Merge branch 'master' into master

Tools/CPUInfo/CPUInfo.cpp

@@ -212,13 +212,13 @@ static void test_div1000(void)
     for (uint32_t i=0; i<2000000; i++) {
         uint64_t v = 0;
         if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
-            AP_HAL::panic("ERROR: div1000 no random\n");
+            AP_HAL::panic("ERROR: div1000 no random");
             break;
         }
         uint64_t v1 = v / 1000ULL;
         uint64_t v2 = uint64_div1000(v);
         if (v1 != v2) {
-            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
+            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx",
                           (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
             return;
         }
@@ -228,7 +228,7 @@ static void test_div1000(void)
     for (uint32_t i=0; i<2000000; i++) {
         uint64_t v = 0;
         if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
-            AP_HAL::panic("ERROR: div1000 no random\n");
+            AP_HAL::panic("ERROR: div1000 no random");
             break;
         }
         chSysLock();
@@ -236,7 +236,7 @@ static void test_div1000(void)
         uint64_t v2 = uint64_div1000(v);
         chSysUnlock();
         if (v1 != v2) {
-            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
+            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx",
                           (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
             return;
         }

Tools/scripts/build_options.py

@@ -146,7 +146,7 @@ BUILD_OPTIONS = [
     Feature('Camera', 'Camera_ThermalRange', 'AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'Enable GCS camera thermal range', 0, 'Camera,MOUNT'),  # noqa: E501
     Feature('Camera', 'Camera_Info_From_Script', 'AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'Enable Camera information messages via Lua script', 0, 'Camera,SCRIPTING'), # noqa
 
-    Feature('Camera', 'RUNCAM', 'HAL_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),
+    Feature('Camera', 'RUNCAM', 'AP_CAMERA_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),
 
     Feature('Copter', 'MODE_ZIGZAG', 'MODE_ZIGZAG_ENABLED', 'Enable Mode ZigZag', 0, None),
     Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, 'Logging'),

Tools/scripts/extract_features.py

@@ -138,7 +138,7 @@ class ExtractFeatures(object):
             ('AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'AP_Camera::send_camera_fov_status'),
             ('AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'AP_Camera::send_camera_thermal_range'),
             ('AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'AP_Camera_Backend::set_camera_information'),
-            ('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
+            ('AP_CAMERA_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
 
             ('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',),
             ('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P<type>.*)::update',),

libraries/AP_AHRS/AP_AHRS_View.cpp

@@ -36,7 +36,7 @@ AP_AHRS_View::AP_AHRS_View(AP_AHRS &_ahrs, enum Rotation _rotation, float pitch_
         y_angle =  270;
         break;
     default:
-        AP_HAL::panic("Unsupported AHRS view %u\n", (unsigned)rotation);
+        AP_HAL::panic("Unsupported AHRS view %u", (unsigned)rotation);
     }
 
     _pitch_trim_deg = pitch_trim_deg;

libraries/AP_Arming/AP_Arming.cpp

@@ -1291,7 +1291,7 @@ bool AP_Arming::fence_checks(bool display_failure)
 }
 #endif  // AP_FENCE_ENABLED
 
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
 bool AP_Arming::camera_checks(bool display_failure)
 {
     if (check_enabled(ARMING_CHECK_CAMERA)) {
@@ -1309,7 +1309,7 @@ bool AP_Arming::camera_checks(bool display_failure)
     }
     return true;
 }
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED
 
 #if OSD_ENABLED
 bool AP_Arming::osd_checks(bool display_failure) const
@@ -1603,7 +1603,7 @@ bool AP_Arming::pre_arm_checks(bool report)
 #if HAL_PROXIMITY_ENABLED
         &  proximity_checks(report)
 #endif
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
         &  camera_checks(report)
 #endif
 #if OSD_ENABLED

libraries/AP_Camera/AP_Camera.cpp

@@ -6,6 +6,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_Vehicle/AP_Vehicle.h>
 #include "AP_Camera_Backend.h"
 #include "AP_Camera_Servo.h"
 #include "AP_Camera_Relay.h"
@@ -14,6 +15,7 @@
 #include "AP_Camera_MAVLink.h"
 #include "AP_Camera_MAVLinkCamV2.h"
 #include "AP_Camera_Scripting.h"
+#include "AP_RunCam.h"
 
 const AP_Param::GroupInfo AP_Camera::var_info[] = {
 
@@ -41,10 +43,24 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
     // @Path: AP_Camera_Params.cpp
     AP_SUBGROUPINFO(_params[1], "2", 13, AP_Camera, AP_Camera_Params),
 #endif
+#if AP_CAMERA_RUNCAM_ENABLED
+    // @Group: 1_RC_
+    // @Path: AP_RunCam.cpp
+    AP_SUBGROUPVARPTR(_backends[0], "1_RC_", 14, AP_Camera, _backend_var_info[0]),
 
+#if AP_CAMERA_MAX_INSTANCES > 1
+    // @Group: 2_RC_
+    // @Path: AP_RunCam.cpp
+    AP_SUBGROUPVARPTR(_backends[1], "2_RC_", 15, AP_Camera, _backend_var_info[1]),
+#endif
+#endif
     AP_GROUPEND
 };
 
+#if AP_CAMERA_RUNCAM_ENABLED
+const AP_Param::GroupInfo *AP_Camera::_backend_var_info[AP_CAMERA_MAX_INSTANCES];
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 AP_Camera::AP_Camera(uint32_t _log_camera_bit) :
@@ -238,6 +254,17 @@ void AP_Camera::init()
         case CameraType::SCRIPTING:
             _backends[instance] = NEW_NOTHROW AP_Camera_Scripting(*this, _params[instance], instance);
             break;
+#endif
+#if AP_CAMERA_RUNCAM_ENABLED
+        // check for RunCam driver
+        case CameraType::RUNCAM:
+            if (_backends[instance] == nullptr) { // may have already been created by the conversion code
+                _backends[instance] = NEW_NOTHROW AP_RunCam(*this, _params[instance], instance, _runcam_instances);
+                _backend_var_info[instance] = AP_RunCam::var_info;
+                AP_Param::load_object_from_eeprom(_backends[instance], _backend_var_info[instance]);
+                _runcam_instances++;
+            }
+            break;
 #endif
         case CameraType::NONE:
             break;
@@ -899,7 +926,11 @@ AP_Camera_Backend *AP_Camera::get_instance(uint8_t instance) const
 void AP_Camera::convert_params()
 {
     // exit immediately if CAM1_TYPE has already been configured
-    if (_params[0].type.configured()) {
+    if (_params[0].type.configured()
+#if AP_CAMERA_RUNCAM_ENABLED
+        && _params[1].type.configured()
+#endif
+       ) {
         return;
     }
 
@@ -919,6 +950,42 @@ void AP_Camera::convert_params()
     }
     _params[0].type.set_and_save(cam1_type);
 
+#if AP_CAMERA_RUNCAM_ENABLED
+    // RunCam PARAMETER_CONVERSION - Added: Nov-2024 ahead of 4.7 release
+
+    // Since slot 1 is essentially used by the trigger type, we will use slot 2 for runcam
+    int8_t rc_type = 0;
+    // find vehicle's top level key
+    uint16_t k_param_vehicle_key;
+    if (!AP_Param::find_top_level_key_by_pointer(AP::vehicle(), k_param_vehicle_key)) {
+        return;
+    }
+
+    // RunCam protocol configured so set cam type to RunCam
+    bool rc_protocol_configured = false;
+    AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
+    if (serial_manager && serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0)) {
+        rc_protocol_configured = true;
+    }
+
+    const AP_Param::ConversionInfo rc_type_info = {
+        k_param_vehicle_key, AP_GROUP_ELEM_IDX(1, 1), AP_PARAM_INT8, "CAM_RC_TYPE"
+    };
+    AP_Int8 rc_type_old;
+    const bool found_rc_type = AP_Param::find_old_parameter(&rc_type_info, &rc_type_old);
+
+    if (rc_protocol_configured || (found_rc_type && rc_type_old.get() > 0)) {
+        rc_type = int8_t(CameraType::RUNCAM);
+        _backends[1] = NEW_NOTHROW AP_RunCam(*this, _params[1], 1, _runcam_instances);
+        _backend_var_info[1] = AP_RunCam::var_info;
+        AP_Param::convert_class(k_param_vehicle_key, &_backends[1], _backend_var_info[1], 1, false);
+        AP_Param::invalidate_count();
+        _runcam_instances++;
+    }
+
+    _params[1].type.set_and_save(rc_type);
+#endif // AP_CAMERA_RUNCAM_ENABLED
+
     // convert CAM_DURATION (in deci-seconds) to CAM1_DURATION (in seconds)
     int8_t cam_duration = 0;
     if (AP_Param::get_param_by_index(this, 1, AP_PARAM_INT8, &cam_duration) && (cam_duration > 0)) {

libraries/AP_Camera/AP_Camera.h

@@ -23,6 +23,7 @@ class AP_Camera_Mount;
 class AP_Camera_MAVLink;
 class AP_Camera_MAVLinkCamV2;
 class AP_Camera_Scripting;
+class AP_RunCam;
 
 /// @class	Camera
 /// @brief	Object managing a Photo or video camera
@@ -37,6 +38,7 @@ class AP_Camera {
     friend class AP_Camera_MAVLink;
     friend class AP_Camera_MAVLinkCamV2;
     friend class AP_Camera_Scripting;
+    friend class AP_RunCam;
 
 public:
 
@@ -72,6 +74,9 @@ public:
 #endif
 #if AP_CAMERA_SCRIPTING_ENABLED
         SCRIPTING = 7,  // Scripting backend
+#endif
+#if AP_CAMERA_RUNCAM_ENABLED
+        RUNCAM = 8,  // RunCam backend
 #endif
     };
 
@@ -216,6 +221,11 @@ protected:
 
     // parameters for backends
     AP_Camera_Params _params[AP_CAMERA_MAX_INSTANCES];
+#if AP_CAMERA_RUNCAM_ENABLED
+    // var info pointer for RunCam
+    static const struct AP_Param::GroupInfo *_backend_var_info[AP_CAMERA_MAX_INSTANCES];
+    uint8_t _runcam_instances;
+#endif
 
 private:
 

libraries/AP_Camera/AP_Camera_Params.cpp

@@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Camera shutter (trigger) type
     // @Description: how to trigger the camera to take a picture
-    // @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting
+    // @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting, 8:RunCam
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE",  1, AP_Camera_Params, type, 0, AP_PARAM_FLAG_ENABLE),
 

libraries/AP_Camera/AP_Camera_config.h

@@ -62,3 +62,7 @@
 #ifndef AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
 #define AP_CAMERA_INFO_FROM_SCRIPT_ENABLED AP_CAMERA_SCRIPTING_ENABLED
 #endif
+
+#ifndef AP_CAMERA_RUNCAM_ENABLED
+#define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_RUNCAM_ENABLED
+#endif

libraries/AP_Camera/AP_RunCam.cpp

@@ -23,7 +23,7 @@
  */
 #include "AP_RunCam.h"
 
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
 
 #include <AP_Math/AP_Math.h>
 #include <AP_Math/crc.h>
@@ -36,7 +36,7 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
     // @DisplayName: RunCam device type
     // @Description: RunCam device type used to determine OSD menu structure and shutter options.
     // @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split, 3:RunCam Split4 4k, 4:RunCam Hybrid/RunCam Thumb Pro, 5:Runcam 2 4k
-    AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::Disabled), AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceModel::SplitMicro), AP_PARAM_FLAG_ENABLE),
 
     // @Param: FEATURES
     // @DisplayName: RunCam features available
@@ -55,13 +55,13 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
     // @DisplayName: RunCam button delay before allowing further button presses
     // @Description: Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
     // @User: Advanced
-    AP_GROUPINFO("BTN_DELAY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
+    AP_GROUPINFO("BTN_DELY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
 
     // @Param: MDE_DELAY
     // @DisplayName: RunCam mode delay before allowing further button presses
     // @Description: Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
     // @User: Advanced
-    AP_GROUPINFO("MDE_DELAY", 5, AP_RunCam, _mode_delay_ms, 800),
+    AP_GROUPINFO("MDE_DELY", 5, AP_RunCam, _mode_delay_ms, 800),
 
     // @Param: CONTROL
     // @DisplayName: RunCam control option
@@ -118,13 +118,24 @@ AP_RunCam::Menu AP_RunCam::_menus[RUNCAM_MAX_DEVICE_TYPES] = {
 	{ 6, { 3, 10, 2, 2, 8 }}, // Runcam 2 4K
 };
 
-AP_RunCam::AP_RunCam()
+const char* AP_RunCam::_models[RUNCAM_MAX_DEVICE_TYPES] = {
+    "SplitMicro",
+    "Split",
+    "Split4k",
+    "Hybrid",
+    "Run24k"
+};
+
+AP_RunCam::AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance)
+    : AP_Camera_Backend(frontend, params, instance), _runcam_instance(runcam_instance)
 {
     AP_Param::setup_object_defaults(this, var_info);
-    if (_singleton != nullptr) {
+    if (_singleton != nullptr && _singleton->_instance == instance) {
-        AP_HAL::panic("AP_RunCam must be singleton");
+        AP_HAL::panic("AP_RunCam instance must be a singleton %u", instance);
+    }
+    if (_singleton == nullptr) {
+        _singleton = this;
     }
-    _singleton = this;
     _cam_type.set(constrain_int16(_cam_type, 0, RUNCAM_MAX_DEVICE_TYPES));
     _video_recording = VideoOption(_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT));
 }
@@ -134,19 +145,19 @@ void AP_RunCam::init()
 {
     AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
     if (serial_manager) {
-        uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0);
+        uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, _runcam_instance);
     }
     if (uart != nullptr) {
         /*
           if the user has setup a serial port as a runcam then default
           type to the split micro (Andy's development platform!). This makes setup a bit easier for most
           users while still enabling parameters to be hidden for users
-          without a runcam
+          without a RunCam
          */
-        _cam_type.set_default(int8_t(DeviceType::SplitMicro));
+        _cam_type.set_default(int8_t(DeviceModel::SplitMicro));
         AP_Param::invalidate_count();
     }
-    if (_cam_type.get() == int8_t(DeviceType::Disabled)) {
+    if (_cam_type.get() == int8_t(DeviceModel::Disabled)) {
         uart = nullptr;
         return;
     }
@@ -156,7 +167,7 @@ void AP_RunCam::init()
     }
 
     // Split and Runcam 2 4k requires two mode presses to get into the menu
-    if (_cam_type.get() == int8_t(DeviceType::Split) || _cam_type.get() == int8_t(DeviceType::Run24k)) {
+    if (_cam_type.get() == int8_t(DeviceModel::Split) || _cam_type.get() == int8_t(DeviceModel::Run24k)) {
         _menu_enter_level = -1;
         _in_menu = -1;
     }
@@ -221,7 +232,7 @@ void AP_RunCam::osd_option() {
 // input update loop
 void AP_RunCam::update()
 {
-    if (uart == nullptr || _cam_type.get() == int8_t(DeviceType::Disabled)) {
+    if (uart == nullptr || _cam_type.get() == int8_t(DeviceModel::Disabled)) {
         return;
     }
 
@@ -551,12 +562,12 @@ void AP_RunCam::handle_2_key_simulation_process(Event ev)
 
     case Event::IN_MENU_ENTER:
         // in a sub-menu and save-and-exit was selected
-        if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
+        if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
             simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _button_delay_ms);
             _sub_menu_pos = 0;
             _in_menu--;
         // in the top-menu and save-and-exit was selected
-        } else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
+        } else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
             simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _mode_delay_ms);
             _in_menu--;
             _state = State::EXITING_MENU;
@@ -712,7 +723,7 @@ void AP_RunCam::handle_5_key_simulation_response(const Request& request)
 
 // command to start recording
 AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
-    if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
+    if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
         return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
     } else {
         return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING;
@@ -721,7 +732,7 @@ AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
 
 // command to stop recording
 AP_RunCam::ControlOperation AP_RunCam::stop_recording_command() const {
-    if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
+    if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
         return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
     } else {
         return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING;
@@ -1058,8 +1069,88 @@ uint8_t AP_RunCam::Request::get_expected_response_length(const Command command)
     return 0;
 }
 
+// AP_Camera API
+
+// return true if healthy
+bool AP_RunCam::healthy() const
+{
+    return camera_ready();
+}
+
+// momentary switch to change camera between picture and video modes
+void AP_RunCam::cam_mode_toggle()
+{
+
+}
+
+// entry point to actually take a picture.  returns true on success
+bool AP_RunCam::trigger_pic()
+{
+    return false;
+}
+
+// send camera information message to GCS
+void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
+{
+    // exit immediately if not initialised
+    if (!camera_ready() || _cam_type.get() <= 0 || _cam_type.get() > int8_t(ARRAY_SIZE(_models))) {
+        return;
+    }
+
+    static const uint8_t vendor_name[32] = "RunCam";
+    uint8_t model_name[32] {};
+    strncpy((char *)model_name, _models[_cam_type.get()-1], MIN(sizeof(model_name), sizeof(_models[_cam_type.get()-1])));
+    const char cam_definition_uri[140] {};
+
+    // capability flags
+    uint32_t flags = 0;
+
+    if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
+        flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO;
+    }
+
+    if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
+        flags |= CAMERA_CAP_FLAGS_CAPTURE_IMAGE;
+    }
+
+    // send CAMERA_INFORMATION message
+    mavlink_msg_camera_information_send(
+        chan,
+        AP_HAL::millis(),       // time_boot_ms
+        vendor_name,            // vendor_name uint8_t[32]
+        model_name,             // model_name uint8_t[32]
+        0,                      // firmware version uint32_t
+        NaNf,                   // focal_length float (mm)
+        NaNf,                   // sensor_size_h float (mm)
+        NaNf,                   // sensor_size_v float (mm)
+        0,                      // resolution_h uint16_t (pix)
+        0,                      // resolution_v uint16_t (pix)
+        0,                      // lens_id uint8_t
+        flags,                  // flags uint32_t (CAMERA_CAP_FLAGS)
+        0,                      // cam_definition_version uint16_t
+        cam_definition_uri,     // cam_definition_uri char[140]
+        _instance + 1);         // gimbal_device_id uint8_t
+}
+
+// send camera settings message to GCS
+void AP_RunCam::send_camera_settings(mavlink_channel_t chan) const
+{
+    // exit immediately if not initialised
+    if (!camera_ready()) {
+        return;
+    }
+
+    // send CAMERA_SETTINGS message
+    mavlink_msg_camera_settings_send(
+        chan,
+        AP_HAL::millis(),   // time_boot_ms
+        _video_recording == VideoOption::RECORDING ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
+        NaNf,         // zoomLevel float, percentage from 0 to 100, NaN if unknown
+        NaNf);              // focusLevel float, percentage from 0 to 100, NaN if unknown
+}
+
 AP_RunCam *AP::runcam() {
     return AP_RunCam::get_singleton();
 }
 
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED

libraries/AP_Camera/AP_RunCam.h

@@ -23,7 +23,9 @@
 
 #include "AP_Camera_config.h"
 
-#if HAL_RUNCAM_ENABLED
+#include "AP_Camera_Backend.h"
+
+#if AP_CAMERA_RUNCAM_ENABLED
 
 #include <AP_Param/AP_Param.h>
 #include <RC_Channel/RC_Channel.h>
@@ -38,10 +40,10 @@
 
 /// @class	AP_RunCam
 /// @brief	Object managing a RunCam device
-class AP_RunCam
+class AP_RunCam : public AP_Camera_Backend
 {
 public:
-    AP_RunCam();
+    AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance);
 
     // do not allow copies
     CLASS_NO_COPY(AP_RunCam);
@@ -51,7 +53,7 @@ public:
         return _singleton;
     }
 
-    enum class DeviceType {
+    enum class DeviceModel {
         Disabled = 0,
         SplitMicro = 1, // video support only
         Split = 2, // camera and video support
@@ -79,22 +81,49 @@ public:
         VIDEO_RECORDING_AT_BOOT = (1 << 4)
     };
 
+
+    // return true if healthy
+    bool healthy() const override;
+
+    // momentary switch to change camera between picture and video modes
+    void cam_mode_toggle() override;
+
+    // entry point to actually take a picture.  returns true on success
+    bool trigger_pic() override;
+
+    // send camera information message to GCS
+    void send_camera_information(mavlink_channel_t chan) const override;
+
+    // send camera settings message to GCS
+    void send_camera_settings(mavlink_channel_t chan) const override;
+
     // initialize the RunCam driver
-    void init();
+    void init() override;
     // camera button simulation
     bool simulate_camera_button(const ControlOperation operation, const uint32_t transition_timeout = RUNCAM_DEFAULT_BUTTON_PRESS_DELAY);
     // start the video
     void start_recording();
     // stop the video
     void stop_recording();
+    // start or stop video recording.  returns true on success
+    // set start_recording = true to start record, false to stop recording
+    bool record_video(bool _start_recording) override {
+        if (_start_recording) {
+            start_recording();
+        } else {
+            stop_recording();
+        }
+        return true;
+    }
+
     // enter the OSD menu
     void enter_osd();
     // exit the OSD menu
     void exit_osd();
     // OSD control determined by camera options
     void osd_option();
-    // update loop
+    // update - should be called at 50hz
-    void update();
+    void update() override;
     // Check whether arming is allowed
     bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
 
@@ -265,6 +294,10 @@ private:
     static uint8_t _sub_menu_lengths[RUNCAM_NUM_SUB_MENUS];
     // shared inbound scratch space
     uint8_t _recv_buf[RUNCAM_MAX_PACKET_SIZE]; // all the response contexts use same recv buffer
+    // the runcam instance
+    uint8_t _runcam_instance;
+
+    static const char* _models[RUNCAM_MAX_DEVICE_TYPES];
 
     class Request;
 
@@ -435,4 +468,4 @@ namespace AP
 AP_RunCam *runcam();
 };
 
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -1452,7 +1452,7 @@ void AP_DDS_Client::write_time_topic()
         const bool success = builtin_interfaces_msg_Time_serialize_topic(&ub, &time_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: XRCE_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: XRCE_Client failed to serialize");
         }
     }
 }
@@ -1468,7 +1468,7 @@ void AP_DDS_Client::write_nav_sat_fix_topic()
         const bool success = sensor_msgs_msg_NavSatFix_serialize_topic(&ub, &nav_sat_fix_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1485,7 +1485,7 @@ void AP_DDS_Client::write_static_transforms()
         const bool success = tf2_msgs_msg_TFMessage_serialize_topic(&ub, &tx_static_transforms_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1502,7 +1502,7 @@ void AP_DDS_Client::write_battery_state_topic()
         const bool success = sensor_msgs_msg_BatteryState_serialize_topic(&ub, &battery_state_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1519,7 +1519,7 @@ void AP_DDS_Client::write_local_pose_topic()
         const bool success = geometry_msgs_msg_PoseStamped_serialize_topic(&ub, &local_pose_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1536,7 +1536,7 @@ void AP_DDS_Client::write_tx_local_velocity_topic()
         const bool success = geometry_msgs_msg_TwistStamped_serialize_topic(&ub, &tx_local_velocity_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1552,7 +1552,7 @@ void AP_DDS_Client::write_tx_local_airspeed_topic()
         const bool success = geometry_msgs_msg_Vector3Stamped_serialize_topic(&ub, &tx_local_airspeed_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1568,7 +1568,7 @@ void AP_DDS_Client::write_imu_topic()
         const bool success = sensor_msgs_msg_Imu_serialize_topic(&ub, &imu_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1585,7 +1585,7 @@ void AP_DDS_Client::write_geo_pose_topic()
         const bool success = geographic_msgs_msg_GeoPoseStamped_serialize_topic(&ub, &geo_pose_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1602,7 +1602,7 @@ void AP_DDS_Client::write_clock_topic()
         const bool success = rosgraph_msgs_msg_Clock_serialize_topic(&ub, &clock_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1618,7 +1618,7 @@ void AP_DDS_Client::write_gps_global_origin_topic()
         uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB)].dw_id, &ub, topic_size);
         const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &gps_global_origin_topic);
         if (!success) {
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1634,7 +1634,7 @@ void AP_DDS_Client::write_goal_topic()
         uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GOAL_PUB)].dw_id, &ub, topic_size);
         const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &goal_topic);
         if (!success) {
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }
@@ -1651,7 +1651,7 @@ void AP_DDS_Client::write_status_topic()
         const bool success = ardupilot_msgs_msg_Status_serialize_topic(&ub, &status_topic);
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
         }
     }
 }

libraries/AP_FlashStorage/examples/FlashTest/FlashTest.cpp

@@ -46,17 +46,17 @@ private:
 bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
 {
     if (sector > 1) {
-        AP_HAL::panic("FATAL: write to sector %u\n", (unsigned)sector);
+        AP_HAL::panic("FATAL: write to sector %u", (unsigned)sector);
     }
     if (offset + length > flash_sector_size) {
-        AP_HAL::panic("FATAL: write to sector %u at offset %u length %u\n",
+        AP_HAL::panic("FATAL: write to sector %u at offset %u length %u",
                       (unsigned)sector,
                       (unsigned)offset,
                       (unsigned)length);
     }
     uint8_t *b = &flash[sector][offset];
     if ((offset & 1) || (length & 1)) {
-        AP_HAL::panic("FATAL: invalid write at %u:%u len=%u\n",
+        AP_HAL::panic("FATAL: invalid write at %u:%u len=%u",
                       (unsigned)sector,
                       (unsigned)offset,
                       (unsigned)length);
@@ -66,7 +66,7 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
         const uint16_t v = le16toh_ptr(&data[i*2]);
         uint16_t v2 = le16toh_ptr(&b[i*2]);
         if (v & !v2) {
-            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
+            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x",
                           (unsigned)sector,
                           unsigned(offset+i),
                           b[i],
@@ -74,7 +74,7 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
         }
 #ifndef AP_FLASHSTORAGE_MULTI_WRITE
         if (v != v2 && v != 0xFFFF && v2 != 0xFFFF) {
-            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
+            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x",
                           (unsigned)sector,
                           unsigned(offset+i),
                           b[i],
@@ -90,10 +90,10 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
 bool FlashTest::flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
 {
     if (sector > 1) {
-        AP_HAL::panic("FATAL: read from sector %u\n", (unsigned)sector);
+        AP_HAL::panic("FATAL: read from sector %u", (unsigned)sector);
     }
     if (offset + length > flash_sector_size) {
-        AP_HAL::panic("FATAL: read from sector %u at offset %u length %u\n",
+        AP_HAL::panic("FATAL: read from sector %u at offset %u length %u",
                       (unsigned)sector,
                       (unsigned)offset,
                       (unsigned)length);
@@ -105,7 +105,7 @@ bool FlashTest::flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint1
 bool FlashTest::flash_erase(uint8_t sector)
 {
     if (sector > 1) {
-        AP_HAL::panic("FATAL: erase sector %u\n", (unsigned)sector);
+        AP_HAL::panic("FATAL: erase sector %u", (unsigned)sector);
     }
     memset(&flash[sector][0], 0xFF, flash_sector_size);
     return true;

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -191,7 +191,7 @@ void UARTDriver::thread_rx_init(void)
                                               uart_rx_thread,
                                               nullptr);
         if (uart_rx_thread_ctx == nullptr) {
-            AP_HAL::panic("Could not create UART RX thread\n");
+            AP_HAL::panic("Could not create UART RX thread");
         }
     }
 }
@@ -209,7 +209,7 @@ void UARTDriver::thread_init(void)
                                               uart_thread_trampoline,
                                               this);
         if (uart_thread_ctx == nullptr) {
-            AP_HAL::panic("Could not create UART TX thread\n");
+            AP_HAL::panic("Could not create UART TX thread");
         }
     }
 }

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat

@@ -19,9 +19,6 @@ env AP_PERIPH 1
 define STM32_ST_USE_TIMER 5
 define CH_CFG_ST_RESOLUTION 32
 
-# enable watchdog
-define HAL_WATCHDOG_ENABLED_DEFAULT true
-
 # crystal frequency
 OSCILLATOR_HZ 16000000
 

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat

@@ -20,9 +20,6 @@ env AP_PERIPH 1
 
 STM32_ST_USE_TIMER 5
 
-# enable watchdog
-define HAL_WATCHDOG_ENABLED_DEFAULT true
-
 # crystal frequency
 OSCILLATOR_HZ 16000000
 

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat

@@ -20,9 +20,6 @@ env AP_PERIPH 1
 
 STM32_ST_USE_TIMER 5
 
-# enable watchdog
-define HAL_WATCHDOG_ENABLED_DEFAULT true
-
 # crystal frequency
 OSCILLATOR_HZ 16000000
 

libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc

@@ -48,6 +48,7 @@ define AP_WINCH_ENABLED 0
 define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0
 define AP_CAMERA_RELAY_ENABLED AP_CAMERA_ENABLED
 define AP_CAMERA_SERVO_ENABLED AP_CAMERA_ENABLED
+define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_ENABLED
 
 # no SLCAN on these boards (use can-over-mavlink if required)
 define AP_CAN_SLCAN_ENABLED 0

libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat

@@ -18,9 +18,6 @@ define HAL_STORAGE_SIZE 800
 # setup build for a peripheral firmware
 env AP_PERIPH 1
 
-# enable watchdog
-define HAL_WATCHDOG_ENABLED_DEFAULT true
-
 # crystal frequency
 OSCILLATOR_HZ 8000000
 

libraries/AP_HAL_Linux/AnalogIn_Navio2.cpp

@@ -20,7 +20,7 @@ void AnalogSource_Navio2::set_channel(uint8_t pin)
     }
 
     if (asprintf(&channel_path, "%s/ch%d", ADC_BASE_PATH, pin) == -1) {
-        AP_HAL::panic("asprintf failed\n");
+        AP_HAL::panic("asprintf failed");
     }
 
     if (_fd >= 0) {

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp

@@ -126,7 +126,7 @@ CameraSensor_Mt9v117::CameraSensor_Mt9v117(const char *device_path,
         _configure_sensor_qvga();
         break;
     default:
-        AP_HAL::panic("mt9v117: unsupported resolution\n");
+        AP_HAL::panic("mt9v117: unsupported resolution");
         break;
     }
 
@@ -409,7 +409,7 @@ void CameraSensor_Mt9v117::_init_sensor()
 
     id = _read_reg16(CHIP_ID);
     if (id != MT9V117_CHIP_ID) {
-        AP_HAL::panic("Mt9v117: bad chip id 0x%04x\n", id);
+        AP_HAL::panic("Mt9v117: bad chip id 0x%04x", id);
     }
     _soft_reset();
     _apply_patch();

libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp

@@ -88,7 +88,7 @@ void OpticalFlow_Onboard::init()
     if (!_camerasensor->set_format(HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH,
                                    HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT,
                                    V4L2_MBUS_FMT_UYVY8_2X8)) {
-        AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n");
+        AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt");
     }
     _format = V4L2_PIX_FMT_NV12;
 #endif
@@ -100,7 +100,7 @@ void OpticalFlow_Onboard::init()
 
     if (_format != V4L2_PIX_FMT_NV12 && _format != V4L2_PIX_FMT_GREY &&
         _format != V4L2_PIX_FMT_YUYV) {
-        AP_HAL::panic("OpticalFlow_Onboard: format not supported\n");
+        AP_HAL::panic("OpticalFlow_Onboard: format not supported");
     }
 
     if (_width == HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH &&
@@ -272,7 +272,7 @@ void OpticalFlow_Onboard::_run_optflow()
 
         convert_buffer = (uint8_t *)calloc(1, convert_buffer_size);
         if (!convert_buffer) {
-            AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate conversion buffer\n");
+            AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate conversion buffer");
         }
     }
 
@@ -286,7 +286,7 @@ void OpticalFlow_Onboard::_run_optflow()
                 free(convert_buffer);
             }
 
-            AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate crop buffer\n");
+            AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate crop buffer");
         }
     }
 
@@ -322,7 +322,7 @@ void OpticalFlow_Onboard::_run_optflow()
                free(output_buffer);
             }
 
-            AP_HAL::panic("OpticalFlow_Onboard: couldn't get frame\n");
+            AP_HAL::panic("OpticalFlow_Onboard: couldn't get frame");
         }
 
         if (_format == V4L2_PIX_FMT_YUYV) {

libraries/AP_HAL_Linux/RCInput_Navio2.cpp

@@ -23,7 +23,7 @@ void RCInput_Navio2::init()
     for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
         channels[i] = open_channel(i);
         if (channels[i] < 0) {
-            AP_HAL::panic("[RCInput_Navio2]: failed to open channels\n");
+            AP_HAL::panic("[RCInput_Navio2]: failed to open channels");
         }
     }
 }
@@ -64,7 +64,7 @@ int RCInput_Navio2::open_channel(int channel)
 {
     char *channel_path;
     if (asprintf(&channel_path, "%s/ch%d", RCIN_SYSFS_PATH, channel) == -1) {
-        AP_HAL::panic("[RCInput_Navio2]: not enough memory\n");
+        AP_HAL::panic("[RCInput_Navio2]: not enough memory");
     }
 
     int fd = ::open(channel_path, O_RDONLY|O_CLOEXEC);

libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp

@@ -32,7 +32,7 @@ using namespace Linux;
 
 static void catch_sigbus(int sig)
 {
-    AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error generated\n");
+    AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error generated");
 }
 void RCOutput_AioPRU::init()
 {

libraries/AP_HAL_Linux/RCOutput_PRU.cpp

@@ -23,7 +23,7 @@ static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0};
 
 static void catch_sigbus(int sig)
 {
-    AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
+    AP_HAL::panic("RCOutput.cpp:SIGBUS error generated");
 }
 void RCOutput_PRU::init()
 {

libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp

@@ -31,7 +31,7 @@ using namespace Linux;
 
 static void catch_sigbus(int sig)
 {
-    AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
+    AP_HAL::panic("RCOutput.cpp:SIGBUS error generated");
 }
 void RCOutput_ZYNQ::init()
 {

libraries/AP_HAL_Linux/SPIUARTDriver.cpp

@@ -57,7 +57,7 @@ void SPIUARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
         _buffer = NEW_NOTHROW uint8_t[rxS];
         if (_buffer == nullptr) {
             hal.console->printf("Not enough memory\n");
-            AP_HAL::panic("Not enough memory\n");
+            AP_HAL::panic("Not enough memory");
         }
     }
 

libraries/AP_HAL_Linux/VideoIn.cpp

@@ -45,7 +45,7 @@ bool VideoIn::get_frame(Frame &frame)
 {
     if (!_streaming) {
         if (!_set_streaming(true)) {
-            AP_HAL::panic("couldn't start streaming\n");
+            AP_HAL::panic("couldn't start streaming");
             return false;
         }
         _streaming = true;

libraries/AP_HAL_SITL/Scheduler.cpp

@@ -414,7 +414,7 @@ void Scheduler::check_thread_stacks(void)
         const uint8_t ncheck = 8;
         for (uint8_t i=0; i<ncheck; i++) {
             if (p->stack_min[i] != stackfill) {
-                AP_HAL::panic("stack overflow in thread %s\n", p->name);
+                AP_HAL::panic("stack overflow in thread %s", p->name);
             }
         }
     }

libraries/AP_HAL_SITL/Storage.cpp

@@ -279,7 +279,7 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
     }
 #if defined(HAL_FLASH_MIN_WRITE_SIZE) && HAL_FLASH_MIN_WRITE_SIZE == 32
     if ((length % HAL_FLASH_MIN_WRITE_SIZE) != 0 || (addr % HAL_FLASH_MIN_WRITE_SIZE) != 0) {
-        AP_HAL::panic("Attempt to write flash at %u length %u\n", addr, length);
+        AP_HAL::panic("Attempt to write flash at %u length %u", addr, length);
     }
     // emulate H7 requirement that writes be to untouched bytes
     for (uint32_t i=0; i<length; i+= 32) {
@@ -288,7 +288,7 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
         }
         for (uint32_t j=0; j<32; j++) {
             if (old[i+j] != 0xFF) {
-                AP_HAL::panic("Attempt to write modified flash at %u length %u\n", addr+i+j, length);
+                AP_HAL::panic("Attempt to write modified flash at %u length %u", addr+i+j, length);
             }
         }
     }
@@ -299,12 +299,12 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
 #if HAL_FLASH_ALLOW_UPDATE
         // emulating flash that allows setting any bit from 1 to 0
         if (data[i] & ~old[i]) {
-            AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u\n", data[i], old[i], addr+i);
+            AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u", data[i], old[i], addr+i);
         }
 #else
         // emulating flash that only allows update if whole byte is 0xFF
         if (data[i] != old[i] && old[i] != 0xFF) {
-            AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u\n", data[i], old[i], addr+i);
+            AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u", data[i], old[i], addr+i);
         }
 #endif
     }

libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp

@@ -226,10 +226,10 @@ void AP_InertialSensor_BMI160::_check_err_reg()
 
     r = _dev->read_registers(BMI160_REG_ERR_REG, &v, 1);
     if (!r) {
-        AP_HAL::panic("BMI160: couldn't read ERR_REG\n");
+        AP_HAL::panic("BMI160: couldn't read ERR_REG");
     }
     if (v) {
-        AP_HAL::panic("BMI160: error detected on ERR_REG\n");
+        AP_HAL::panic("BMI160: error detected on ERR_REG");
     }
 #endif
 }
@@ -514,4 +514,4 @@ bool AP_InertialSensor_BMI160::_init()
     }
 
     return ret;
-}
+}

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp

@@ -424,7 +424,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
     if (_drdy_pin_num_a >= 0) {
         _drdy_pin_a = hal.gpio->channel(_drdy_pin_num_a);
         if (_drdy_pin_a == nullptr) {
-            AP_HAL::panic("LSM9DS0: null accel data-ready GPIO channel\n");
+            AP_HAL::panic("LSM9DS0: null accel data-ready GPIO channel");
         }
 
         _drdy_pin_a->mode(HAL_GPIO_INPUT);
@@ -433,7 +433,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
     if (_drdy_pin_num_g >= 0) {
         _drdy_pin_g = hal.gpio->channel(_drdy_pin_num_g);
         if (_drdy_pin_g == nullptr) {
-            AP_HAL::panic("LSM9DS0: null gyro data-ready GPIO channel\n");
+            AP_HAL::panic("LSM9DS0: null gyro data-ready GPIO channel");
         }
 
         _drdy_pin_g->mode(HAL_GPIO_INPUT);

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp

@@ -231,7 +231,7 @@ bool AP_InertialSensor_LSM9DS1::_init_sensor()
     if (_drdy_pin_num_xg >= 0) {
         _drdy_pin_xg = hal.gpio->channel(_drdy_pin_num_xg);
         if (_drdy_pin_xg == nullptr) {
-            AP_HAL::panic("LSM9DS1: null accel data-ready GPIO channel\n");
+            AP_HAL::panic("LSM9DS1: null accel data-ready GPIO channel");
         }
         _drdy_pin_xg->mode(HAL_GPIO_INPUT);
     }

libraries/AP_InternalError/AP_InternalError.cpp

@@ -127,7 +127,7 @@ void AP_stack_overflow(const char *thread_name)
     }
     hal.util->persistent_data.fault_type = 42; // magic value
     if (!hal.util->get_soft_armed()) {
-        AP_HAL::panic("stack overflow %s\n", thread_name);
+        AP_HAL::panic("stack overflow %s", thread_name);
     }
 }
 
@@ -137,7 +137,7 @@ void AP_memory_guard_error(uint32_t size)
     INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
     if (!hal.util->get_soft_armed()) {
         ::printf("memory guard error size=%u\n", unsigned(size));
-        AP_HAL::panic("memory guard size=%u\n", unsigned(size));
+        AP_HAL::panic("memory guard size=%u", unsigned(size));
     }
 }
 

libraries/AP_Logger/AP_Logger_Backend.cpp

@@ -403,7 +403,7 @@ void AP_Logger_Backend::validate_WritePrioritisedBlock(const void *pBuffer,
         } else {
             strncpy(name, "?NM?", ARRAY_SIZE(name));
         }
-        AP_HAL::panic("Size mismatch for %u (%s) (expected=%u got=%u)\n",
+        AP_HAL::panic("Size mismatch for %u (%s) (expected=%u got=%u)",
                       type, name, type_len, size);
     }
 }

libraries/AP_Param/AP_Param.cpp

@@ -1616,7 +1616,7 @@ void AP_Param::load_defaults_file_from_filesystem(const char *default_file, bool
 #endif
     } else {
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-        AP_HAL::panic("Failed to load defaults from %s\n", default_file);
+        AP_HAL::panic("Failed to load defaults from %s", default_file);
 #else
         printf("Failed to load defaults from %s\n", default_file);
 #endif

libraries/AP_Param/AP_Param.h

@@ -173,7 +173,7 @@
 #define GOBJECTN(v, pname, name, class)      { name, (const void *)&AP_PARAM_VEHICLE_NAME.v,       {group_info : class::var_info},      0,                                                  Parameters::k_param_ ## pname,      AP_PARAM_GROUP }
 #define PARAM_VEHICLE_INFO                   { "",   (const void *)&AP_PARAM_VEHICLE_NAME,         {group_info : AP_Vehicle::var_info}, 0,                                                  Parameters::k_param_vehicle,        AP_PARAM_GROUP }
 #define AP_VAREND                            { "",   nullptr,                                      {group_info : nullptr },             0,                                                  0,                                  AP_PARAM_NONE }
-
+#define AP_GROUP_ELEM_IDX(subgrp_idx, grp_idx) (grp_idx << 6 | subgrp_idx)
 
 enum ap_var_type {
     AP_PARAM_NONE    = 0,

libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp

@@ -45,7 +45,7 @@ AP_RCProtocol_SRXL2::AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend) : AP_RCProtoc
 {
 #if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
     if (_singleton != nullptr) {
-        AP_HAL::panic("Duplicate SRXL2 handler\n");
+        AP_HAL::panic("Duplicate SRXL2 handler");
     }
 
     _singleton = this;
@@ -64,12 +64,12 @@ void AP_RCProtocol_SRXL2::_bootstrap(uint8_t device_id)
 
     // Init the local SRXL device
     if (!srxlInitDevice(device_id, SRXL_DEVICE_PRIORITY, SRXL_DEVICE_INFO, device_id)) {
-        AP_HAL::panic("Failed to initialize SRXL2 device\n");
+        AP_HAL::panic("Failed to initialize SRXL2 device");
     }
 
     // Init the SRXL bus: The bus index must always be < SRXL_NUM_OF_BUSES -- in this case, it can only be 0
     if (!srxlInitBus(0, 0, SRXL_SUPPORTED_BAUD_RATES)) {
-        AP_HAL::panic("Failed to initialize SRXL2 bus\n");
+        AP_HAL::panic("Failed to initialize SRXL2 bus");
     }
 
     _device_id = device_id;

libraries/AP_Radio/AP_Radio_bk2425.cpp

@@ -140,7 +140,7 @@ AP_Radio_beken::AP_Radio_beken(AP_Radio &_radio) :
 bool AP_Radio_beken::init(void)
 {
     if (_irq_handler_ctx != nullptr) {
-        AP_HAL::panic("AP_Radio_beken: double instantiation of irq_handler\n");
+        AP_HAL::panic("AP_Radio_beken: double instantiation of irq_handler");
     }
     chVTObjectInit(&timeout_vt);
     _irq_handler_ctx = chThdCreateFromHeap(NULL,

libraries/AP_Radio/AP_Radio_cc2500.cpp

@@ -85,7 +85,7 @@ bool AP_Radio_cc2500::init(void)
 {
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     if (_irq_handler_ctx != nullptr) {
-        AP_HAL::panic("AP_Radio_cc2500: double instantiation of irq_handler\n");
+        AP_HAL::panic("AP_Radio_cc2500: double instantiation of irq_handler");
     }
     chVTObjectInit(&timeout_vt);
     _irq_handler_ctx = chThdCreateFromHeap(NULL,

libraries/AP_Radio/AP_Radio_cypress.cpp

@@ -264,7 +264,7 @@ bool AP_Radio_cypress::init(void)
     dev = hal.spi->get_device(CYRF_SPI_DEVICE);
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     if (_irq_handler_ctx != nullptr) {
-        AP_HAL::panic("AP_Radio_cypress: double instantiation of irq_handler\n");
+        AP_HAL::panic("AP_Radio_cypress: double instantiation of irq_handler");
     }
     chVTObjectInit(&timeout_vt);
     _irq_handler_ctx = chThdCreateFromHeap(NULL,

libraries/AP_TECS/AP_TECS.cpp

@@ -751,10 +751,10 @@ void AP_TECS::_update_throttle_with_airspeed(void)
         const float nomThr = aparm.throttle_cruise * 0.01f;
         const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
         // Use the demanded rate of change of total energy as the feed-forward demand, but add
-        // additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
+        // additional component which scales with (1/(cos(bank angle)**2) - 1) to compensate for induced
         // drag increase during turns.
-        const float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
+        const float cosPhi_squared = (rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y);
-        STEdot_dem = STEdot_dem + _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
+        STEdot_dem = STEdot_dem + _rollComp * (1.0f/constrain_float(cosPhi_squared, 0.1f, 1.0f) - 1.0f);
         const float ff_throttle = nomThr + STEdot_dem / K_thr2STE;
 
         // Calculate PD + FF throttle
@@ -905,10 +905,10 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge, float pi
     // Calculate additional throttle for turn drag compensation including throttle nudging
     const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
     // Use the demanded rate of change of total energy as the feed-forward demand, but add
-    // additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
+    // additional component which scales with (1/(cos(bank angle)**2) - 1) to compensate for induced
     // drag increase during turns.
-    float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
+    const float cosPhi_squared = (rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y);
-    float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
+    float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi_squared, 0.1f, 1.0f) - 1.0f);
     _throttle_dem = _throttle_dem + STEdot_dem / (_STEdot_max - _STEdot_min) * (_THRmaxf - _THRminf);
 
     constrain_throttle();

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -35,11 +35,8 @@ extern AP_IOMCU iomcu;
   2nd group of parameters
  */
 const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
-#if HAL_RUNCAM_ENABLED
+
-    // @Group: CAM_RC_
+    // 1: RunCam
-    // @Path: ../AP_Camera/AP_RunCam.cpp
-    AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
-#endif
 
 #if HAL_GYROFFT_ENABLED
     // @Group: FFT_
@@ -450,9 +447,6 @@ void AP_Vehicle::setup()
     gyro_fft.init(1000);
 #endif
 #endif
-#if HAL_RUNCAM_ENABLED
-    runcam.init();
-#endif
 #if HAL_HOTT_TELEM_ENABLED
     hott_telem.init();
 #endif
@@ -615,9 +609,6 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_NMEA_OUTPUT_ENABLED
     SCHED_TASK_CLASS(AP_NMEA_Output, &vehicle.nmea,         update,                   50, 50, 180),
 #endif
-#if HAL_RUNCAM_ENABLED
-    SCHED_TASK_CLASS(AP_RunCam,    &vehicle.runcam,         update,                   50, 50, 200),
-#endif
 #if HAL_GYROFFT_ENABLED
     SCHED_TASK_CLASS(AP_GyroFFT,   &vehicle.gyro_fft,       update,                  400, 50, 205),
     SCHED_TASK_CLASS(AP_GyroFFT,   &vehicle.gyro_fft,       update_parameters,         1, 50, 210),

libraries/AP_Vehicle/AP_Vehicle.h

@@ -47,7 +47,6 @@
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_SerialManager/AP_SerialManager.h>      // Serial manager library
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
-#include <AP_Camera/AP_RunCam.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include <AP_Hott_Telem/AP_Hott_Telem.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
@@ -373,9 +372,6 @@ protected:
     AP_RSSI rssi;
 #endif
 
-#if HAL_RUNCAM_ENABLED
-    AP_RunCam runcam;
-#endif
 #if HAL_GYROFFT_ENABLED
     AP_GyroFFT gyro_fft;
 #endif

libraries/RC_Channel/RC_Channel.cpp

@@ -742,7 +742,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
 #endif
     case AUX_FUNC::MOTOR_ESTOP:
     case AUX_FUNC::RC_OVERRIDE_ENABLE:
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
     case AUX_FUNC::RUNCAM_CONTROL:
     case AUX_FUNC::RUNCAM_OSD_CONTROL:
 #endif
@@ -849,7 +849,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
 #endif
     { AUX_FUNC::SAILBOAT_MOTOR_3POS,"SailboatMotor"},
     { AUX_FUNC::SURFACE_TRACKING,"SurfaceTracking"},
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
     { AUX_FUNC::RUNCAM_CONTROL,"RunCamControl"},
     { AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"},
 #endif
@@ -1169,7 +1169,7 @@ bool RC_Channel::do_aux_function_camera_lens(const AuxSwitchPos ch_flag)
 }
 #endif // AP_CAMERA_ENABLED
 
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
 void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
 {
     AP_RunCam *runcam = AP::runcam();
@@ -1474,7 +1474,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         break;
 #endif  // AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
 
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
     case AUX_FUNC::RUNCAM_CONTROL:
         do_aux_function_runcam_control(ch_flag);
         break;

libraries/SITL/SIM_Frame.cpp

@@ -338,15 +338,15 @@ void Frame::load_frame_params(const char *model_json)
     } else {
         IGNORE_RETURN(asprintf(&fname, "@ROMFS/models/%s", model_json));
         if (AP::FS().stat(model_json, &st) != 0) {
-            AP_HAL::panic("%s failed to load\n", model_json);
+            AP_HAL::panic("%s failed to load", model_json);
         }
     }
     if (fname == nullptr) {
-        AP_HAL::panic("%s failed to load\n", model_json);
+        AP_HAL::panic("%s failed to load", model_json);
     }
     AP_JSON::value *obj = AP_JSON::load_json(model_json);
     if (obj == nullptr) {
-        AP_HAL::panic("%s failed to load\n", model_json);
+        AP_HAL::panic("%s failed to load", model_json);
     }
 
     enum class VarType {

libraries/SITL/SIM_JSON_Master.cpp

@@ -37,15 +37,15 @@ void JSON_Master::init(const int32_t num_slaves)
         uint16_t port = 9002 + 10 * i;
 
         if (!list->sock_in.reuseaddress()) {
-            AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s\n", port, strerror(errno));
+            AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s", port, strerror(errno));
         }
 
         if (!list->sock_in.bind("127.0.0.1", port)) {
-            AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s\n", port, strerror(errno));
+            AP_HAL::panic("JSON master: socket reuseaddress failed on port: %d - %s", port, strerror(errno));
         }
 
         if (!list->sock_in.set_blocking(false)) {
-            AP_HAL::panic( "JSON master: socket set_blocking(false) failed on port: %d - %s\n", port, strerror(errno));
+            AP_HAL::panic( "JSON master: socket set_blocking(false) failed on port: %d - %s", port, strerror(errno));
         }
 
         printf("Slave %u: listening on %u\n", list->instance, port);

libraries/SITL/SIM_XPlane.cpp

@@ -116,7 +116,7 @@ XPlane::XPlane(const char *frame_str) :
 #endif
 
     if (!load_dref_map(XPLANE_JSON)) {
-        AP_HAL::panic("%s failed to load\n", XPLANE_JSON);
+        AP_HAL::panic("%s failed to load", XPLANE_JSON);
     }
 }