Copter: resync with copter for 4.0.7

ArduCopter/AP_Arming.cpp

@@ -267,6 +267,14 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
         return false;
     }
 
+	    //servo_test check
+#if FRAME_CONFIG == HELI_FRAME
+    if(copter.motors->servo_test_running()) {
+        check_failed(display_failure, "Servo Test is still running");
+        return false;
+    }
+#endif
+
     // if this is a multicopter using ToshibaCAN ESCs ensure MOT_PMW_MIN = 1000, MOT_PWM_MAX = 2000
 #if HAL_WITH_UAVCAN && (FRAME_CONFIG != HELI_FRAME)
     bool tcan_active = false;

ArduCopter/GCS_Copter.cpp

@@ -93,7 +93,9 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     case Mode::Number::THROW:
     case Mode::Number::SMART_RTL:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
         break;
     case Mode::Number::ALT_HOLD:
     case Mode::Number::GUIDED_NOGPS:
@@ -101,6 +103,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     case Mode::Number::AUTOTUNE:
     case Mode::Number::FLOWHOLD:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         break;
     default:
         // stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)

ArduCopter/Log.cpp

@@ -481,7 +481,7 @@ const struct LogStructure Copter::log_structure[] = {
 #endif
 #if PRECISION_LANDING == ENABLED
     { LOG_PRECLAND_MSG, sizeof(log_Precland),
-      "PL",    "QBBfffffffIIB",    "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasUS,EKFOutl,Est", "s--ddmmddms--","F--00BB00BC--" },
+      "PL",    "QBBfffffffIIB",    "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasMS,EKFOutl,Est", "s--mmnnmmms--","F--BBBBBBBC--" },
 #endif
     { LOG_SYSIDD_MSG, sizeof(log_SysIdD),
       "SIDD", "Qfffffffff",  "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------" },

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,87 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.0.4 16-Sep-2020
+Changes from 4.0.4-rc4
+1) Matek H743, 765-Wing and F405-Wing get DPS310 Baro support 
+------------------------------------------------------------------
+Copter 4.0.4-rc4 28-Aug-2020
+Changes from 4.0.4-rc3
+1) Bug fixes:
+    a) Compass startup reordering based on compass priorities fix
+    b) TradHeli servo test fix
+    c) Precision landing logging fix
+    d) Mavlink commands ignored after reboot request
+------------------------------------------------------------------
+Copter 4.0.4-rc3 30-Jul-2020
+Changes from 4.0.4-rc2
+1) Bug Fixes and minor enhancements:
+    a) Compass ids from missing compasses reset after compass cal
+    b) LIS3MDL compass enabled on all boards
+    c) Lightware I2C lidar fix when out-of-range
+    d) Parameter erase fix for revo-mini and other boards that store to flash  
+------------------------------------------------------------------
+Copter 4.0.4-rc2 16-Jun-2020
+Changes from 4.0.4-rc1
+1) Bug Fixes:
+    a) Watchdog monitor memory increased (may have caused watchdog reset)
+    b) Compass ordering fix when COMPASS_PRIOx_ID is 0
+    c) Hex CubeOrange 2nd current sensor pin correction
+    d) Hott telemetry fix
+    e) Lightware I2C driver fix when out-of-range
+    f) MatekF765-Wing voltage and scaling fixed
+    g) MatekH743 baro on I2C2 bus
+    h) Proximity (360 lidar) ignore zone fix
+2) Flight controller support:
+    a) Bitcraze Crazyflie 2.1
+    b) CUAV Nora V1.2
+    c) Holybro Pix32v5
+    d) mRo Pixracer Pro
+3) Minor enhancements:
+    a) Benewake RangeFinder parameter descriptions clarified
+    b) Pre-arm check of attitude ignores DCM if multiple EKF cores present
+------------------------------------------------------------------
+Copter 4.0.4-rc1 26-May-2020
+Changes from 4.0.3
+1) Bug Fixes:
+    a) I/O CPU fix so safety remains off after inflight reboot (Critical fix)
+    b) Acro mode yaw expo supports values under 0.5 (see ACRO_Y_EXPO param)
+    c) Auto mode Loiter-Turn commands points towards center
+    d) Change-Speed commands applied smoothly
+    e) Compass scaling factor threshhold increased
+    f) EKF compass variance reporting to GCS made consistent with onboard logs
+    g) Gimbal control using RC input ignores RCx_TRIM param
+    h) Holybro Durandal buzzer fix
+    i) Parameter reset fix caused by Eeprom race condition
+    j) Read-only parameter write failure msg only sent once to GCS
+    k) Compass declination can be overriden with COMPASS_DEC param (and EKF stops using world magnetic tables)
+    l) Terrain database (SRTM) file fix (will cause all terrain to be reloaded after upgrade)
+2) Bootloader update to reduce chance of param resets during firmware load
+3) Compass ordering and prioritisation improvements
+4) Flight controller support:
+    a) CUAV-Nora
+    b) CUAV-X7
+    c) MatekSys H743
+    e) mRo Nexus
+    d) R9Pilot
+5) GPS moving baseline (aka Yaw from GPS) for UBlox F9 GPSs
+6) Graupner Hott telemetry support
+7) Landing detector filter improvement improves detection on hard surfaces
+8) Object Avoidances Fixes and improvements:
+    a) BendyRuler runs more slowly to reduce CPU load and reduce timeouts
+    b) Dijkstra's avoidance works with more fence points
+    c) Proximity drivers (i.e. 360deg lidar) simplified to reduce CPU load
+9) ProfiLED LEDs support
+10) Smart Battery improvements:
+    a) Cycle count added
+    b) NeoDesign battery support
+    c) SUI battery support 
+11) Other enhancements:
+    a) Betaflight X frame type support
+    b) Landing gear auto deploy/retract configurable using LGR_OPTIONS param
+    c) MOT_PWM_MIN/MAX pre-arm check (checks fail if only one has been set)
+    d) Solo gimbal and camera control improvements
+    e) USB IDs updated to new ArduPilot specific IDs
+------------------------------------------------------------------
 Copter 4.0.3 28-Feb-2020 / 4.0.3-rc1 20-Feb-2020
 Changes from 4.0.2
 1) Bug Fixes:

ArduCopter/mode_acro.cpp

@@ -84,7 +84,7 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
     }
 
     // range check expo
-    g.acro_rp_p = constrain_float(g.acro_rp_p, 0.0f, 1.0f);
+    g.acro_rp_expo = constrain_float(g.acro_rp_expo, 0.0f, 1.0f);
     
     // calculate roll, pitch rate requests
     if (is_zero(g.acro_rp_expo)) {

ArduCopter/sensors.cpp

@@ -33,7 +33,7 @@ void Copter::read_rangefinder(void)
 #if RANGEFINDER_TILT_CORRECTION == ENABLED
     const float tilt_correction = MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
 #else
-    const float tile_correction = 1.0f;
+    const float tilt_correction = 1.0f;
 #endif
 
     // iterate through downward and upward facing lidar

ArduCopter/version.h

@@ -6,12 +6,12 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.0.3"
+#define THISFIRMWARE "ArduCopter V4.0.4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,3,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
-#define FW_PATCH 3
+#define FW_PATCH 4
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL