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Merge branch 'ArduPilot:master' into master

This commit is contained in:
ZeroOne-Aero 2024-12-20 10:00:37 +08:00 committed by GitHub
parent 9cea8fe66a cb6907992b
commit 331b58dcb0
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GPG Key ID: B5690EEEBB952194
7 changed files with 48 additions and 44 deletions
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23
Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt
View File

@ -1,13 +1,14 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
1 0 3 84 0.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
11 0 3 85 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1
1 0 0 223 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 84 0.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
7 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
8 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
12 0 3 85 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1

23
Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt
View File

@ -1,13 +1,14 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1
1 0 0 223 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
7 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
8 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
12 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1

3
Tools/autotest/arducopter.py
View File

@ -9462,9 +9462,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.progress("Actually, no I'm not - it is an external simulation")
continue
model = frame_bits.get("model", frame)
# the model string for Callisto has crap in it.... we
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
defaults = self.model_defaults_filepath(frame)
if not isinstance(defaults, list):
defaults = [defaults]

10
Tools/autotest/arduplane.py
View File

@ -4200,9 +4200,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = {
"plane-tailsitter": "does not take off; immediately emits 'AP: Transition VTOL done' while on ground",
"plane-ice" : "needs ICE control channel for ignition",
"quadplane-ice" : "needs ICE control channel for ignition",
"plane-tailsitter": "unstable in hover; unflyable in cruise",
"quadplane-can" : "needs CAN periph",
"stratoblimp" : "not expected to fly normally",
"glider" : "needs balloon lift",
@ -4219,11 +4217,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.progress("Actually, no I'm not - it is an external simulation")
continue
model = frame_bits.get("model", frame)
# the model string for Callisto has crap in it.... we
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
actual_model = model.split(":")[0]
defaults = self.model_defaults_filepath(actual_model)
defaults = self.model_defaults_filepath(frame)
if not isinstance(defaults, list):
defaults = [defaults]
self.customise_SITL_commandline(

1
Tools/autotest/default_params/plane-ice.parm
View File

@ -1,5 +1,6 @@
ICE_ENABLE 1
ICE_RPM_CHAN 1
ICE_RPM_THRESH 50
SERVO13_FUNCTION 67
SERVO14_FUNCTION 69
RC11_OPTION 179

31
libraries/AP_Proximity/AP_Proximity_LD06.cpp
View File

@ -92,21 +92,33 @@ void AP_Proximity_LD06::get_readings()
// Loops through all bytes that were received
while (nbytes-- > 0) {
// Gets and logs the current byte being read
const uint8_t c = _uart->read();
uint8_t c;
if (!_uart->read(c)) {
break;
}
// Stores the byte in an array if the byte is a start byte or we have already read a start byte
if (c == LD_START_CHAR || _response_data) {
// Sets to true if a start byte has been read, default false otherwise
_response_data = true;
if (c == LD_START_CHAR || _byte_count) {
// Stores the next byte in an array
_response[_byte_count] = c;
if (_byte_count < START_DATA_LENGTH) {
_byte_count++;
continue;
}
const uint32_t total_packet_length = _response[START_DATA_LENGTH] + 3;
if (total_packet_length > ARRAY_SIZE(_response)) {
// invalid packet received; throw away all data and
// start again.
_byte_count = 0;
_uart->discard_input();
break;
}
_byte_count++;
if (_byte_count == _response[START_DATA_LENGTH] + 3) {
if (_byte_count == total_packet_length) {
const uint32_t current_ms = AP_HAL::millis();
// Stores the last distance taken, used to reduce number of readings taken
@ -121,7 +133,6 @@ void AP_Proximity_LD06::get_readings()
// Resets the bytes read and whether or not we are reading data to accept a new payload
_byte_count = 0;
_response_data = false;
}
}
}

1
libraries/AP_Proximity/AP_Proximity_LD06.h
View File

@ -57,7 +57,6 @@ private:
// Store and keep track of the bytes being read from the sensor
uint8_t _response[MESSAGE_LENGTH_LD06];
bool _response_data;
uint16_t _byte_count;
// Store for error-tracking purposes