {
             // input is not valid so stop
             copter.mode_guided.init(true);
-            break;
+            return;
         }
 
         bool pos_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
@@ -1305,7 +1292,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
         // Force inputs are not supported
         // Do not accept command if force_set is true and acc_ignore is false
         if (force_set && !acc_ignore) {
-            break;
+            return;
         }
 
         // prepare position
@@ -1378,19 +1365,17 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
             // input is not valid so stop
             copter.mode_guided.init(true);
         }
+}
 
-        break;
-    }
-
-    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:    // MAV ID: 86
-    {
+void GCS_MAVLINK_Copter::handle_message_set_position_target_global_int(const mavlink_message_t &msg)
+{
         // decode packet
         mavlink_set_position_target_global_int_t packet;
         mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
 
         // exit if vehicle is not in Guided mode or Auto-Guided mode
         if (!copter.flightmode->in_guided_mode()) {
-            break;
+            return;
         }
 
         // todo: do we need to check for supported coordinate frames
@@ -1405,7 +1390,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
         // Force inputs are not supported
         // Do not accept command if force_set is true and acc_ignore is false
         if (force_set && !acc_ignore) {
-            break;
+            return;
         }
 
         // extract location from message
@@ -1415,14 +1400,14 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
             if (!check_latlng(packet.lat_int, packet.lon_int)) {
                 // input is not valid so stop
                 copter.mode_guided.init(true);
-                break;
+                return;
             }
             Location::AltFrame frame;
             if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.coordinate_frame, frame)) {
                 // unknown coordinate frame
                 // input is not valid so stop
                 copter.mode_guided.init(true);
-                break;
+                return;
             }
             loc = {packet.lat_int, packet.lon_int, int32_t(packet.alt*100), frame};
         }
@@ -1463,13 +1448,13 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
                 // posvel controller does not support alt-above-terrain
                 // input is not valid so stop
                 copter.mode_guided.init(true);
-                break;
+                return;
             }
             Vector3f pos_neu_cm;
             if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
                 // input is not valid so stop
                 copter.mode_guided.init(true);
-                break;
+                return;
             }
             copter.mode_guided.set_destination_posvel(pos_neu_cm, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
         } else if (pos_ignore && !vel_ignore) {
@@ -1482,30 +1467,40 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
             // input is not valid so stop
             copter.mode_guided.init(true);
         }
+}
+#endif  // MODE_GUIDED_ENABLED == ENABLED
 
+void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
+{
+
+    switch (msg.msgid) {
+#if MODE_GUIDED_ENABLED == ENABLED
+    case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
+        handle_message_set_attitude_target(msg);
+        break;
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
+        handle_message_set_position_target_local_ned(msg);
+        break;
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
+        handle_message_set_position_target_global_int(msg);
         break;
-    }
 #endif
-
+#if AP_TERRAIN_AVAILABLE
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
-#if AP_TERRAIN_AVAILABLE
         copter.terrain.handle_data(chan, msg);
-#endif
         break;
-
+#endif
 #if TOY_MODE_ENABLED == ENABLED
     case MAVLINK_MSG_ID_NAMED_VALUE_INT:
         copter.g2.toy_mode.handle_message(msg);
         break;
 #endif
-
     default:
         GCS_MAVLINK::handle_message(msg);
         break;
-    }     // end switch
-} // end handle mavlink
-
+    }
+}
 
 MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) {
 #if ADVANCED_FAILSAFE == ENABLED

diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
@@ -46,10 +46,12 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
     void handle_mount_message(const mavlink_message_t &msg) override;
 #endif
 
+    void handle_message_set_attitude_target(const mavlink_message_t &msg);
+    void handle_message_set_position_target_global_int(const mavlink_message_t &msg);
+    void handle_message_set_position_target_local_ned(const mavlink_message_t &msg);
+
     void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
 
-    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
     void send_nav_controller_output() const override;
     uint64_t capabilities() const override;