Update CxPilot-7 to ArduPilot 4.5.7

SW-454
CarbonixUAV · Nov 21, 2024 · db336dc · db336dc
2 parents 157dee4 + 0358a9c
commit db336dc
Show file tree

Hide file tree

Showing 37 changed files with 1,317 additions and 52 deletions.
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -91,6 +91,71 @@ Changes from 4.5.5
 ------------------------------------------------------------------
 Release 4.5.5 1st Aug 2024
 
+No changes from 4.5.5-beta2
+------------------------------------------------------------------
+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
+
+1) Bug fixes and minor enhancements
+
+- VUAV-V7pro support
+- CUAV-7-Nano correction for LEDs and battery volt and current scaling
+- DroneCAN deadlock and saturation of CAN bus fixed
+- DroneCAN DNA server init fix (caused logging issues and spam on bus)
+- F4 boards with inverter support correctly uninvert RX/TX
+- Nanoradar M72 radar driver fix for object avoidance path planning
+- RC support for latest version of GHST
+- Septentrio GPS sat count correctly drops to zero when 255 received
+
+2) ROS2/DDS and other developer focused enhancements
+
+- AP quaternions normalised for ROS2 to avoid warnings
+- Dependencies fixed for easier installation
+- ROS2 SITL launch file enhancements including displaying console and map
+- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
+- Python 3.12 support
+------------------------------------------------------------------
+Release 4.5.6 03 Sep 2024
+
+No changes from 4.5.6-beta1
+------------------------------------------------------------------
+Release 4.5.6-beta1 20 Aug 2024
+
+Changes from 4.5.5
+
+1) Board specific enhancements and bug fixes
+
+- 3DR Control Zero H7 Rev G support
+- CUAV-7-Nano support
+- FoxeerF405v2 servo outputs increased from 9 to 11
+- Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
+- iFlight 2RAW H7 support
+- MFT-SEMA100 support
+- TMotorH743 support BMI270 baro
+- ZeroOneX6 support
+
+2) Minor enhancements and bug fixes
+
+- Cameras using MAVLink report vendor and model name correctly
+- DroneCAN fix to remove occasional NodeID registration error
+- GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
+- ICP101XX barometer slowed to avoid I2C communication errors
+- IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
+- IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
+- Logging to flash timestamp fix
+- OSD displays ESC temp instead of motor temp
+- PID controller error calculation bug fix (was using target from prev iteration)
+- Relay on MAIN pins fixed
+------------------------------------------------------------------
+Release 4.5.5 1st Aug 2024
+
 No changes from 4.5.5-beta2
 ------------------------------------------------------------------
 Release 4.5.5-beta2 27 July 2024
@@ -241,6 +306,10 @@ No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 
+No changes from 4.5.0-beta4
+------------------------------------------------------------------
+Release 4.5.0 2nd April 2024
+
 No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0-beta4 22nd March 2024

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.6"
+#define THISFIRMWARE "AntennaTracker V4.5.7"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 6
+#define FW_PATCH 7
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,35 @@
 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
+
+1) Bug fixes and minor enhancements
+
+- VUAV-V7pro support
+- CUAV-7-Nano correction for LEDs and battery volt and current scaling
+- DroneCAN deadlock and saturation of CAN bus fixed
+- DroneCAN DNA server init fix (caused logging issues and spam on bus)
+- F4 boards with inverter support correctly uninvert RX/TX
+- Nanoradar M72 radar driver fix for object avoidance path planning
+- RC support for latest version of GHST
+- Septentrio GPS sat count correctly drops to zero when 255 received
+- TradHeli DDVP tail rotor pitch actuator fixed
+
+2) ROS2/DDS and other developer focused enhancements
+
+- AP quaternions normalised for ROS2 to avoid warnings
+- Dependencies fixed for easier installation
+- ROS2 SITL launch file enhancements including displaying console and map
+- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
+- Python 3.12 support
+------------------------------------------------------------------
 Release 4.5.6 03 Sep 2024
 
 No changes from 4.5.6-beta1

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.6"
+#define THISFIRMWARE "ArduCopter V4.5.7"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 6
+#define FW_PATCH 7
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -54,6 +54,36 @@ Technical
 
 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
+
+1) Bug fixes and minor enhancements
+
+- VUAV-V7pro support
+- CUAV-7-Nano correction for LEDs and battery volt and current scaling
+- DroneCAN deadlock and saturation of CAN bus fixed
+- DroneCAN DNA server init fix (caused logging issues and spam on bus)
+- F4 boards with inverter support correctly uninvert RX/TX
+- Nanoradar M72 radar driver fix for object avoidance path planning
+- Plane fix to ability to disable the takeoff atititude checks
+- RC support for latest version of GHST
+- Septentrio GPS sat count correctly drops to zero when 255 received
+
+2) ROS2/DDS and other developer focused enhancements
+
+- AP quaternions normalised for ROS2 to avoid warnings
+- Dependencies fixed for easier installation
+- ROS2 SITL launch file enhancements including displaying console and map
+- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
+- Python 3.12 support
+------------------------------------------------------------------
 Release 4.5.6 03 Sep 2024
 
 No changes from 4.5.6-beta1

diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
@@ -57,7 +57,7 @@ bool Plane::auto_takeoff_check(void)
     bool do_takeoff_attitude_check = !(flight_option_enabled(FlightOptions::DISABLE_TOFF_ATTITUDE_CHK));
 #if HAL_QUADPLANE_ENABLED
     // disable attitude check on tailsitters
-    do_takeoff_attitude_check = !quadplane.tailsitter.enabled();
+    do_takeoff_attitude_check &= !quadplane.tailsitter.enabled();
 #endif
 
     if (!takeoff_state.launchTimerStarted && !is_zero(g.takeoff_throttle_min_accel)) {

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.6"
+#define THISFIRMWARE "ArduPlane V4.5.7"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 6
+#define FW_PATCH 7
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
@@ -1,5 +1,34 @@
 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
+
+1) Bug fixes and minor enhancements
+
+- VUAV-V7pro support
+- CUAV-7-Nano correction for LEDs and battery volt and current scaling
+- DroneCAN deadlock and saturation of CAN bus fixed
+- DroneCAN DNA server init fix (caused logging issues and spam on bus)
+- F4 boards with inverter support correctly uninvert RX/TX
+- Nanoradar M72 radar driver fix for object avoidance path planning
+- RC support for latest version of GHST
+- Septentrio GPS sat count correctly drops to zero when 255 received
+
+2) ROS2/DDS and other developer focused enhancements
+
+- AP quaternions normalised for ROS2 to avoid warnings
+- Dependencies fixed for easier installation
+- ROS2 SITL launch file enhancements including displaying console and map
+- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
+- Python 3.12 support
+------------------------------------------------------------------
 Release 4.5.6 03 Sep 2024
 
 No changes from 4.5.6-beta1

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.6"
+#define THISFIRMWARE "ArduRover V4.5.7"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 6
+#define FW_PATCH 7
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Tools/ardupilotwaf/ap_library.py b/Tools/ardupilotwaf/ap_library.py
@@ -206,6 +206,8 @@ def scan(self):
 
         # force dependency scan, if necessary
         self.compiled_task.signature()
+        if not self.compiled_task.uid() in self.generator.bld.node_deps:
+            return r, []
         for n in self.generator.bld.node_deps[self.compiled_task.uid()]:
             # using common Node methods doesn't work here
             p = n.abspath()

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
@@ -18,7 +18,11 @@
 _dynamic_env_data = {}
 def _load_dynamic_env_data(bld):
     bldnode = bld.bldnode.make_node('modules/ChibiOS')
-    tmp_str = bldnode.find_node('include_dirs').read()
+    include_dirs_node = bldnode.find_node('include_dirs')
+    if include_dirs_node is None:
+        _dynamic_env_data['include_dirs'] = []
+        return
+    tmp_str = include_dirs_node.read()
     tmp_str = tmp_str.replace(';\n','')
     tmp_str = tmp_str.replace('-I','')  #remove existing -I flags
     # split, coping with separator

diff --git a/Tools/ardupilotwaf/git_submodule.py b/Tools/ardupilotwaf/git_submodule.py
@@ -91,7 +91,7 @@ def runnable_status(self):
                 else:
                     r = Task.RUN_ME
 
-        if self.non_fast_forward:
+        if getattr(self,'non_fast_forward',[]):
             r = Task.SKIP_ME
 
         return r
@@ -148,7 +148,7 @@ def git_submodule(bld, git_submodule, **kw):
 def _post_fun(bld):
     Logs.info('')
     for name, t in _submodules_tasks.items():
-        if not t.non_fast_forward:
+        if not getattr(t,'non_fast_forward',[]):
             continue
         Logs.warn("Submodule %s not updated: non-fastforward" % name)
 

diff --git a/Tools/bootloaders/VUAV-V7pro_bl.bin b/Tools/bootloaders/VUAV-V7pro_bl.bin
diff --git a/Tools/ros2/README.md b/Tools/ros2/README.md
@@ -1,18 +1,34 @@
 # ArduPilot ROS 2 packages
 
- This directory contains ROS 2 packages and configuration files for running
- ROS 2 processes and nodes that communicate with the ArduPilot DDS client
- library using the microROS agent. It contains the following packages:
+This directory contains ROS 2 packages and configuration files for running
+ROS 2 processes and nodes that communicate with the ArduPilot DDS client
+library using the microROS agent. It contains the following packages:
 
 #### `ardupilot_sitl`
 
-A `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI.
+This is a `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI.
 For example `ardurover` SITL may be launched with:
 
 ```bash
 ros2 launch ardupilot_sitl sitl.launch.py command:=ardurover model:=rover
 ```
 
+Other launch files are included with many arguments.
+Some common arguments are exposed and forwarded to the underlying process.
+
+For example, MAVProxy can be launched, and you can enable the `console` and `map`.
+```bash
+ros2 launch ardupilot_sitl sitl_mavproxy.launch.py map:=True console:=True 
+```
+
+ArduPilot SITL does not yet expose all arguments from the underlying binary.
+See [#27714](https://github.com/ArduPilot/ardupilot/issues/27714) for context.
+
+To see all current options, use the `-s` argument:
+```bash
+ros2 launch ardupilot_sitl sitl.launch.py -s
+```
+
 #### `ardupilot_dds_test`
 
 A `colcon` package for testing communication between `micro_ros_agent` and the

diff --git a/Tools/ros2/ardupilot_dds_tests/package.xml b/Tools/ros2/ardupilot_dds_tests/package.xml
@@ -27,12 +27,15 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ardupilot_msgs</test_depend>
   <test_depend>ardupilot_sitl</test_depend>
+  <test_depend>builtin_interfaces</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_pytest</test_depend>
   <test_depend>launch_ros</test_depend>
   <exec_depend>micro_ros_msgs</exec_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>rclpy</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+
 
   <export>
     <build_type>ament_python</build_type>

diff --git a/Tools/ros2/ardupilot_sitl/CMakeLists.txt b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
@@ -79,6 +79,12 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/config/
 )
 
+# Install additional autotest model params.
+install(DIRECTORY
+  ${ARDUPILOT_ROOT}/Tools/autotest/models
+  DESTINATION share/${PROJECT_NAME}/config/
+)
+
 # Install Python package.
 ament_python_install_package(${PROJECT_NAME}
   PACKAGE_DIR src/${PROJECT_NAME}

diff --git a/Tools/ros2/ardupilot_sitl/package.xml b/Tools/ros2/ardupilot_sitl/package.xml
@@ -11,7 +11,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <exec_depend>ardupilot_msgs</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>geographic_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>
+  <exec_depend>rosgraph_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>tf2_msgs</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_black</test_depend>