Merge branch 'master' into master

ArduPilot · Sep 12, 2024 · 2001063 · 2001063
2 parents fcf3037 + f3b4f8f
commit 2001063
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Showing 15 changed files with 497 additions and 107 deletions.
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -538,6 +538,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
     // @User: Standard
     AP_GROUPINFO("BCK_PIT_LIM", 38, QuadPlane, q_bck_pitch_lim, 10.0f),
 
+    // @Param: APPROACH_DIST
+    // @DisplayName: Q mode approach distance
+    // @Description: The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach. This is useful if you don't want the fixed wing approach logic to be used when you are close to the destination. Set to zero to always use fixed wing approach.
+    // @Units: m
+    // @Range: 0.0 1000
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("APPROACH_DIST", 39, QuadPlane, approach_distance, 0),
+
     AP_GROUPEND
 };
 
@@ -2160,7 +2169,8 @@ void QuadPlane::run_xy_controller(float accel_limit)
 void QuadPlane::poscontrol_init_approach(void)
 {
     const float dist = plane.current_loc.get_distance(plane.next_WP_loc);
-    if (option_is_set(QuadPlane::OPTION::DISABLE_APPROACH)) {
+    if (option_is_set(QuadPlane::OPTION::DISABLE_APPROACH) ||
+        (is_positive(approach_distance) && dist < approach_distance)) {
         // go straight to QPOS_POSITION1
         poscontrol.set_state(QPOS_POSITION1);
         gcs().send_text(MAV_SEVERITY_INFO,"VTOL Position1 d=%.1f", dist);

diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
@@ -609,6 +609,9 @@ class QuadPlane
         return (options.get() & int32_t(option)) != 0;
     }
 
+    // minimum distance to be from destination to use approach logic
+    AP_Float approach_distance;
+
     AP_Float takeoff_failure_scalar;
     AP_Float maximum_takeoff_airspeed;
     uint32_t takeoff_start_time_ms;

diff --git a/Tools/autotest/param_metadata/param_parse.py b/Tools/autotest/param_metadata/param_parse.py
@@ -444,7 +444,7 @@ def clean_param(param):
         for i in valueList:
             (start, sep, end) = i.partition(":")
             if sep != ":":
-                raise ValueError("Expected a colon seperator in (%s)" % (i,))
+                raise ValueError("Expected a colon separator in (%s)" % (i,))
             if len(end) == 0:
                 raise ValueError("Expected a colon-separated string, got (%s)" % i)
             end = end.strip()

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
@@ -2597,13 +2597,6 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_BARO_WCF_UP",
             "SIM_FTOWESC_ENA",
             "SIM_FTOWESC_POW",
-            "SIM_GND_BEHAV",
-            "SIM_GYR1_RND",
-            "SIM_GYR2_RND",
-            "SIM_GYR3_RND",
-            "SIM_GYR4_RND",
-            "SIM_GYR5_RND",
-            "SIM_GYR_FAIL_MSK",
             "SIM_IE24_ENABLE",
             "SIM_IE24_ERROR",
             "SIM_IE24_STATE",
@@ -2712,15 +2705,6 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_IMUT5_GYR3_Z",
             "SIM_IMUT5_TMAX",
             "SIM_IMUT5_TMIN",
-            "SIM_IMUT_END",
-            "SIM_IMUT_FIXED",
-            "SIM_IMUT_START",
-            "SIM_IMUT_TCONST",
-            "SIM_INS_THR_MIN",
-            "SIM_LED_LAYOUT",
-            "SIM_LOOP_DELAY",
-            "SIM_MAG1_SCALING",
-            "SIM_MAG2_DEVID",
             "SIM_MAG2_DIA_X",
             "SIM_MAG2_DIA_Y",
             "SIM_MAG2_DIA_Z",
@@ -2730,9 +2714,6 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_MAG2_OFS_X",
             "SIM_MAG2_OFS_Y",
             "SIM_MAG2_OFS_Z",
-            "SIM_MAG2_ORIENT",
-            "SIM_MAG2_SCALING",
-            "SIM_MAG3_DEVID",
             "SIM_MAG3_DIA_X",
             "SIM_MAG3_DIA_Y",
             "SIM_MAG3_DIA_Z",
@@ -2742,18 +2723,9 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_MAG3_OFS_X",
             "SIM_MAG3_OFS_Y",
             "SIM_MAG3_OFS_Z",
-            "SIM_MAG3_ORIENT",
-            "SIM_MAG3_SCALING",
-            "SIM_MAG4_DEVID",
-            "SIM_MAG5_DEVID",
-            "SIM_MAG6_DEVID",
-            "SIM_MAG7_DEVID",
-            "SIM_MAG8_DEVID",
-            "SIM_MAG_ALY_HGT",
             "SIM_MAG_ALY_X",
             "SIM_MAG_ALY_Y",
             "SIM_MAG_ALY_Z",
-            "SIM_MAG_DELAY",
             "SIM_MAG1_DIA_X",
             "SIM_MAG1_DIA_Y",
             "SIM_MAG1_DIA_Z",
@@ -2766,16 +2738,10 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_MAG1_OFS_X",
             "SIM_MAG1_OFS_Y",
             "SIM_MAG1_OFS_Z",
-            "SIM_MAG1_ORIENT",
-            "SIM_MAG_RND",
-            "SIM_ODOM_ENABLE",
             "SIM_PARA_ENABLE",
             "SIM_PARA_PIN",
-            "SIM_PIN_MASK",
             "SIM_PLD_ALT_LMT",
             "SIM_PLD_DIST_LMT",
-            "SIM_RATE_HZ",
-            "SIM_RC_CHANCOUNT",
             "SIM_RICH_CTRL",
             "SIM_RICH_ENABLE",
             "SIM_SHIP_DSIZE",
@@ -2786,43 +2752,13 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_SHIP_PSIZE",
             "SIM_SHIP_SPEED",
             "SIM_SHIP_SYSID",
-            "SIM_SHOVE_TIME",
-            "SIM_SHOVE_X",
-            "SIM_SHOVE_Y",
-            "SIM_SHOVE_Z",
-            "SIM_SONAR_GLITCH",
             "SIM_SONAR_POS_X",
             "SIM_SONAR_POS_Y",
             "SIM_SONAR_POS_Z",
-            "SIM_SONAR_RND",
-            "SIM_SONAR_ROT",
-            "SIM_SONAR_SCALE",
             "SIM_TA_ENABLE",
-            "SIM_TEMP_BFACTOR",
-            "SIM_TEMP_BRD_OFF",
-            "SIM_TEMP_START",
-            "SIM_TEMP_TCONST",
-            "SIM_TERRAIN",
-            "SIM_THML_SCENARI",
-            "SIM_TIDE_DIR",
-            "SIM_TIDE_SPEED",
-            "SIM_TIME_JITTER",
-            "SIM_TWIST_TIME",
-            "SIM_TWIST_X",
-            "SIM_TWIST_Y",
-            "SIM_TWIST_Z",
             "SIM_VIB_FREQ_X",
             "SIM_VIB_FREQ_Y",
             "SIM_VIB_FREQ_Z",
-            "SIM_VIB_MOT_HMNC",
-            "SIM_VIB_MOT_MASK",
-            "SIM_VIB_MOT_MAX",
-            "SIM_VIB_MOT_MULT",
-            "SIM_WAVE_AMP",
-            "SIM_WAVE_DIR",
-            "SIM_WAVE_ENABLE",
-            "SIM_WAVE_LENGTH",
-            "SIM_WAVE_SPEED",
         ])
 
         vinfo_key = self.vehicleinfo_key()

diff --git a/libraries/AP_EFI/AP_EFI.cpp b/libraries/AP_EFI/AP_EFI.cpp
@@ -252,16 +252,16 @@ void AP_EFI::log_status(void)
                                 "TimeUS,Inst,IgnT,InjT,CHT,EGT,Lambda,CHT2,EGT2,IDX",
                                 "s#dsOO-OO-",
                                 "F-0C000000",
-                                "QBfffffBff",
+                                "QBffffffff",
                                 AP_HAL::micros64(),
                                 0,
                                 state.cylinder_status.ignition_timing_deg,
                                 state.cylinder_status.injection_time_ms,
-                                state.cylinder_status.cylinder_head_temperature,
-                                state.cylinder_status.exhaust_gas_temperature,
+                                KELVIN_TO_C(state.cylinder_status.cylinder_head_temperature),
+                                KELVIN_TO_C(state.cylinder_status.exhaust_gas_temperature),
                                 state.cylinder_status.lambda_coefficient,
-                                state.cylinder_status.cylinder_head_temperature2,
-                                state.cylinder_status.exhaust_gas_temperature2,
+                                KELVIN_TO_C(state.cylinder_status.cylinder_head_temperature2),
+                                KELVIN_TO_C(state.cylinder_status.exhaust_gas_temperature2),
                                 state.ecu_index);
 }
 #endif // LOGGING_ENABLED

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -484,19 +484,19 @@ const char* AP_ExternalAHRS_VectorNav::get_name() const
 }
 
 // Input data struct for EAHA logging message, used by both AHRS mode and INS mode
-struct AP_ExternalAHRS_VectorNav::EAHA {
+struct AP_ExternalAHRS_VectorNav::VNAT {
     uint64_t timeUs;
     float quat[4];
     float ypr[3];
     float yprU[3];
 };
 
 
-void AP_ExternalAHRS_VectorNav::write_eaha(const EAHA& data_to_log) const {
+void AP_ExternalAHRS_VectorNav::write_vnat(const VNAT& data_to_log) const {
 
 #if HAL_LOGGING_ENABLED
-    // @LoggerMessage: EAHA
-    // @Description: External AHRS Attitude data
+    // @LoggerMessage: VNAT
+    // @Description: VectorNav Attitude data
     // @Field: TimeUS: Time since system startup
     // @Field: Q1: Attitude quaternion 1
     // @Field: Q2: Attitude quaternion 2
@@ -509,7 +509,7 @@ void AP_ExternalAHRS_VectorNav::write_eaha(const EAHA& data_to_log) const {
     // @Field: PU: Pitch uncertainty
     // @Field: RU: Roll uncertainty
 
-    AP::logger().WriteStreaming("EAHA", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
+    AP::logger().WriteStreaming("VNAT", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
                        "s----dddddd", "F0000000000",
                        "Qffffffffff",
                        data_to_log.timeUs,
@@ -573,8 +573,8 @@ void AP_ExternalAHRS_VectorNav::process_imu_packet(const uint8_t *b)
     }
 
 #if HAL_LOGGING_ENABLED
-    // @LoggerMessage: EAHI
-    // @Description: External AHRS IMU data
+    // @LoggerMessage: VNIM
+    // @Description: VectorNav IMU data
     // @Field: TimeUS: Time since system startup
     // @Field: Temp: Temprature
     // @Field: Pres: Pressure
@@ -588,7 +588,7 @@ void AP_ExternalAHRS_VectorNav::process_imu_packet(const uint8_t *b)
     // @Field: GY: Rotation rate Y-axis
     // @Field: GZ: Rotation rate Z-axis
 
-    AP::logger().WriteStreaming("EAHI", "TimeUS,Temp,Pres,MX,MY,MZ,AX,AY,AZ,GX,GY,GZ",
+    AP::logger().WriteStreaming("VNIM", "TimeUS,Temp,Pres,MX,MY,MZ,AX,AY,AZ,GX,GY,GZ",
                        "sdPGGGoooEEE", "F00000000000",
                        "Qfffffffffff",
                        AP_HAL::micros64(),
@@ -610,13 +610,13 @@ void AP_ExternalAHRS_VectorNav::process_ahrs_ekf_packet(const uint8_t *b) {
     state.have_quaternion = true;
 
 #if HAL_LOGGING_ENABLED
-    EAHA data_to_log;
+    VNAT data_to_log;
     data_to_log.timeUs = AP_HAL::micros64();
     memcpy(data_to_log.quat, pkt.quaternion, sizeof(pkt.quaternion));
     memcpy(data_to_log.ypr, pkt.ypr, sizeof(pkt.ypr));
     memcpy(data_to_log.yprU, pkt.yprU, sizeof(pkt.yprU));
 
-    write_eaha(data_to_log);
+    write_vnat(data_to_log);
 #endif  // HAL_LOGGING_ENABLED
 }
 
@@ -638,16 +638,16 @@ void AP_ExternalAHRS_VectorNav::process_ins_ekf_packet(const uint8_t *b) {
     state.have_location           = true;
 
 #if HAL_LOGGING_ENABLED
-    EAHA data_to_log;
+    VNAT data_to_log;
     auto now =  AP_HAL::micros64();
     data_to_log.timeUs = now;
     memcpy(data_to_log.quat, pkt.quaternion, sizeof(pkt.quaternion));
     memcpy(data_to_log.ypr, pkt.ypr, sizeof(pkt.ypr));
     memcpy(data_to_log.yprU, pkt.yprU, sizeof(pkt.yprU));
-    write_eaha(data_to_log);
+    write_vnat(data_to_log);
 
-    // @LoggerMessage: EAHK
-    // @Description: External AHRS INS Kalman Filter data
+    // @LoggerMessage: VNKF
+    // @Description: VectorNav INS Kalman Filter data
     // @Field: TimeUS: Time since system startup
     // @Field: InsStatus: VectorNav INS health status
     // @Field: Lat: Latitude
@@ -659,7 +659,7 @@ void AP_ExternalAHRS_VectorNav::process_ins_ekf_packet(const uint8_t *b) {
     // @Field: PosU: Filter estimated position uncertainty
     // @Field: VelU: Filter estimated Velocity uncertainty
 
-    AP::logger().WriteStreaming("EAHK", "TimeUS,InsStatus,Lat,Lon,Alt,VelN,VelE,VelD,PosU,VelU",
+    AP::logger().WriteStreaming("VNKF", "TimeUS,InsStatus,Lat,Lon,Alt,VelN,VelE,VelD,PosU,VelU",
                        "s-ddmnnndn", "F000000000",
                        "QHdddfffff",
                        now,

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
@@ -65,8 +65,8 @@ class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
 
     void run_command(const char *fmt, ...);
 
-    struct EAHA;
-    void write_eaha(const EAHA& data_to_log) const;
+    struct VNAT;
+    void write_vnat(const VNAT& data_to_log) const;
     void process_imu_packet(const uint8_t *b);
     void process_ahrs_ekf_packet(const uint8_t *b);
     void process_ins_ekf_packet(const uint8_t *b);

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -2300,7 +2300,7 @@ void RCOutput::safety_update(void)
     bool safety_pressed = palReadLine(HAL_GPIO_PIN_SAFETY_IN);
     if (safety_pressed) {
         AP_BoardConfig *brdconfig = AP_BoardConfig::get_singleton();
-        if (safety_press_count < 255) {
+        if (safety_press_count < UINT8_MAX) {
             safety_press_count++;
         }
         if (brdconfig && brdconfig->safety_button_handle_pressed(safety_press_count)) {

diff --git a/libraries/AP_HAL_ESP32/RCOutput.cpp b/libraries/AP_HAL_ESP32/RCOutput.cpp
@@ -317,7 +317,7 @@ void RCOutput::safety_update(void)
     bool safety_pressed = gpio_get_level((gpio_num_t)HAL_GPIO_PIN_SAFETY_IN);
     if (safety_pressed) {
         AP_BoardConfig *brdconfig = AP_BoardConfig::get_singleton();
-        if (safety_press_count < 255) {
+        if (safety_press_count < UINT8_MAX) {
             safety_press_count++;
         }
         if (brdconfig && brdconfig->safety_button_handle_pressed(safety_press_count)) {

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
@@ -2553,7 +2553,7 @@ bool AP_Mission::distance_to_landing(uint16_t index, float &tot_distance, Locati
     }
 
     // run through remainder of mission to approximate a distance to landing
-    for (uint8_t i=0; i<255; i++) {
+    for (uint8_t i=0; i<UINT8_MAX; i++) {
         // search until the end of the mission command list
         for (uint16_t cmd_index = index; cmd_index < (unsigned)_cmd_total; cmd_index++) {
             // get next command
@@ -2612,7 +2612,7 @@ bool AP_Mission::distance_to_mission_leg(uint16_t start_index, float &rejoin_dis
 
     // run through remainder of mission to approximate a distance to landing
     uint16_t index = start_index;
-    for (uint8_t i=0; i<255; i++) {
+    for (uint8_t i=0; i<UINT8_MAX; i++) {
         // search until the end of the mission command list
         for (uint16_t cmd_index = index; cmd_index <= (unsigned)_cmd_total; cmd_index++) {
             if (get_next_cmd(cmd_index, temp_cmd, true, false)) {