Plane: update ready for 4.5.2-beta

AntennaTracker/ReleaseNotes.txt

@@ -20,6 +20,7 @@ Changes from 4.5.1
 - SBUS output fix for channels 1 to 8 also applying to 9 to 16
 - ViewPro gimbal supports enable/disable rangefinder from RC aux switch
 - Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
 
 3) AHRS / EKF fixes
 

ArduCopter/ReleaseNotes.txt

@@ -20,6 +20,7 @@ Changes from 4.5.1
 - SBUS output fix for channels 1 to 8 also applying to 9 to 16
 - ViewPro gimbal supports enable/disable rangefinder from RC aux switch
 - Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
 
 3) AHRS / EKF fixes
 

ArduPlane/ReleaseNotes.txt

@@ -20,6 +20,7 @@ Changes from 4.5.1
 - SBUS output fix for channels 1 to 8 also applying to 9 to 16
 - ViewPro gimbal supports enable/disable rangefinder from RC aux switch
 - Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
 
 3) AHRS / EKF fixes
 

Rover/ReleaseNotes.txt

@@ -20,6 +20,7 @@ Changes from 4.5.1
 - SBUS output fix for channels 1 to 8 also applying to 9 to 16
 - ViewPro gimbal supports enable/disable rangefinder from RC aux switch
 - Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
 
 3) AHRS / EKF fixes
 

libraries/AP_IOMCU/AP_IOMCU.cpp

@@ -786,7 +786,7 @@ bool AP_IOMCU::modify_register(uint8_t page, uint8_t offset, uint16_t clearbits,
 
 void AP_IOMCU::write_channel(uint8_t chan, uint16_t pwm)
 {
-    if (chan >= IOMCU_MAX_CHANNELS) {
+    if (chan >= IOMCU_MAX_RC_CHANNELS) {    // could be SBUS out
         return;
     }
     if (chan >= pwm_out.num_channels) {
@@ -1107,7 +1107,7 @@ bool AP_IOMCU::check_crc(void)
 void AP_IOMCU::set_failsafe_pwm(uint16_t chmask, uint16_t period_us)
 {
     bool changed = false;
-    for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
+    for (uint8_t i=0; i<IOMCU_MAX_RC_CHANNELS; i++) {
         if (chmask & (1U<<i)) {
             if (pwm_out.failsafe_pwm[i] != period_us) {
                 pwm_out.failsafe_pwm[i] = period_us;
@@ -1186,7 +1186,7 @@ bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan,
 #define MIX_UPDATE(a,b) do { if ((a) != (b)) { a = b; changed = true; }} while (0)
 
     // update mixing structure, checking for changes
-    for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
+    for (uint8_t i=0; i<IOMCU_MAX_RC_CHANNELS; i++) {
         const SRV_Channel *c = SRV_Channels::srv_channel(i);
         if (!c) {
             continue;

libraries/AP_IOMCU/AP_IOMCU.h

@@ -243,17 +243,17 @@ class AP_IOMCU
     // output pwm values
     struct {
         uint8_t num_channels;
-        uint16_t pwm[IOMCU_MAX_CHANNELS];
+        uint16_t pwm[IOMCU_MAX_RC_CHANNELS];
         uint16_t safety_mask;
-        uint16_t failsafe_pwm[IOMCU_MAX_CHANNELS];
+        uint16_t failsafe_pwm[IOMCU_MAX_RC_CHANNELS];
         uint8_t failsafe_pwm_set;
         uint8_t failsafe_pwm_sent;
         uint16_t channel_mask;
     } pwm_out;
 
     // read back pwm values
     struct {
-        uint16_t pwm[IOMCU_MAX_CHANNELS];
+        uint16_t pwm[IOMCU_MAX_RC_CHANNELS];
     } pwm_in;
 
     // output rates

libraries/AP_IOMCU/iofirmware/iofirmware.cpp

@@ -1216,7 +1216,7 @@ void AP_IOMCU_FW::rcout_config_update(void)
  */
 void AP_IOMCU_FW::fill_failsafe_pwm(void)
 {
-    for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
+    for (uint8_t i=0; i<IOMCU_MAX_RC_CHANNELS; i++) {
         if (reg_status.flag_safety_off) {
             reg_direct_pwm.pwm[i] = reg_failsafe_pwm.pwm[i];
         } else {

libraries/AP_IOMCU/iofirmware/ioprotocol.h

@@ -9,7 +9,9 @@
 
 // 22 is enough for the rc_input page in one transfer
 #define PKT_MAX_REGS 22
+// The number of channels that can be propagated - due to SBUS_OUT is higher than the physical channels
 #define IOMCU_MAX_RC_CHANNELS 16
+// The actual number of output channels
 #define IOMCU_MAX_CHANNELS 8
 #define IOMCU_MAX_TELEM_CHANNELS 4
 
@@ -155,17 +157,17 @@ struct page_rc_input {
   data for mixing on FMU failsafe
  */
 struct page_mixing {
-    uint16_t servo_min[IOMCU_MAX_CHANNELS];
-    uint16_t servo_max[IOMCU_MAX_CHANNELS];
-    uint16_t servo_trim[IOMCU_MAX_CHANNELS];
-    uint8_t servo_function[IOMCU_MAX_CHANNELS];
-    uint8_t servo_reversed[IOMCU_MAX_CHANNELS];
+    uint16_t servo_min[IOMCU_MAX_RC_CHANNELS];
+    uint16_t servo_max[IOMCU_MAX_RC_CHANNELS];
+    uint16_t servo_trim[IOMCU_MAX_RC_CHANNELS];
+    uint8_t servo_function[IOMCU_MAX_RC_CHANNELS];
+    uint8_t servo_reversed[IOMCU_MAX_RC_CHANNELS];
 
     // RC input arrays are in AETR order
     uint16_t rc_min[4];
     uint16_t rc_max[4];
     uint16_t rc_trim[4];
-    uint8_t rc_reversed[IOMCU_MAX_CHANNELS];
+    uint8_t rc_reversed[IOMCU_MAX_RC_CHANNELS];
     uint8_t rc_channel[4];
 
     // gain for elevon and vtail mixing, x1000

libraries/AP_IOMCU/iofirmware/mixer.cpp

@@ -130,7 +130,7 @@ void AP_IOMCU_FW::run_mixer(void)
     // get RC input angles
     if (rc_input.flags_rc_ok) {
         for (uint8_t i=0;i<4; i++) {
-            if (mixing.rc_channel[i] > 0 && mixing.rc_channel[i] <= IOMCU_MAX_CHANNELS) {
+            if (mixing.rc_channel[i] > 0 && mixing.rc_channel[i] <= IOMCU_MAX_RC_CHANNELS) {
                 uint8_t chan = mixing.rc_channel[i]-1;
                 if (i == 2 && !mixing.throttle_is_angle) {
                     rcin[i] = mix_input_range(i, rc_input.pwm[chan]);
@@ -141,7 +141,7 @@ void AP_IOMCU_FW::run_mixer(void)
         }
     }
 
-    for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
+    for (uint8_t i=0; i<IOMCU_MAX_RC_CHANNELS; i++) {
         SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)mixing.servo_function[i];
         uint16_t &pwm = reg_direct_pwm.pwm[i];
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -6636,14 +6636,14 @@ void GCS::passthru_timer(void)
     uint8_t buf[64];
 
     // read from port1, and write to port2
-    int16_t nbytes = _passthru.port1->read_locked(buf, sizeof(buf), lock_key);
+    int16_t nbytes = _passthru.port1->read_locked(buf, MIN(sizeof(buf),_passthru.port2->txspace()), lock_key);
     if (nbytes > 0) {
         _passthru.last_port1_data_ms = AP_HAL::millis();
         _passthru.port2->write_locked(buf, nbytes, lock_key);
     }
 
     // read from port2, and write to port1
-    nbytes = _passthru.port2->read_locked(buf, sizeof(buf), lock_key);
+    nbytes = _passthru.port2->read_locked(buf, MIN(sizeof(buf),_passthru.port1->txspace()), lock_key);
     if (nbytes > 0) {
         _passthru.port1->write_locked(buf, nbytes, lock_key);
     }