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26693 Commits

Author SHA1 Message Date
Peter Barker 8639b5e4c3 AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 14:08:46 +09:00
Josh Henderson 156da6431f AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:08:46 +09:00
Randy Mackay ac57e91e8f AC_WPNav: protect against divide-by-zero 2021-09-10 14:08:46 +09:00
Randy Mackay e0143d4008 AC_WPNav: move definitions to .cpp file 2021-09-10 14:08:46 +09:00
Randy Mackay f22f8f6200 Copter: terrain spelling fix 2021-09-10 14:08:46 +09:00
Randy Mackay 93197133be AC_WPNav: terrain spelling fix 2021-09-10 14:08:46 +09:00
Leonard Hall 3e62c17577 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:08:46 +09:00
Leonard Hall ee26d72682 AC_WPNav: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall baf58607fa AC_Autotune: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Leonard Hall 00ff3cec46 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Iampete1 11426792ef SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:08:46 +09:00
Andrew Tridgell 78ca572634 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:08:46 +09:00
Andrew Tridgell a48f0ef90d HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell 3bc9507530 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-09-10 14:08:46 +09:00
Pierre Kancir 21de22f10d AP_Rangefinder: fix override in constructor 2021-09-10 14:08:46 +09:00
Andrew Tridgell 8209a5ac5c AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:08:46 +09:00
Andrew Tridgell 8731a13fb5 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:08:46 +09:00
Andrew Tridgell aa8ebc403e HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:08:46 +09:00
Andrew Tridgell f232fc551b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:08:46 +09:00
Andrew Tridgell 042b512877 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-10 14:08:46 +09:00
mateksys c5ed3c391a Tools: added MatekF765-SE to autobuild 2021-08-28 17:10:29 +09:00
mateksys 96b4cee01d AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-28 17:10:29 +09:00
Peter Barker 32c7a0d6e4 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-28 17:10:29 +09:00
Andrew Tridgell a11948e175 APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 8268a59130 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 06577318ff AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 17:10:29 +09:00
Andrew Tridgell c2672784be AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-28 17:10:29 +09:00
QioTek ce7d5341eb AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 17:10:29 +09:00
Hwurzburg 3cf3ed8fff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 17:10:29 +09:00
Andrew Tridgell 72d115bec4 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 17:10:29 +09:00
Andy Piper 7698a006ad AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 17:10:29 +09:00
Leonard Hall f9452ec17a AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 17:10:29 +09:00
Leonard Hall a1975d7535 AC_WPNav: Fix Jerk units 2021-08-28 17:10:29 +09:00
Leonard Hall 70d2062809 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 17:10:29 +09:00
Leonard Hall d0521e6906 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 17:10:29 +09:00
Iampete1 c47bc995d1 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 17:10:29 +09:00
Randy Mackay 9a26509eee AP_Scripting: copter-fast-descent.lua example script 2021-08-28 17:10:29 +09:00
Randy Mackay 4a05d7a05a AP_Vehicle: add virtual set_target methods 2021-08-28 17:10:29 +09:00
Randy Mackay e5b3596831 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 17:10:29 +09:00
Randy Mackay 79f0a02675 AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 17:10:29 +09:00
Randy Mackay d61c16d83c AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 17:10:29 +09:00
Randy Mackay 07e875aba2 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 17:10:29 +09:00
Randy Mackay 9638755b0f AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Randy Mackay 1f63a1a63c AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 17:10:29 +09:00
Iampete1 9bf151fcd7 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 17:10:29 +09:00
Iampete1 a1e96f7d17 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 17:10:29 +09:00
Randy Mackay 54d6cf15e5 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 17:10:29 +09:00
Pierre Kancir e5ea7e6196 AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir c4b7f6ddcf AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Pierre Kancir 4866ffc597 AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 659c9fb10d HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 17:10:29 +09:00
Andy Piper eebcfb78c1 AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 17:10:29 +09:00
Randy Mackay b1e5e21d6d AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 17:10:29 +09:00
Andrew Tridgell 70e041d611 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 17:10:29 +09:00
Andrew Tridgell 03de8e752a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 17:10:29 +09:00
Hwurzburg bd583452c7 AP_OSD: fixes bug introduced by #16477 2021-08-14 11:05:38 +09:00
Pierre Kancir 2a808dc53c AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 11:05:38 +09:00
Randy Mackay 87212e0fbf AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Randy Mackay 6ec43eefff AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi b584adff59 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi 8eda43e697 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi 2bebd8341f AC_Avoidance: handle upward proximity enable and disable 2021-08-14 11:05:38 +09:00
Andy Piper c6247433df AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 11:05:38 +09:00
Andy Piper 761fc57a18 AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 11:05:38 +09:00
Pierre Kancir 53d69de164 AP_ESC_Telem: prevent possible overrun 2021-08-14 11:05:38 +09:00
Pierre Kancir 050e18cd03 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 11:05:38 +09:00
Pierre Kancir 2d0e359065 AP_ESC_Telem: fix out of bound access 2021-08-14 11:05:38 +09:00
Pierre Kancir 6e9e529967 AP_OSD: check for nullptr before using it 2021-08-14 11:05:38 +09:00
Leonard Hall 0c48848d31 AP_Math: Spelling fix 2021-08-14 11:05:38 +09:00
Leonard Hall f5dd8a9982 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall b25dab9c9b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall dac064e51c AP_Math: Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall 61982815cd AP_Math: Control: protect against divide by zero 2021-08-14 11:05:38 +09:00
Leonard Hall b8cc90688e AC_WPNav: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall dfcc6ce612 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall 2436330da1 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 11:05:38 +09:00
Leonard Hall 6b72b1fd31 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 11:05:37 +09:00
Leonard Hall 51dbf271f9 AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 11:05:37 +09:00
Andrew Tridgell 1422c283b0 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 11:05:37 +09:00
Andrew Tridgell 74f89cfbce AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 11:05:37 +09:00
Andy Piper 91d0a44524 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 11:05:37 +09:00
Randy Mackay 6670a48811 AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 11:05:37 +09:00
Andrew Tridgell 37533db6f1 AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 11:05:37 +09:00
Leonard Hall 5c16e81f8f AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 11:05:37 +09:00
Andy Piper 7bad54f638 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 11:05:37 +09:00
Andrew Tridgell d88d811ab3 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 11:05:37 +09:00
bugobliterator cc4fc42ed0 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator d27acbce2d AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator ae0d11a26d AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator 1bac7283ab AP_CANSensor: create a separate register driver method 2021-08-14 11:05:37 +09:00
Andrew Tridgell ddbcfafe30 AP_AHRS: build fix 2021-07-23 10:19:50 +09:00
Paul Riseborough d90c67a079 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 28224c001a AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-23 10:19:50 +09:00
Paul Riseborough 5a3f785798 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 4b4bb18f50 AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-23 10:19:50 +09:00
Paul Riseborough a98583e0ca AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 51a1b9ae9a AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-23 10:19:50 +09:00
Paul Riseborough edd75e3981 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-23 10:19:50 +09:00
Paul Riseborough 6166b666b6 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-23 10:19:50 +09:00
Paul Riseborough 835b97f5e8 AP_NavEKF3: Make bad IMU status more persistent 2021-07-23 10:19:50 +09:00
Paul Riseborough 3ce5633701 AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-23 10:19:50 +09:00
Paul Riseborough a220ca20a6 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-23 10:19:50 +09:00
Paul Riseborough e7ff7f629d AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-23 10:19:50 +09:00
Paul Riseborough 82f585a515 AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-23 10:19:50 +09:00
Paul Riseborough 7b40e89463 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-23 10:19:50 +09:00
Paul Riseborough 082f8e42f6 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-23 10:19:50 +09:00
Paul Riseborough 315d9ef9d8 AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 344f2d0eb7 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-23 10:19:50 +09:00
Paul Riseborough fcf7a7c8f7 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-23 10:19:49 +09:00
Paul Riseborough 4096e75b15 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-23 10:19:49 +09:00
Paul Riseborough 5cb4cf870d AP_NavEKF3: Update covariance prediction equations 2021-07-23 10:19:49 +09:00
Paul Riseborough 14edac7e5c AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-23 10:19:49 +09:00
Andrew Tridgell c2e221dd09 AP_Math: fix uses of single precision 2021-07-23 10:19:49 +09:00
Randy Mackay e4684f65dc AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-23 10:19:49 +09:00
Randy Mackay 0c9fbf9456 AC_WPNav_OA: minor formatting and comment fixes 2021-07-23 10:19:49 +09:00
Randy Mackay b95c6b5e5d AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-23 10:19:49 +09:00
Randy Mackay c991ff4318 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-23 10:19:49 +09:00
Randy Mackay 075c05baea AC_Avoidance: bendy ruler format fixes 2021-07-23 10:19:49 +09:00
Randy Mackay 0b26bace7f AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-23 10:19:49 +09:00
Randy Mackay 980909deb5 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-23 10:19:49 +09:00
Randy Mackay 400731df1b AP_Common: add Location::linear_interpolate_alt 2021-07-23 10:19:49 +09:00
Andy Piper 74a8891099 AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-23 10:19:49 +09:00
Pierre Kancir 3cee86e63f AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-23 10:19:49 +09:00
Leonard Hall 6f5d2008e3 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-23 10:19:49 +09:00
Leonard Hall 6f26ca6b65 WP_Nav: Return Crosstrack error 2021-07-23 10:19:49 +09:00
Leonard Hall d6df47fd06 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-23 10:19:49 +09:00
Randy Mackay fce7db0d18 AC_WPNav: use get_terrain_margin instead of constant 2021-07-23 10:19:49 +09:00
Randy Mackay 33ec14ce70 AC_WPNav: add TER_MARGIN param 2021-07-23 10:19:49 +09:00
Leonard Hall 767281dc76 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-23 10:19:49 +09:00
Leonard Hall 4bbc69ef6e AC_WPNav: Auto Terain following update 2021-07-23 10:19:49 +09:00
Andy Piper a9187a50cf AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-23 10:19:48 +09:00
Leonard Hall a765e266f4 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-23 10:19:48 +09:00
Hwurzburg 4664ed6d7d RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Hwurzburg a09f38b195 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Andy Piper 2ef5a9170e AP_RCTelemetry: correct firmware string length for CRSF 2021-07-23 10:19:48 +09:00
Leonard Hall 82ba9e06a1 AC_WPNav: Remove unused function 2021-07-23 10:19:48 +09:00
Leonard Hall 05f21d7665 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-23 10:19:48 +09:00
Leonard Hall 49da46af16 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-23 10:19:48 +09:00
Leonard Hall b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Randy Mackay d22f8fbc35 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-23 10:19:47 +09:00
Leonard Hall 80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall 9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall 612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Andrew Tridgell cb14275e43 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-23 10:19:47 +09:00
Andy Piper 35d34ee9ae AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-23 10:19:47 +09:00
Randy Mackay 0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Andrew Tridgell 4384b9ea36 AP_Common: update tests for 4.1 2021-07-23 10:19:47 +09:00