Merge branch 'ArduPilot:master' into ardupilot-MFE_AirSpeed_CAN

.github/workflows/cygwin_build.yml

@@ -156,7 +156,7 @@ jobs:
           NAME_DASHED=${WORKFLOWNAME//+( )/_}
           echo "cache-key=${NAME_DASHED}" >> $GITHUB_OUTPUT
 
-      - uses: cygwin/cygwin-install-action@master
+      - uses: cygwin/cygwin-install-action@v5
         with:
           packages: cygwin64 gcc-g++=10.2.0-1 ccache python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
           add-to-path: false

AntennaTracker/tracking.cpp

@@ -62,10 +62,10 @@ void Tracker::update_bearing_and_distance()
 
     // calculate altitude difference to vehicle using gps
     if (g.alt_source == ALT_SOURCE_GPS){
-        nav_status.alt_difference_gps = (vehicle.location_estimate.alt - current_loc.alt) / 100.0f;
+        nav_status.alt_difference_gps = (vehicle.location_estimate.alt - current_loc.alt) * 0.01f;
     } else {
         // g.alt_source == ALT_SOURCE_GPS_VEH_ONLY
-        nav_status.alt_difference_gps = vehicle.relative_alt / 100.0f;
+        nav_status.alt_difference_gps = vehicle.relative_alt * 0.01f;
     }
 
     // calculate pitch to vehicle
@@ -140,7 +140,7 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
     vehicle.location.lng = msg.lon;
     vehicle.location.alt = msg.alt/10;
     vehicle.relative_alt = msg.relative_alt/10;
-    vehicle.vel = Vector3f(msg.vx/100.0f, msg.vy/100.0f, msg.vz/100.0f);
+    vehicle.vel = Vector3f(msg.vx*0.01f, msg.vy*0.01f, msg.vz*0.01f);
     vehicle.last_update_us = AP_HAL::micros();
     vehicle.last_update_ms = AP_HAL::millis();
 #if HAL_LOGGING_ENABLED

ArduCopter/RC_Channel_Copter.cpp

@@ -710,8 +710,8 @@ void RC_Channel_Copter::do_aux_function_change_force_flying(const AuxSwitchPos c
 void Copter::save_trim()
 {
     // save roll and pitch trim
-    float roll_trim = ToRad((float)channel_roll->get_control_in()/100.0f);
-    float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f);
+    float roll_trim = ToRad((float)channel_roll->get_control_in()*0.01f);
+    float pitch_trim = ToRad((float)channel_pitch->get_control_in()*0.01f);
     ahrs.add_trim(roll_trim, pitch_trim);
     LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
     gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");

ArduSub/GCS_MAVLink_Sub.cpp

@@ -153,7 +153,7 @@ bool GCS_MAVLINK_Sub::send_info()
     send_named_float("RollPitch", sub.roll_pitch_flag);
 
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
-    send_named_float("RFTarget", sub.mode_surftrak.get_rangefinder_target_cm() / 100.0f);
+    send_named_float("RFTarget", sub.mode_surftrak.get_rangefinder_target_cm() * 0.01f);
 
     return true;
 }

ArduSub/Log.cpp

@@ -44,7 +44,7 @@ void Sub::Log_Write_Control_Tuning()
         angle_boost         : attitude_control.angle_boost(),
         throttle_out        : motors.get_throttle(),
         throttle_hover      : motors.get_throttle_hover(),
-        desired_alt         : pos_control.get_pos_target_z_cm() / 100.0f,
+        desired_alt         : pos_control.get_pos_target_z_cm() * 0.01f,
         inav_alt            : inertial_nav.get_position_z_up_cm() * 0.01f,
         baro_alt            : barometer.get_altitude(),
         desired_rangefinder_alt   : (int16_t)mode_surftrak.get_rangefinder_target_cm(),

ArduSub/motors.cpp

@@ -127,7 +127,7 @@ bool Sub::handle_do_motor_test(mavlink_command_int_t command) {
 
     if (is_equal(throttle_type, (float)MOTOR_TEST_THROTTLE_PERCENT)) {
         throttle = constrain_float(throttle, 0.0f, 100.0f);
-        throttle = channel_throttle->get_radio_min() + throttle / 100.0f * (channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
+        throttle = channel_throttle->get_radio_min() + throttle * 0.01f * (channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
         return motors.output_test_num(motor_number, throttle); // true if motor output is set
     }
 

ArduSub/surface_bottom_detector.cpp

@@ -29,9 +29,9 @@ void Sub::update_surface_and_bottom_detector()
 
 
         if (ap.at_surface) {
-            set_surfaced(current_depth > g.surface_depth/100.0 - 0.05); // add a 5cm buffer so it doesn't trigger too often
+            set_surfaced(current_depth > g.surface_depth*0.01 - 0.05); // add a 5cm buffer so it doesn't trigger too often
         } else {
-            set_surfaced(current_depth > g.surface_depth/100.0); // If we are above surface depth, we are surfaced
+            set_surfaced(current_depth > g.surface_depth*0.01); // If we are above surface depth, we are surfaced
         }
 
 

Blimp/RC_Channel_Blimp.cpp

@@ -132,8 +132,8 @@ bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
 void Blimp::save_trim()
 {
     // save roll and pitch trim
-    float roll_trim = ToRad((float)channel_right->get_control_in()/100.0f);
-    float pitch_trim = ToRad((float)channel_front->get_control_in()/100.0f);
+    float roll_trim = ToRad((float)channel_right->get_control_in()*0.01f);
+    float pitch_trim = ToRad((float)channel_front->get_control_in()*0.01f);
     ahrs.add_trim(roll_trim, pitch_trim);
     LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
     gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");

Tools/AP_Bootloader/board_types.txt

@@ -291,8 +291,9 @@ AP_HW_PhenixH7_Pro                   1172
 AP_HW_2RAWH743                       1173
 AP_HW_X-MAV-AP-H743V2                1174
 AP_HW_BETAFPV_F4_2-3S_20A            1175
-AP_HW_MicoAir743AIOv1                1176
+AP_HW_MicoAir743-AIO                 1176
 AP_HW_CrazyF405                      1177
+AP_HW_MicoAir743v2                   1179
 AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181
 AP_HW_CBU_StampH743_LC               1182

Tools/AP_Periph/buzzer.cpp

@@ -32,9 +32,9 @@ void AP_Periph_FW::handle_beep_command(CanardInstance* canard_instance, CanardRx
     buzzer_start_ms = AP_HAL::millis();
     buzzer_len_ms = req.duration*1000;
 #ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
-    float volume = constrain_float(periph.g.buzz_volume/100.0f, 0, 1);
+    float volume = constrain_float(periph.g.buzz_volume*0.01f, 0, 1);
 #elif defined(HAL_PERIPH_ENABLE_NOTIFY)
-    float volume = constrain_float(periph.notify.get_buzz_volume()/100.0f, 0, 1);
+    float volume = constrain_float(periph.notify.get_buzz_volume()*0.01f, 0, 1);
 #endif
     hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));
 }

Tools/ardupilotwaf/boards.py

@@ -1390,6 +1390,7 @@ def configure_env(self, cfg, env):
         ]
 
         # wrap malloc to ensure memory is zeroed
+        # note that this also needs to be done in the CMakeLists.txt files
         env.LINKFLAGS += ['-Wl,--wrap,malloc']
 
         if cfg.options.force_32bit:

Tools/autotest/arducopter.py

@@ -7582,6 +7582,16 @@ def ProximitySensors(self):
             "OA_TYPE": 2,
         })
         sensors = [  # tuples of name, prx_type
+            ('ld06', 16, {
+                mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 273,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 256,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 1130,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 696,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 625,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 967,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 760,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 771,
+            }),
             ('sf45b', 8, {
                 mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 270,
                 mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 258,

Tools/autotest/test_build_options.py

@@ -289,6 +289,7 @@ def define_is_whitelisted_for_feature_in_code(self, target, define):
             feature_define_whitelist.add('AP_WINCH_PWM_ENABLED')
             feature_define_whitelist.add(r'AP_MOTORS_FRAME_.*_ENABLED')
             feature_define_whitelist.add('AP_COPTER_ADVANCED_FAILSAFE_ENABLED')
+            feature_define_whitelist.add('AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED')
 
         if target.lower() != "plane":
             # only on Plane:
@@ -304,6 +305,9 @@ def define_is_whitelisted_for_feature_in_code(self, target, define):
             feature_define_whitelist.add('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED')
             feature_define_whitelist.add('HAL_QUADPLANE_ENABLED')
             feature_define_whitelist.add('AP_BATTERY_WATT_MAX_ENABLED')
+            feature_define_whitelist.add('MODE_AUTOLAND_ENABLED')
+            feature_define_whitelist.add('AP_PLANE_GLIDER_PULLUP_ENABLED')
+            feature_define_whitelist.add('AP_QUICKTUNE_ENABLED')
 
         if target.lower() not in ["plane", "copter"]:
             feature_define_whitelist.add('HAL_ADSB_ENABLED')

Tools/autotest/vehicle_test_suite.py

@@ -5279,11 +5279,12 @@ def mission_item_protocol_items_from_filepath(self,
                                                   ):
         '''returns a list of mission-item-ints from filepath'''
         # self.progress("filepath: %s" % filepath)
-        self.progress("Loading {loaderclass.itemstype()} (%s)" % os.path.basename(filepath))
         wploader = loaderclass(
             target_system=target_system,
             target_component=target_component
         )
+        itemstype = mavutil.mavlink.enums["MAV_MISSION_TYPE"][wploader.mav_mission_type()]
+        self.progress(f"Loading {itemstype} ({os.path.basename(filepath)}")
         wploader.load(filepath)
         return [self.wp_to_mission_item_int(x, wploader.mav_mission_type()) for x in wploader.wpoints]  # noqa:502